Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
DXLPORT_CONTROL Class Reference

#include <dxlport_control.h>

Inheritance diagram for DXLPORT_CONTROL:
Inheritance graph
[legend]

Public Member Functions

 DXLPORT_CONTROL (ros::NodeHandle handle, CONTROL_SETTING &setting)
 
std::string::size_type get_error (std::string &errorlog)
 
bool get_init_stat (void)
 
uint8_t get_joint_num (void)
 
ros::Duration getDuration (ros::Time t) const
 
ros::Time getTime () const
 
void init_joint_params (ST_JOINT_PARAM &param, int table_id, int value)
 
bool is_change_positions (void)
 
void lock_port (void)
 
bool read (ros::Time, ros::Duration)
 
bool readCurrent (ros::Time, ros::Duration)
 
bool readId (ros::Time, ros::Duration)
 
bool readPos (ros::Time, ros::Duration)
 
bool readTemp (ros::Time, ros::Duration)
 
bool readVel (ros::Time, ros::Duration)
 
std::string self_check (void)
 
void set_gain (uint8_t dxl_id, uint16_t gain)
 
void set_gain_all (uint16_t gain)
 
void set_goal_current (uint8_t dxl_id, uint16_t current)
 
void set_goal_current_all (uint16_t current)
 
void set_param_current_limit (uint8_t dxl_id, int val)
 
void set_param_delay_time (uint8_t dxl_id, int val)
 
void set_param_drive_mode (uint8_t dxl_id, int val)
 
void set_param_home_offset (uint8_t dxl_id, int val)
 
void set_param_moving_threshold (uint8_t dxl_id, int val)
 
void set_param_ope_mode (uint8_t dxl_id, int val)
 
void set_param_pos_gain (uint8_t dxl_id, int p, int i, int d)
 
void set_param_pos_gain_all (int p, int i, int d)
 
void set_param_temp_limit (uint8_t dxl_id, int val)
 
void set_param_vel_gain (uint8_t dxl_id, int p, int i)
 
void set_param_vol_limit (uint8_t dxl_id, int max, int min)
 
bool set_torque (uint8_t dxl_id, bool torque)
 
void set_torque_all (bool torque)
 
void set_watchdog (uint8_t dxl_id, uint8_t value)
 
void set_watchdog_all (uint8_t value)
 
bool setup_indirect (uint8_t dxl_id)
 
void startup_motion (void)
 
void unlock_port (void)
 
void write (ros::Time, ros::Duration)
 
 ~DXLPORT_CONTROL ()
 
- Public Member Functions inherited from hardware_interface::RobotHW
virtual bool checkForConflict (const std::list< ControllerInfo > &info) const
 
virtual bool checkForConflict (const std::list< ControllerInfo > &info) const
 
virtual void doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
 
virtual bool init (ros::NodeHandle &, ros::NodeHandle &)
 
virtual bool prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
 
virtual void read (const ros::Time &, const ros::Duration &)
 
virtual void read (const ros::Time &, const ros::Duration &)
 
virtual SwitchState switchResult (const ControllerInfo &) const
 
virtual SwitchState switchResult () const
 
virtual void write (const ros::Time &, const ros::Duration &)
 
virtual void write (const ros::Time &, const ros::Duration &)
 
virtual ~RobotHW ()=default
 
- Public Member Functions inherited from hardware_interface::InterfaceManager
T * get ()
 
std::vector< std::string > getInterfaceResources (std::string iface_type) const
 
std::vector< std::string > getNames () const
 
void registerInterface (T *iface)
 
void registerInterfaceManager (InterfaceManager *iface_man)
 

Public Attributes

std::vector< JOINT_CONTROL > joints
 
uint32_t tempCount
 
- Public Attributes inherited from hardware_interface::RobotHW
 DONE
 
 ERROR
 
 ONGOING
 

Private Member Functions

bool check_servo_param (uint8_t dxl_id, uint32_t test_addr, uint8_t equal, uint8_t &read_val)
 
bool check_servo_param (uint8_t dxl_id, uint32_t test_addr, uint16_t equal, uint16_t &read_val)
 
bool check_servo_param (uint8_t dxl_id, uint32_t test_addr, uint32_t equal, uint32_t &read_val)
 

