Defines | Functions | Variables
iob.cpp File Reference
#include <cstdio>
#include <dlfcn.h>
#include <unistd.h>
#include <pthread.h>
#include <hrpsys/io/iob.h>
#include <nextage-open.hpp>
Include dependency graph for iob.cpp:

Go to the source code of this file.

Defines

#define CHECK_JOINT_ID(id)   if((id) < 0 || (id) >= number_of_joints()) return E_ID
#define CHECK_JOINT_ID_DOF(id)   if((id) < 0 || (id) >= DOF) return E_ID
#define JID_INVALID   -2

Functions

int close_iob (void)
long get_signal_period ()
 get the period of signals issued by wait_for_iob_signal()
int initializeJointAngle (const char *name, const char *option)
int length_digital_input ()
int length_digital_output ()
size_t length_of_extra_servo_state (int id)
int lock_iob ()
int number_of_accelerometers ()
int number_of_attitude_sensors ()
int number_of_force_sensors ()
int number_of_gyro_sensors ()
int number_of_joints ()
int number_of_substeps ()
int open_iob (void)
int read_accelerometer (int id, double *accels)
int read_accelerometer_offset (int id, double *offset)
int read_actual_angle (int id, double *angle)
int read_actual_angles (double *angles)
int read_actual_torque (int id, double *angle)
int read_actual_torques (double *torques)
int read_actual_velocities (double *vels)
int read_actual_velocity (int id, double *vel)
int read_angle_offset (int id, double *angle)
int read_attitude_sensor (int id, double *att)
int read_calib_state (int id, int *s)
int read_command_angle (int id, double *angle)
int read_command_angles (double *angles)
int read_command_torque (int id, double *torque)
int read_command_torques (double *torques)
int read_command_velocities (double *vels)
int read_command_velocity (int id, double *vel)
int read_control_mode (int id, joint_control_mode *s)
int read_dgain (int id, double *gain)
int read_digital_input (char *dIn)
int read_digital_output (char *doutput)
int read_driver_temperature (int id, unsigned char *v)
int read_extra_servo_state (int id, int *state)
int read_force_offset (int id, double *offsets)
int read_force_sensor (int id, double *forces)
int read_gyro_sensor (int id, double *rates)
int read_gyro_sensor_offset (int id, double *offset)
unsigned long long read_iob_frame ()
int read_lock_owner (pid_t *pid)
int read_pgain (int id, double *gain)
int read_power (double *voltage, double *current)
int read_power_command (int id, int *com)
int read_power_state (int id, int *s)
int read_servo_alarm (int id, int *a)
int read_servo_state (int id, int *s)
int read_temperature (int id, double *v)
int reset_body (void)
int set_number_of_accelerometers (int num)
int set_number_of_force_sensors (int num)
int set_number_of_gyro_sensors (int num)
int set_number_of_joints (int num)
int set_signal_period (long period_ns)
 set the period of signals issued by wait_for_iob_signal()
int unlock_iob ()
int wait_for_iob_signal ()
int write_accelerometer_offset (int id, double *offset)
int write_angle_offset (int id, double angle)
int write_attitude_sensor_offset (int id, double *offset)
int write_command_angle (int id, double angle)
int write_command_angles (const double *angles)
int write_command_torque (int id, double torque)
int write_command_torques (const double *torques)
int write_command_velocities (const double *vels)
int write_command_velocity (int id, double vel)
int write_control_mode (int id, joint_control_mode s)
int write_dgain (int id, double gain)
int write_digital_output (const char *doutput)
int write_digital_output_with_mask (const char *doutput, const char *mask)
int write_force_offset (int id, double *offsets)
int write_gyro_sensor_offset (int id, double *offset)
int write_pgain (int id, double gain)
int write_power_command (int id, int com)
int write_servo (int id, int com)

Variables

static NEXTAGE_OPEN::OpenIFv10nxifv1 = NULL
static pthread_mutex_t openLock = PTHREAD_MUTEX_INITIALIZER

Define Documentation

#define CHECK_JOINT_ID (   id)    if((id) < 0 || (id) >= number_of_joints()) return E_ID

Definition at line 38 of file iob.cpp.

#define CHECK_JOINT_ID_DOF (   id)    if((id) < 0 || (id) >= DOF) return E_ID

Definition at line 39 of file iob.cpp.

#define JID_INVALID   -2

Definition at line 33 of file iob.cpp.


Function Documentation

Definition at line 558 of file iob.cpp.

get the period of signals issued by wait_for_iob_signal()

Returns:
the period of signals[ns]

Definition at line 662 of file iob.cpp.

int initializeJointAngle ( const char *  name,
const char *  option 
)

Definition at line 681 of file iob.cpp.

Definition at line 697 of file iob.cpp.

Definition at line 721 of file iob.cpp.

Definition at line 388 of file iob.cpp.

Definition at line 587 of file iob.cpp.

Definition at line 85 of file iob.cpp.

Definition at line 99 of file iob.cpp.

Definition at line 57 of file iob.cpp.

Definition at line 71 of file iob.cpp.

Definition at line 43 of file iob.cpp.

