This class wraps the qbrobotics device-independent API to easily use it within the Communication Handler ROS node. More...

#include <qb_device_driver.h>

Public Member Functions
virtual void	activate (comm_settings *file_descriptor, const int &id, bool activate_command)
	Activate (or deactivate, according to the given command) the motors of the device connected to the serial port relative to the given file descriptor. More...

virtual void	close (comm_settings *file_descriptor)
	Close the communication with all the devices connected to the serial port relative to the given file descriptor. More...

virtual int	getCurrents (comm_settings *file_descriptor, const int &id, std::vector< short int > &currents)
	Retrieve the motor currents of the given device. More...

virtual int	getDeviceIds (comm_settings *file_descriptor, std::array< char, 255 > &device_ids)
	Retrieve the list of devices connected to the serial port of the given file descriptor. More...

virtual std::string	getInfo (comm_settings *file_descriptor, const int &id)
	Retrieve the printable configuration setup of the given device. More...

virtual int	getMeasurements (comm_settings *file_descriptor, const int &id, std::vector< short int > &measurements)
	Retrieve the motor positions of the given device. More...

virtual void	getParameters (comm_settings *file_descriptor, const int &id, std::vector< int > &input_mode, std::vector< int > &control_mode, std::vector< int > &resolutions, std::vector< int > &limits)
	Retrieve some of the parameters from the given device. More...

virtual int	getPositions (comm_settings *file_descriptor, const int &id, std::vector< short int > &positions)
	Retrieve the motor positions of the given device. More...

virtual int	getSerialPorts (std::array< char[255], 10 > &serial_ports)
	Retrieve the list of serial ports connected to the system. More...

virtual bool	getStatus (comm_settings *file_descriptor, const int &id, bool &activate_status)
	Retrieve the motor activation status of the given device. More...

virtual bool	getStatus (comm_settings *file_descriptor, const int &id)
	Retrieve the connection status of the given device. More...

virtual void	open (comm_settings *file_descriptor, const std::string &serial_port)
	Open the serial communication on the given serial port. More...

virtual int	setCommandsAndWait (comm_settings *file_descriptor, const int &id, std::vector< short int > &commands)
	Send the reference command to the motors of the given device and wait for acknowledge. More...

virtual int	setCommandsAsync (comm_settings *file_descriptor, const int &id, std::vector< short int > &commands)
	Send the reference command to the motors of the given device in a non-blocking fashion. More...

virtual int	setPID (comm_settings *file_descriptor, const int &id, std::vector< float > &pid)
	Set the position control PID parameters of the given device, temporarily (until power off). More...

Private Member Functions
template<class T >
void	getParameter (const int &parameter_id, unsigned char *parameter_buffer, std::vector< int > &parameter_vector)
	Extract the specified parameter from the given buffer where all the device parameters are stored. More...

template<class T >
void	getParameter (const int &parameter_id, unsigned char *parameter_buffer, std::vector< float > &parameter_vector)
	Extract the specified parameter from the given buffer where all the device parameters are stored. More...

Detailed Description

This class wraps the qbrobotics device-independent API to easily use it within the Communication Handler ROS node.

Definition at line 41 of file qb_device_driver.h.

Member Function Documentation

virtual void qb_device_driver::qbDeviceAPI::activate	(	comm_settings *	file_descriptor,
		const int &	id,
		bool	activate_command
	)

inlinevirtual

Activate (or deactivate, according to the given command) the motors of the device connected to the serial port relative to the given file descriptor.

Do nothing if the file descriptor is wrong or not open.

Parameters

file_descriptor	The file descriptor of the serial port on which the device is connected.
id	The ID of the device to be activated (or deactivated), in range [`1`, `128`].
activate_command	`true` to turn motors on, `false` to turn them off.

See also: getStatus()

Definition at line 51 of file qb_device_driver.h.

virtual void qb_device_driver::qbDeviceAPI::close ( comm_settings * file_descriptor )

inlinevirtual

Close the communication with all the devices connected to the serial port relative to the given file descriptor.

Do nothing if the file descriptor is wrong or not open.

Parameters

file_descriptor The file descriptor of the serial port that has to be closed.

See also: open()

Definition at line 62 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::getCurrents	(	comm_settings *	file_descriptor,
		const int &	id,
		std::vector< short int > &	currents
	)

inlinevirtual

Retrieve the motor currents of the given device.

Parameters

	file_descriptor	The file descriptor of the serial port on which the device is connected.
	id	The ID of the device of interest, in range [`1`, `128`].
[out]	currents	The two-element device motor current vector, expressed in mA: if the device is a qbhand only the first element is filled while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the currents respectively of `motor_1` and `motor_2`.