Private Attributes

DEVICE_MUTEX * dev_mtx
 
std::queue< std::string > error_queue
 
bool init_stat
 
hardware_interface::EffortJointInterface joint_eff_if
 
joint_limits_interface::PositionJointSoftLimitsInterface joint_limits_if
 
uint8_t joint_num
 
hardware_interface::PositionJointInterface joint_pos_if
 
hardware_interface::JointStateInterface joint_stat_if
 
dynamixel::PacketHandler * packetHandler
 
bool port_stat
 
dynamixel::PortHandler * portHandler
 
dynamixel::GroupBulkRead * readIndirectGroup
 
dynamixel::GroupBulkRead * readTempGroup
 
uint32_t rx_err
 
ros::Time tempTime
 
uint32_t tx_err
 
dynamixel::GroupBulkWrite * writeGoalGroup
 
dynamixel::GroupBulkWrite * writePosGoalGroup
 

Additional Inherited Members

- Public Types inherited from hardware_interface::RobotHW
enum  SwitchState
 
- Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager *> InterfaceManagerVector
 
typedef std::map< std::string, void *> InterfaceMap
 
typedef std::map< std::string, std::vector< std::string > > ResourceMap
 
typedef std::map< std::string, size_t > SizeMap
 
- Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase *> interface_destruction_list_
 
InterfaceManagerVector interface_managers_
 
InterfaceMap interfaces_
 
InterfaceMap interfaces_combo_
 
SizeMap num_ifaces_registered_
 
ResourceMap resources_
 

Detailed Description

Definition at line 31 of file dxlport_control.h.

Constructor & Destructor Documentation

◆ DXLPORT_CONTROL()

DXLPORT_CONTROL::DXLPORT_CONTROL ( ros::NodeHandle  handle,
CONTROL_SETTING &  setting 
)

Definition at line 15 of file dxlport_control.cpp.

◆ ~DXLPORT_CONTROL()

DXLPORT_CONTROL::~DXLPORT_CONTROL ( )

Definition at line 145 of file dxlport_control.cpp.

Member Function Documentation

◆ check_servo_param() [1/3]

bool DXLPORT_CONTROL::check_servo_param ( uint8_t  dxl_id,
uint32_t  test_addr,
uint8_t  equal,
uint8_t &  read_val 
)
private

Definition at line 565 of file dxlport_control.cpp.

◆ check_servo_param() [2/3]

bool DXLPORT_CONTROL::check_servo_param ( uint8_t  dxl_id,
uint32_t  test_addr,
uint16_t  equal,
uint16_t &  read_val 
)
private

Definition at line 587 of file dxlport_control.cpp.

◆ check_servo_param() [3/3]

bool DXLPORT_CONTROL::check_servo_param ( uint8_t  dxl_id,
uint32_t  test_addr,
uint32_t  equal,
uint32_t &  read_val 
)
private

Definition at line 609 of file dxlport_control.cpp.

◆ get_error()

std::string::size_type DXLPORT_CONTROL::get_error ( std::string &  errorlog)

Definition at line 1127 of file dxlport_control.cpp.

◆ get_init_stat()

bool DXLPORT_CONTROL::get_init_stat ( void  )
inline

Definition at line 54 of file dxlport_control.h.

◆ get_joint_num()

uint8_t DXLPORT_CONTROL::get_joint_num ( void  )
inline

Definition at line 55 of file dxlport_control.h.

◆ getDuration()

ros::Duration DXLPORT_CONTROL::getDuration ( ros::Time  t) const
inline

Definition at line 37 of file dxlport_control.h.

◆ getTime()

ros::Time DXLPORT_CONTROL::getTime ( ) const
inline

Definition at line 36 of file dxlport_control.h.

◆ init_joint_params()

void DXLPORT_CONTROL::init_joint_params ( ST_JOINT_PARAM &  param,
int  table_id,
int  value 
)

Definition at line 632 of file dxlport_control.cpp.

◆ is_change_positions()

bool DXLPORT_CONTROL::is_change_positions ( void  )

Definition at line 358 of file dxlport_control.cpp.

◆ lock_port()

void DXLPORT_CONTROL::lock_port ( void  )
inline

Definition at line 72 of file dxlport_control.h.

◆ read()

bool DXLPORT_CONTROL::read ( ros::Time  time,
ros::Duration  period 
)

Definition at line 156 of file dxlport_control.cpp.