Definition at line 629 of file iob.cpp.

int open_iob ( void  )

Definition at line 501 of file iob.cpp.

int read_accelerometer ( int  id,
double *  accels 
)

Definition at line 446 of file iob.cpp.

int read_accelerometer_offset ( int  id,
double *  offset 
)

Definition at line 453 of file iob.cpp.

int read_actual_angle ( int  id,
double *  angle 
)

Definition at line 107 of file iob.cpp.

int read_actual_angles ( double *  angles)

Definition at line 117 of file iob.cpp.

int read_actual_torque ( int  id,
double *  angle 
)

Definition at line 207 of file iob.cpp.

int read_actual_torques ( double *  torques)

Definition at line 214 of file iob.cpp.

int read_actual_velocities ( double *  vels)

Definition at line 344 of file iob.cpp.

int read_actual_velocity ( int  id,
double *  vel 
)

Definition at line 318 of file iob.cpp.

int read_angle_offset ( int  id,
double *  angle 
)

Definition at line 127 of file iob.cpp.

int read_attitude_sensor ( int  id,
double *  att 
)

Definition at line 467 of file iob.cpp.

int read_calib_state ( int  id,
int s 
)

Definition at line 378 of file iob.cpp.

int read_command_angle ( int  id,
double *  angle 
)

Definition at line 248 of file iob.cpp.

int read_command_angles ( double *  angles)

Definition at line 258 of file iob.cpp.

int read_command_torque ( int  id,
double *  torque 
)

Definition at line 221 of file iob.cpp.

int read_command_torques ( double *  torques)

Definition at line 235 of file iob.cpp.

int read_command_velocities ( double *  vels)

Definition at line 339 of file iob.cpp.

int read_command_velocity ( int  id,
double *  vel 
)

Definition at line 325 of file iob.cpp.

Definition at line 193 of file iob.cpp.

int read_dgain ( int  id,
double *  gain 
)

Definition at line 302 of file iob.cpp.

int read_digital_input ( char *  dIn)

Definition at line 689 of file iob.cpp.

int read_digital_output ( char *  doutput)

Definition at line 729 of file iob.cpp.

int read_driver_temperature ( int  id,
unsigned char *  v 
)

Definition at line 368 of file iob.cpp.

int read_extra_servo_state ( int  id,
int state 
)

Definition at line 395 of file iob.cpp.

int read_force_offset ( int  id,
double *  offsets 
)

Definition at line 409 of file iob.cpp.

int read_force_sensor ( int  id,
double *  forces 
)

Definition at line 402 of file iob.cpp.

int read_gyro_sensor ( int  id,
double *  rates 
)

Definition at line 424 of file iob.cpp.

int read_gyro_sensor_offset ( int  id,
double *  offset 
)

Definition at line 431 of file iob.cpp.

unsigned long long read_iob_frame ( )

Definition at line 618 of file iob.cpp.

Definition at line 607 of file iob.cpp.

int read_pgain ( int  id,
double *  gain 
)

Definition at line 288 of file iob.cpp.

int read_power ( double *  voltage,
double *  current 
)

Definition at line 481 of file iob.cpp.

int read_power_command ( int  id,
int com 
)

Definition at line 163 of file iob.cpp.

int read_power_state ( int  id,
int s 
)

Definition at line 143 of file iob.cpp.

int read_servo_alarm ( int  id,
int a 
)

Definition at line 183 of file iob.cpp.

int read_servo_state ( int  id,
int s 
)

Definition at line 173 of file iob.cpp.

int read_temperature ( int  id,
double *  v 
)

Definition at line 492 of file iob.cpp.

Definition at line 578 of file iob.cpp.

Definition at line 92 of file iob.cpp.

Definition at line 64 of file iob.cpp.

Definition at line 78 of file iob.cpp.

Definition at line 50 of file iob.cpp.

int set_signal_period ( long  period_ns)

set the period of signals issued by wait_for_iob_signal()

Parameters:
period_nsthe period of signals[ns]
Returns:
TRUE if set successfully, FALSE otherwise

Definition at line 653 of file iob.cpp.

Definition at line 598 of file iob.cpp.

Definition at line 640 of file iob.cpp.

int write_accelerometer_offset ( int  id,
double *  offset 
)

Definition at line 460 of file iob.cpp.

int write_angle_offset ( int  id,
double  angle 
)

Definition at line 134 of file iob.cpp.

int write_attitude_sensor_offset ( int  id,
double *  offset 
)

Definition at line 474 of file iob.cpp.

int write_command_angle ( int  id,
double  angle 
)

Definition at line 268 of file iob.cpp.

int write_command_angles ( const double *  angles)

Definition at line 278 of file iob.cpp.

int write_command_torque ( int  id,
double  torque 
)

Definition at line 228 of file iob.cpp.

int write_command_torques ( const double *  torques)

Definition at line 240 of file iob.cpp.

int write_command_velocities ( const double *  vels)

Definition at line 351 of file iob.cpp.

int write_command_velocity ( int  id,
double  vel 
)

Definition at line 332 of file iob.cpp.

Definition at line 200 of file iob.cpp.

int write_dgain ( int  id,
double  gain 
)

Definition at line 310 of file iob.cpp.

int write_digital_output ( const char *  doutput)

Definition at line 705 of file iob.cpp.

int write_digital_output_with_mask ( const char *  doutput,
const char *  mask 
)

Definition at line 713 of file iob.cpp.

int write_force_offset ( int  id,
double *  offsets 
)

Definition at line 416 of file iob.cpp.

int write_gyro_sensor_offset ( int  id,
double *  offset 
)

Definition at line 438 of file iob.cpp.

int write_pgain ( int  id,
double  gain 
)

Definition at line 295 of file iob.cpp.

int write_power_command ( int  id,
int  com 
)

Definition at line 153 of file iob.cpp.

int write_servo ( int  id,
int  com 
)

Definition at line 358 of file iob.cpp.


Variable Documentation

NEXTAGE_OPEN::OpenIFv10* nxifv1 = NULL [static]

Definition at line 36 of file iob.cpp.

pthread_mutex_t openLock = PTHREAD_MUTEX_INITIALIZER [static]

Definition at line 498 of file iob.cpp.



hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Thu Feb 21 2019 03:42:37