Returns: 0 on success.

See also: getMeasurements(), getPositions()

Definition at line 76 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::getDeviceIds	(	comm_settings *	file_descriptor,
		std::array< char, 255 > &	device_ids
	)

inlinevirtual

Retrieve the list of devices connected to the serial port of the given file descriptor.

Parameters

file_descriptor	The file descriptor of the serial port to be scanned.
device_ids	The retrieved device ID vector, each in range [`1`, `128`].

Returns: The number of devices connected to the given serial port.

See also: getSerialPorts()

Definition at line 88 of file qb_device_driver.h.

virtual std::string qb_device_driver::qbDeviceAPI::getInfo	(	comm_settings *	file_descriptor,
		const int &	id
	)

inlinevirtual

Retrieve the printable configuration setup of the given device.

Parameters

file_descriptor	The file descriptor of the serial port on which the device is connected.
id	The ID of the device of interest, in range [`1`, `128`].

Returns: The configuration setup formatted as a plain text string (empty string on communication error).

See also: getParameters()

Definition at line 99 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::getMeasurements	(	comm_settings *	file_descriptor,
		const int &	id,
		std::vector< short int > &	measurements
	)

inlinevirtual

Retrieve the motor positions of the given device.

Parameters

	file_descriptor	The file descriptor of the serial port on which the device is connected.
	id	The ID of the device of interest, in range [`1`, `128`].
[out]	measurements	The device measurements vector composed by: The two-element device motor current vector, expressed in mA: if the device is a qbhand only the first element is filled while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the currents respectively of `motor_1` and `motor_2`. The device position vector, expressed in ticks: if the device is a qbhand only the first element is filled while the others remain always `0`; in the case of a qbmove all the elements contain relevant data, i.e. the positions respectively of `motor_1`, `motor_2` and `motor_shaft` (which is not directly actuated).

Returns: 0 on success.

See also: getCurrents(), getPositions()

Definition at line 142 of file qb_device_driver.h.

template<class T >

void qb_device_driver::qbDeviceAPI::getParameter	(	const int &	parameter_id,
		unsigned char *	parameter_buffer,
		std::vector< int > &	parameter_vector
	)

inlineprivate

Extract the specified parameter from the given buffer where all the device parameters are stored.

Template Parameters

T	The data type of the single field of the parameter to be retrieved, e.g. `int32_t`.

Parameters

	parameter_id	The specific value of the parameter to be retrieved, mapped in the device firmware.
[out]	parameter_vector	The vector where the values are stored (note: it is initially cleared).

See also: getParameters()

Definition at line 267 of file qb_device_driver.h.

template<class T >

void qb_device_driver::qbDeviceAPI::getParameter	(	const int &	parameter_id,
		unsigned char *	parameter_buffer,
		std::vector< float > &	parameter_vector
	)

inlineprivate

Extract the specified parameter from the given buffer where all the device parameters are stored.

Template Parameters

T	The data type of the single field of the parameter to be retrieved, e.g. `float`.

Parameters

	parameter_id	The specific value of the parameter to be retrieved, mapped in the device firmware.
[out]	parameter_vector	The vector where the values are stored (note: it is initially cleared).

See also: getParameters()

Definition at line 288 of file qb_device_driver.h.

virtual void qb_device_driver::qbDeviceAPI::getParameters	(	comm_settings *	file_descriptor,
		const int &	id,
		std::vector< int > &	input_mode,
		std::vector< int > &	control_mode,
		std::vector< int > &	resolutions,
		std::vector< int > &	limits
	)

inlinevirtual

Retrieve some of the parameters from the given device.

Parameters

	file_descriptor	The file descriptor of the serial port on which the device is connected.
	id	The ID of the device of interest, in range [`1`, `128`].
[out]	limits	The vector of motor position limits expressed in ticks: two values for each motor, respectively [`lower_limit`, `upper_limit`].
[out]	resolutions	The vector of encoder resolutions, each in range [`0`, `8`]: one value for each encoder (note: the qbmove has also the shaft encoder even if it is not actuated). The word "resolution" could be misunderstood: taken the resolution `r`, is the number of turns of the wire inside the device mechanics. It is used essentially to convert the measured position of the motors in ticks to radians or degrees.

See also: getParameter(), getInfo()

Definition at line 117 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::getPositions	(	comm_settings *	file_descriptor,
		const int &	id,
		std::vector< short int > &	positions
	)

inlinevirtual

Retrieve the motor positions of the given device.

