Base class for all proxied TechnosoftIpos implementations.

#include <TechnosoftIposBase.hpp>

Inheritance diagram for roboticslab::TechnosoftIposBase:

Classes
struct	report_storage

Public Member Functions
bool	open (yarp::os::Searchable &config) override

bool	close () override

unsigned int	getId () override
	Retrieve CAN node ID.

std::vector< unsigned int >	getAdditionalIds () override
	Retrieve more associated CAN node IDs, if any.

bool	notifyMessage (const can_message &message) override
	Notify observers that a new CAN message has arrived.

bool	initialize () override
	Perform CAN node initialization.

bool	finalize () override
	Finalize CAN node communications.

bool	registerSender (ICanSenderDelegate *sender) override
	Pass a handle to a CAN sender delegate instance.

bool	getAxisNameRaw (int axis, std::string &name) override

bool	getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override

bool	setLimitsRaw (int axis, double min, double max) override

bool	getLimitsRaw (int axis, double min, double max) override

bool	setVelLimitsRaw (int axis, double min, double max) override

bool	getVelLimitsRaw (int axis, double min, double max) override

bool	getControlModesRaw (int *modes) override

bool	getControlModesRaw (int n_joint, const int joints, int modes) override

bool	setControlModesRaw (int *modes) override

bool	setControlModesRaw (int n_joint, const int joints, int modes) override

bool	getCurrentRaw (int m, double *curr) override

bool	getCurrentsRaw (double *currs) override

bool	getCurrentRangeRaw (int m, double min, double max) override

bool	getCurrentRangesRaw (double min, double max) override

bool	setRefCurrentRaw (int m, double curr) override

bool	setRefCurrentsRaw (const double *currs) override

bool	setRefCurrentsRaw (int n_motor, const int motors, const double currs) override

bool	getRefCurrentRaw (int m, double *curr) override

bool	getRefCurrentsRaw (double *currs) override

bool	getAxes (int *ax) override

bool	resetEncoderRaw (int j) override

bool	resetEncodersRaw () override

bool	setEncoderRaw (int j, double val) override

bool	setEncodersRaw (const double *vals) override

bool	getEncoderRaw (int j, double *v) override

bool	getEncodersRaw (double *encs) override

bool	getEncoderSpeedRaw (int j, double *sp) override

bool	getEncoderSpeedsRaw (double *spds) override

bool	getEncoderAccelerationRaw (int j, double *spds) override

bool	getEncoderAccelerationsRaw (double *accs) override

bool	getEncoderTimedRaw (int j, double encs, double time) override

bool	getEncodersTimedRaw (double encs, double times) override

bool	getImpedanceRaw (int j, double stiffness, double damping) override

bool	setImpedanceRaw (int j, double stiffness, double damping) override

bool	setImpedanceOffsetRaw (int j, double offset) override

bool	getImpedanceOffsetRaw (int j, double *offset) override

bool	getCurrentImpedanceLimitRaw (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override

bool	getInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum *mode) override