◆ readCurrent()

bool DXLPORT_CONTROL::readCurrent ( ros::Time  time,
ros::Duration  period 
)

Definition at line 223 of file dxlport_control.cpp.

◆ readId()

bool DXLPORT_CONTROL::readId ( ros::Time  time,
ros::Duration  period 
)

Definition at line 177 of file dxlport_control.cpp.

◆ readPos()

bool DXLPORT_CONTROL::readPos ( ros::Time  time,
ros::Duration  period 
)

Definition at line 201 of file dxlport_control.cpp.

◆ readTemp()

bool DXLPORT_CONTROL::readTemp ( ros::Time  time,
ros::Duration  period 
)

Definition at line 245 of file dxlport_control.cpp.

◆ readVel()

bool DXLPORT_CONTROL::readVel ( ros::Time  time,
ros::Duration  period 
)

Definition at line 265 of file dxlport_control.cpp.

◆ self_check()

std::string DXLPORT_CONTROL::self_check ( void  )

Definition at line 693 of file dxlport_control.cpp.

◆ set_gain()

void DXLPORT_CONTROL::set_gain ( uint8_t  dxl_id,
uint16_t  gain 
)

Definition at line 384 of file dxlport_control.cpp.

◆ set_gain_all()

void DXLPORT_CONTROL::set_gain_all ( uint16_t  gain)

Definition at line 371 of file dxlport_control.cpp.

◆ set_goal_current()

void DXLPORT_CONTROL::set_goal_current ( uint8_t  dxl_id,
uint16_t  current 
)

Definition at line 413 of file dxlport_control.cpp.

◆ set_goal_current_all()

void DXLPORT_CONTROL::set_goal_current_all ( uint16_t  current)

Definition at line 400 of file dxlport_control.cpp.

◆ set_param_current_limit()

void DXLPORT_CONTROL::set_param_current_limit ( uint8_t  dxl_id,
int  val 
)

Definition at line 983 of file dxlport_control.cpp.

◆ set_param_delay_time()

void DXLPORT_CONTROL::set_param_delay_time ( uint8_t  dxl_id,
int  val 
)

Definition at line 765 of file dxlport_control.cpp.

◆ set_param_drive_mode()

void DXLPORT_CONTROL::set_param_drive_mode ( uint8_t  dxl_id,
int  val 
)

Definition at line 794 of file dxlport_control.cpp.

◆ set_param_home_offset()

void DXLPORT_CONTROL::set_param_home_offset ( uint8_t  dxl_id,
int  val 
)

Definition at line 852 of file dxlport_control.cpp.

◆ set_param_moving_threshold()

void DXLPORT_CONTROL::set_param_moving_threshold ( uint8_t  dxl_id,
int  val 
)

Definition at line 881 of file dxlport_control.cpp.

◆ set_param_ope_mode()

void DXLPORT_CONTROL::set_param_ope_mode ( uint8_t  dxl_id,
int  val 
)

Definition at line 823 of file dxlport_control.cpp.

◆ set_param_pos_gain()

void DXLPORT_CONTROL::set_param_pos_gain ( uint8_t  dxl_id,
int  p,
int  i,
int  d 
)

Definition at line 1067 of file dxlport_control.cpp.

◆ set_param_pos_gain_all()

void DXLPORT_CONTROL::set_param_pos_gain_all ( int  p,
int  i,
int  d 
)

Definition at line 1057 of file dxlport_control.cpp.

◆ set_param_temp_limit()

void DXLPORT_CONTROL::set_param_temp_limit ( uint8_t  dxl_id,
int  val 
)

Definition at line 910 of file dxlport_control.cpp.

◆ set_param_vel_gain()

void DXLPORT_CONTROL::set_param_vel_gain ( uint8_t  dxl_id,
int  p,
int  i 
)

Definition at line 1012 of file dxlport_control.cpp.

◆ set_param_vol_limit()

void DXLPORT_CONTROL::set_param_vol_limit ( uint8_t  dxl_id,
int  max,
int  min 
)

Definition at line 939 of file dxlport_control.cpp.

◆ set_torque()

bool DXLPORT_CONTROL::set_torque ( uint8_t  dxl_id,
bool  torque 
)

Definition at line 429 of file dxlport_control.cpp.

◆ set_torque_all()

void DXLPORT_CONTROL::set_torque_all ( bool  torque)

Definition at line 453 of file dxlport_control.cpp.