Parameters

	file_descriptor	The file descriptor of the serial port on which the device is connected.
	id	The ID of the device of interest, in range [`1`, `128`].
[out]	positions	The device position vector, expressed in ticks: if the device is a qbhand only the first element is filled while the others remain always `0`; in the case of a qbmove all the elements contain relevant data, i.e. the positions respectively of `motor_1`, `motor_2` and `motor_shaft` (which is not directly actuated).

Returns: The number of positions retrieved, i.e. the number of encoder equipped on the given device.

See also: getMeasurements(), getCurrents()

Definition at line 158 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::getSerialPorts ( std::array< char[255], 10 > & serial_ports )

inlinevirtual

Retrieve the list of serial ports connected to the system.

Each port of the type /dev/ttyUSB* connected to the system is considered a candidate to be scanned for qbrobotics devices.

Parameters

serial_ports The array of serial ports connected to the system.

Returns: The number of serial ports connected to the system.

See also: getDeviceIds()

Definition at line 170 of file qb_device_driver.h.

virtual bool qb_device_driver::qbDeviceAPI::getStatus	(	comm_settings *	file_descriptor,
		const int &	id,
		bool &	activate_status
	)

inlinevirtual

Retrieve the motor activation status of the given device.

Parameters

	file_descriptor	The file descriptor of the serial port on which the device is connected.
	id	The ID of the device of interest, in range [`1`, `128`].
[out]	activate_status	`true` if motors are on, `false` if off.

Returns: true on success.

See also: activate()

Definition at line 182 of file qb_device_driver.h.

virtual bool qb_device_driver::qbDeviceAPI::getStatus	(	comm_settings *	file_descriptor,
		const int &	id
	)

inlinevirtual

Retrieve the connection status of the given device.

Parameters

	file_descriptor	The file descriptor of the serial port on which the device is connected.
	id	The ID of the device of interest, in range [`1`, `128`].
[out]	activate_status	`true` if motors are on, `false` if off.

Returns: true on success.

See also: activate()

Definition at line 197 of file qb_device_driver.h.

virtual void qb_device_driver::qbDeviceAPI::open	(	comm_settings *	file_descriptor,
		const std::string &	serial_port
	)

inlinevirtual

Open the serial communication on the given serial port.

Parameters

[out]	file_descriptor	The structure where the file descriptor has to be stored (filled with `INVALID_HANDLE_VALUE` on error).
	serial_port	The serial port which has to be opened, e.g. `/dev/ttyUSB0`.

See also: close()

Definition at line 209 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::setCommandsAndWait	(	comm_settings *	file_descriptor,
		const int &	id,
		std::vector< short int > &	commands
	)

inlinevirtual

Send the reference command to the motors of the given device and wait for acknowledge.

Parameters

file_descriptor	The file descriptor of the serial port on which the device is connected.
id	The ID of the device of interest, in range [`1`, `128`].
commands	The reference command vector, expressed in ticks: if the device is a qbhand only the first element is meaningful while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the commands respectively of `motor_1` and `motor_2`.

Returns: 0 on success.

See also: setCommandsAsync()

Definition at line 223 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::setCommandsAsync	(	comm_settings *	file_descriptor,
		const int &	id,
		std::vector< short int > &	commands
	)

inlinevirtual

Send the reference command to the motors of the given device in a non-blocking fashion.

Parameters

file_descriptor	The file descriptor of the serial port on which the device is connected.
id	The ID of the device of interest, in range [`1`, `128`].
commands	The reference command vector, expressed in ticks: if the device is a qbhand only the first element is meaningful while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the commands respectively of `motor_1` and `motor_2`.

Returns: Always 0 (note that this is a non reliable method).

See also: setCommandsAndWait()

Definition at line 238 of file qb_device_driver.h.

virtual int qb_device_driver::qbDeviceAPI::setPID	(	comm_settings *	file_descriptor,
		const int &	id,
		std::vector< float > &	pid
	)

inlinevirtual

Set the position control PID parameters of the given device, temporarily (until power off).

Parameters

file_descriptor	The file descriptor of the serial port on which the device is connected.
id	The ID of the device of interest, in range [`1`, `128`].
pid	The three-element [`P`, `I`, `D`] vector of parameters to be set.

Returns: Always 0 (note that this is a non reliable method).

Definition at line 252 of file qb_device_driver.h.

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

qb_device_driver.h

Public Member Functions

Private Member Functions

Detailed Description

Member Function Documentation