bool	getInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override

bool	getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override

bool	setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode) override

bool	setInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override

bool	setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override

bool	getLastJointFaultRaw (int j, int &fault, std::string &message) override

bool	getNumberOfMotorsRaw (int *num) override

bool	getTemperatureRaw (int m, double *val) override

bool	getTemperaturesRaw (double *vals) override

bool	getTemperatureLimitRaw (int m, double *temp) override

bool	setTemperatureLimitRaw (int m, double temp) override

bool	getGearboxRatioRaw (int m, double *val) override

bool	setGearboxRatioRaw (int m, double val) override

bool	getNumberOfMotorEncodersRaw (int *num) override

bool	resetMotorEncoderRaw (int m) override

bool	resetMotorEncodersRaw () override

bool	setMotorEncoderCountsPerRevolutionRaw (int m, double cpr) override

bool	getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr) override

bool	setMotorEncoderRaw (int m, double val) override

bool	setMotorEncodersRaw (const double *vals) override

bool	getMotorEncoderRaw (int m, double *v) override

bool	getMotorEncodersRaw (double *encs) override

bool	getMotorEncoderTimedRaw (int m, double encs, double stamp) override

bool	getMotorEncodersTimedRaw (double encs, double stamps) override

bool	getMotorEncoderSpeedRaw (int m, double *sp) override

bool	getMotorEncoderSpeedsRaw (double *spds) override

bool	getMotorEncoderAccelerationRaw (int m, double *spds) override

bool	getMotorEncoderAccelerationsRaw (double *accs) override

bool	setPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override

bool	setPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override

bool	setPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override

bool	setPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override

bool	setPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override

bool	setPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override

bool	getPidErrorRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override

bool	getPidErrorsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override

bool	getPidOutputRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override

bool	getPidOutputsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override

bool	getPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override

bool	getPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override

bool	getPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override

bool	getPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override

bool	getPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override

bool	getPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override

bool	resetPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override

bool	disablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override

bool	enablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override

bool	setPidOffsetRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override

bool	isPidEnabledRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override

bool	positionMoveRaw (const double *refs) override

bool	positionMoveRaw (int n_joint, const int joints, const double refs) override

bool	relativeMoveRaw (const double *deltas) override

bool	relativeMoveRaw (int n_joint, const int joints, const double deltas) override

bool	checkMotionDoneRaw (bool *flag) override

bool	checkMotionDoneRaw (int n_joint, const int joints, bool flag) override

bool	setRefSpeedsRaw (const double *spds) override

bool	setRefSpeedsRaw (int n_joint, const int joints, const double spds) override

bool	setRefAccelerationsRaw (const double *accs) override

bool	setRefAccelerationsRaw (int n_joint, const int joints, const double accs) override

bool	getRefSpeedsRaw (double *spds) override

bool	getRefSpeedsRaw (int n_joint, const int joints, double spds) override

bool	getRefAccelerationsRaw (double *accs) override

bool	getRefAccelerationsRaw (int n_joint, const int joints, double accs) override

bool	stopRaw () override

bool	stopRaw (int n_joint, const int *joints) override

bool	getTargetPositionsRaw (double *refs) override

bool	getTargetPositionsRaw (int n_joint, const int joints, double refs) override

bool	setPositionsRaw (const double *refs) override

bool	setPositionsRaw (int n_joint, const int joints, const double refs) override

bool	getRefPositionsRaw (double *refs) override

bool	getRefPositionsRaw (int n_joint, const int joints, double refs) override

bool	getRefTorqueRaw (int j, double *t) override

bool	getRefTorquesRaw (double *t) override

bool	setRefTorqueRaw (int j, double t) override

bool	setRefTorquesRaw (int n_joint, const int joints, const double t) override

bool	setRefTorquesRaw (const double *t) override

bool	getTorqueRaw (int j, double *t) override

bool	getTorquesRaw (double *t) override

bool	getTorqueRangeRaw (int j, double min, double max) override

bool	getTorqueRangesRaw (double min, double max) override

bool	getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override

bool	setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override

bool	velocityMoveRaw (const double *sp) override

bool	velocityMoveRaw (int n_joint, const int joints, const double spds) override

bool	getRefVelocitiesRaw (double *vels) override

bool	getRefVelocitiesRaw (int n_joint, const int joints, double vels) override

Public Member Functions inherited from roboticslab::ICanBusSharer
virtual	~ICanBusSharer ()=default
	Destructor.

virtual bool	synchronize (double timestamp)=0
	Perform synchronized action on CAN master's request.

Public Member Functions inherited from roboticslab::ICanMessageNotifier
virtual	~ICanMessageNotifier ()=default
	Virtual destructor.

Protected Types
enum	report_level { NONE , INFO , WARN , FAULT }

enum	limit_switch { POSITIVE , NEGATIVE , INACTIVE }

Protected Member Functions
bool	reportBitToggle (report_storage report, int level, std::size_t pos, const char msgSet, const char msgReset=nullptr)

virtual void	interpretModesOfOperation (std::int8_t modesOfOperation)=0

virtual void	interpretIpStatus (std::uint16_t ipStatus)

virtual void	onPositionLimitTriggered ()=0

virtual void	reset ()=0

bool	awaitControlMode (yarp::conf::vocab32_t mode)
	Wait with timeout for requested control mode change.

double	degreesToInternalUnits (double value, int derivativeOrder=0) const
	Convert position, speed or acceleration to internal units.

double	internalUnitsToDegrees (double value, int derivativeOrder=0) const
	Convert position, speed or acceleration to degrees.

std::int16_t	currentToInternalUnits (double value) const
	Convert current to internal units.

double	internalUnitsToCurrent (std::int16_t value) const
	Convert current to amperes.

double	internalUnitsToPeakCurrent (std::int16_t value) const
	Apply internal iPOS conversion to express drive peak current in amperes.

double	currentToTorque (double current) const
	Convert current (amperes) to torque (Nm).

double	torqueToCurrent (double torque) const
	Convert torque (Nm) to current (amperes).