◆ set_watchdog()

void DXLPORT_CONTROL::set_watchdog ( uint8_t  dxl_id,
uint8_t  value 
)

Definition at line 462 of file dxlport_control.cpp.

◆ set_watchdog_all()

void DXLPORT_CONTROL::set_watchdog_all ( uint8_t  value)

Definition at line 481 of file dxlport_control.cpp.

◆ setup_indirect()

bool DXLPORT_CONTROL::setup_indirect ( uint8_t  dxl_id)

Definition at line 1137 of file dxlport_control.cpp.

◆ startup_motion()

void DXLPORT_CONTROL::startup_motion ( void  )

Definition at line 489 of file dxlport_control.cpp.

◆ unlock_port()

void DXLPORT_CONTROL::unlock_port ( void  )
inline

Definition at line 73 of file dxlport_control.h.

◆ write()

void DXLPORT_CONTROL::write ( ros::Time  time,
ros::Duration  period 
)

Definition at line 284 of file dxlport_control.cpp.

Member Data Documentation

◆ dev_mtx

DEVICE_MUTEX* DXLPORT_CONTROL::dev_mtx
private

Definition at line 99 of file dxlport_control.h.

◆ error_queue

std::queue<std::string> DXLPORT_CONTROL::error_queue
private

Definition at line 100 of file dxlport_control.h.

◆ init_stat

bool DXLPORT_CONTROL::init_stat
private

Definition at line 94 of file dxlport_control.h.

◆ joint_eff_if

hardware_interface::EffortJointInterface DXLPORT_CONTROL::joint_eff_if
private

Definition at line 87 of file dxlport_control.h.

◆ joint_limits_if

joint_limits_interface::PositionJointSoftLimitsInterface DXLPORT_CONTROL::joint_limits_if
private

Definition at line 88 of file dxlport_control.h.

◆ joint_num

uint8_t DXLPORT_CONTROL::joint_num
private

Definition at line 81 of file dxlport_control.h.

◆ joint_pos_if

hardware_interface::PositionJointInterface DXLPORT_CONTROL::joint_pos_if
private

Definition at line 86 of file dxlport_control.h.

◆ joint_stat_if

hardware_interface::JointStateInterface DXLPORT_CONTROL::joint_stat_if
private

Definition at line 85 of file dxlport_control.h.

◆ joints

std::vector<JOINT_CONTROL> DXLPORT_CONTROL::joints

Definition at line 78 of file dxlport_control.h.

◆ packetHandler

dynamixel::PacketHandler* DXLPORT_CONTROL::packetHandler
private

Definition at line 83 of file dxlport_control.h.

◆ port_stat

bool DXLPORT_CONTROL::port_stat
private

Definition at line 82 of file dxlport_control.h.

◆ portHandler

dynamixel::PortHandler* DXLPORT_CONTROL::portHandler
private

Definition at line 84 of file dxlport_control.h.

◆ readIndirectGroup

dynamixel::GroupBulkRead* DXLPORT_CONTROL::readIndirectGroup
private

Definition at line 90 of file dxlport_control.h.

◆ readTempGroup

dynamixel::GroupBulkRead* DXLPORT_CONTROL::readTempGroup
private

Definition at line 89 of file dxlport_control.h.

◆ rx_err

uint32_t DXLPORT_CONTROL::rx_err
private

Definition at line 95 of file dxlport_control.h.

◆ tempCount

uint32_t DXLPORT_CONTROL::tempCount

Definition at line 77 of file dxlport_control.h.

◆ tempTime

ros::Time DXLPORT_CONTROL::tempTime
private

Definition at line 97 of file dxlport_control.h.

◆ tx_err

uint32_t DXLPORT_CONTROL::tx_err
private

Definition at line 96 of file dxlport_control.h.

◆ writeGoalGroup

dynamixel::GroupBulkWrite* DXLPORT_CONTROL::writeGoalGroup
private

Definition at line 91 of file dxlport_control.h.

◆ writePosGoalGroup

dynamixel::GroupBulkWrite* DXLPORT_CONTROL::writePosGoalGroup
private

Definition at line 92 of file dxlport_control.h.

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

sciurus17_control
Author(s): Hiroyuki Nomura
autogenerated on Sun Oct 2 2022 02:21:42