#include <dxlport_control.h>

Inheritance diagram for DXLPORT_CONTROL:

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

virtual SwitchState	switchResult (const ControllerInfo &) 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

Private Member Functions
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)

bool	check_servo_param (uint8_t dxl_id, uint32_t test_addr, uint8_t equal, uint8_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 { SwitchState::DONE, SwitchState::ONGOING, SwitchState::ERROR }

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,
		uint16_t	equal,
		uint16_t &	read_val
	)

private

Definition at line 588 of file dxlport_control.cpp.

◆ check_servo_param() [2/3]

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 610 of file dxlport_control.cpp.

◆ check_servo_param() [3/3]

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 566 of file dxlport_control.cpp.

◆ get_error()

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

Definition at line 1128 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 633 of file dxlport_control.cpp.

◆ is_change_positions()

bool DXLPORT_CONTROL::is_change_positions ( void )

Definition at line 359 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 266 of file dxlport_control.cpp.

◆ self_check()

std::string DXLPORT_CONTROL::self_check ( void )

Definition at line 694 of file dxlport_control.cpp.

◆ set_gain()

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

Definition at line 385 of file dxlport_control.cpp.

◆ set_gain_all()

void DXLPORT_CONTROL::set_gain_all ( uint16_t gain )

Definition at line 372 of file dxlport_control.cpp.

◆ set_goal_current()

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

Definition at line 414 of file dxlport_control.cpp.

◆ set_goal_current_all()

void DXLPORT_CONTROL::set_goal_current_all ( uint16_t current )

Definition at line 401 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 984 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 766 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 795 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 853 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 882 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 824 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 1068 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 1058 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 911 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 1013 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 940 of file dxlport_control.cpp.

◆ set_torque()

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

Definition at line 430 of file dxlport_control.cpp.

◆ set_torque_all()

void DXLPORT_CONTROL::set_torque_all ( bool torque )

Definition at line 454 of file dxlport_control.cpp.

◆ set_watchdog()

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

Definition at line 463 of file dxlport_control.cpp.

◆ set_watchdog_all()

void DXLPORT_CONTROL::set_watchdog_all ( uint8_t value )

Definition at line 482 of file dxlport_control.cpp.

◆ setup_indirect()

bool DXLPORT_CONTROL::setup_indirect ( uint8_t dxl_id )

Definition at line 1138 of file dxlport_control.cpp.

◆ startup_motion()

void DXLPORT_CONTROL::startup_motion ( void )

Definition at line 490 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 285 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:

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DXLPORT_CONTROL()

◆ ~DXLPORT_CONTROL()

Member Function Documentation

◆ check_servo_param() [1/3]

◆ check_servo_param() [2/3]

◆ check_servo_param() [3/3]

◆ get_error()

◆ get_init_stat()

◆ get_joint_num()

◆ getDuration()

◆ getTime()

◆ init_joint_params()

◆ is_change_positions()

◆ lock_port()

◆ read()

◆ readCurrent()

◆ readId()

◆ readPos()

◆ readTemp()

◆ readVel()

◆ self_check()

◆ set_gain()

◆ set_gain_all()

◆ set_goal_current()

◆ set_goal_current_all()

◆ set_param_current_limit()

◆ set_param_delay_time()

◆ set_param_drive_mode()

◆ set_param_home_offset()

◆ set_param_moving_threshold()

◆ set_param_ope_mode()

◆ set_param_pos_gain()

◆ set_param_pos_gain_all()

◆ set_param_temp_limit()

◆ set_param_vel_gain()

◆ set_param_vol_limit()

◆ set_torque()

◆ set_torque_all()

◆ set_watchdog()

◆ set_watchdog_all()

◆ setup_indirect()

◆ startup_motion()

◆ unlock_port()

◆ write()

Member Data Documentation

◆ dev_mtx

◆ error_queue

◆ init_stat

◆ joint_eff_if

◆ joint_limits_if

◆ joint_num

◆ joint_pos_if

◆ joint_stat_if

◆ joints

◆ packetHandler

◆ port_stat

◆ portHandler

◆ readIndirectGroup

◆ readTempGroup

◆ rx_err

◆ tempCount

◆ tempTime

◆ tx_err

◆ writeGoalGroup

◆ writePosGoalGroup