Protected Attributes
CanOpenNode *	can

CommandBuffer	commandBuffer

std::unique_ptr< StateObserver >	controlModeObserverPtr {new StateObserver(1.0)}

std::unique_ptr< EncoderRead >	lastEncoderRead {nullptr}

std::bitset< 16 >	msr

std::bitset< 16 >	mer

std::bitset< 16 >	der

std::bitset< 16 >	der2

std::bitset< 16 >	cer

std::int8_t	modesOfOperation {0}

DriveState	driveState {DriveState::NOT_READY_TO_SWITCH_ON}

bool	configuredOnce {false}

std::atomic< std::int16_t >	lastCurrentRead {0}

std::atomic< yarp::conf::vocab32_t >	actualControlMode {0}

std::atomic< yarp::conf::vocab32_t >	requestedcontrolMode {0}

std::atomic< double >	tr {0.0}

std::atomic< double >	k {0.0}

std::atomic< int >	encoderPulses {0}

std::atomic< double >	maxVel {0.0}

std::atomic< double >	min {0.0}

std::atomic< double >	max {0.0}

std::atomic< double >	refSpeed {0.0}

std::atomic< double >	refAcceleration {0.0}

std::atomic< double >	lastHeartbeat {0.0}

std::atomic< std::uint8_t >	lastNmtState {0}

std::atomic< std::uint16_t >	lastFaultCode {0}

std::atomic< const char * >	lastFaultMessage

std::atomic< limit_switch >	limitSwitchState {INACTIVE}

yarp::conf::vocab32_t	initialControlMode {0}

double	drivePeakCurrent {0.0}

double	samplingPeriod {0.0}

std::string	axisName

yarp::conf::vocab32_t	jointType {0}

bool	reverse {false}

PdoConfiguration	tpdo1Conf

PdoConfiguration	tpdo2Conf

PdoConfiguration	tpdo3Conf

double	heartbeatPeriod {0.0}

double	syncPeriod {0.0}

unsigned int	canId {0}

Private Member Functions
bool	validateInitialState ()
	Make sure stored variables actually make sense.

void	interpretMsr (std::uint16_t msr)

void	interpretMer (std::uint16_t mer)

void	interpretDer (std::uint16_t der)

void	interpretDer2 (std::uint16_t der2)

void	interpretCer (std::uint16_t cer)

void	interpretStatusword (std::uint16_t statusword)

void	handleTpdo1 (std::uint16_t statusword, std::uint16_t msr, std::int8_t modesOfOperation)

void	handleTpdo2 (std::uint16_t mer, std::uint16_t der)

void	handleTpdo3 (std::int32_t position, std::int16_t current)

void	handleEmcy (EmcyConsumer::code_t code, std::uint8_t reg, const std::uint8_t *msef)

void	handleNmt (NmtState state)

bool	monitorWorker (const yarp::os::YarpTimerEvent &event)

bool	setLimitRaw (double limit, bool isMin)

bool	getLimitRaw (double *limit, bool isMin)

Private Attributes
yarp::dev::PolyDriver	externalEncoderDevice

yarp::dev::IEncodersTimedRaw *	iEncodersTimedRawExternal

roboticslab::ICanBusSharer *	iExternalEncoderCanBusSharer

yarp::os::Timer *	monitorThread

roboticslab::ICanSenderDelegate *	sender

The documentation for this class was generated from the following files:

libraries/YarpPlugins/TechnosoftIpos/TechnosoftIposBase.hpp
libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/IAxisInfoRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/ICanBusSharerImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/IControlLimitsRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/ICurrentControlRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/IEncodersRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/IJointFaultRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/IMotorEncodersRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/IMotorRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/ITorqueControlRawImpl.cpp
libraries/YarpPlugins/TechnosoftIpos/TechnosoftIposBase.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes