#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::OpenIFv10 * | nxifv1 = 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 |
| #define CHECK_JOINT_ID_DOF | ( | id | ) | if((id) < 0 || (id) >= DOF) return E_ID |
| #define JID_INVALID -2 |
Function Documentation
| long get_signal_period | ( | ) |
get the period of signals issued by wait_for_iob_signal()
- Returns:
- the period of signals[ns]
| 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 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 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()
- Parameters:
-
period_ns the period of signals[ns]
- Returns:
- TRUE if set successfully, FALSE otherwise
| 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 | ||
| ) |
Variable Documentation
NEXTAGE_OPEN::OpenIFv10* nxifv1 = NULL [static] |
pthread_mutex_t openLock = PTHREAD_MUTEX_INITIALIZER [static] |