#include <caster_hardware_socketcan.h>

Inheritance diagram for iqr::CasterHardware:

Classes
struct	Joint

struct	MotorStatus

Public Types
enum	MotorIndex { kLeftMotor = 0x00, kRightMotor = 0x01 }

enum	RoboteqCanOpenObjectDictionary { kSetVelocity = 0x2002, kSetBLCounter = 0x2004, kSetIndividualDO = 0x2009, kResetIndividualDO = 0x200A, kReadMotorAmps = 0x2100, kReadAbsBLCounter = 0x2105, kReadBLMotorRPM = 0x210A, kReadStatusFlags = 0x2111, kReadFaultFlags = 0x2112, kReadMotorStatusFlags = 0x2122 }

enum	RoboteqClientCommandType { kCommand = 0x02, kQuery = 0x04, kResponseCommandSuccess = 0x06, kResponseMessageError = 0x08 }

Public Member Functions
	CasterHardware ()

void	Clear ()

bool	Connect ()

void	Initialize (std::string node_name, ros::NodeHandle &nh, ros::NodeHandle &private_nh)

void	UpdateHardwareStatus ()

void	WriteCommandsToHardware ()

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 void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

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)

Private Member Functions
void	CanReceiveCallback (const can_msgs::Frame::ConstPtr &msg)

bool	Command (RoboteqCanOpenObjectDictionary query, uint8_t sub_index, uint32_t data, uint8_t data_length)

void	ControllerCheck (diagnostic_updater::DiagnosticStatusWrapper &status)

void	ControllerTimerCallback (const ros::TimerEvent &)

void	LeftMotorCheck (diagnostic_updater::DiagnosticStatusWrapper &status)

bool	Query (RoboteqCanOpenObjectDictionary query, uint8_t sub_index, uint8_t data_length)

void	RegisterControlInterfaces ()

void	ResetTravelOffset ()

void	RightMotorCheck (diagnostic_updater::DiagnosticStatusWrapper &status)

void	SendCanOpenData (uint32_t node_id, RoboteqClientCommandType type, RoboteqCanOpenObjectDictionary index, uint8_t sub_index, uint32_t data, uint8_t data_length)

bool	SetDigitalOutputCB (caster_base::SetDigitalOutput::Request &req, caster_base::SetDigitalOutput::Response &res)

void	StatusCheck (diagnostic_updater::DiagnosticStatusWrapper &status)

std::string	ToBinary (size_t data, uint8_t length)

Private Attributes
int	can_id_

ros::Publisher	can_pub_

ros::Subscriber	can_sub_

controller_manager::ControllerManager *	controller_manager_

diagnostic_updater::Updater	diagnostic_updater_

int8_t	fault_flags_

hardware_interface::JointStateInterface	joint_state_interface_

struct iqr::CasterHardware::Joint	joints_ [2]

std::string	left_wheel_joint_

double	max_accel_

double	max_speed_

MotorStatus	motor_status_ [2]

ros::NodeHandle	nh_

std::string	node_name_

ros::NodeHandle	private_nh_

std::string	receive_topic_

std::string	right_wheel_joint_

std::string	send_topic_

ros::ServiceServer	set_io_service_

int8_t	status_flags_

ros::Timer	timer_

hardware_interface::VelocityJointInterface	velocity_joint_interface_

double	wheel_diameter_

Additional Inherited Members
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
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Class representing Caster hardware, allows for ros_control to modify internal state via joint interfaces

Definition at line 35 of file caster_hardware_socketcan.h.

Member Enumeration Documentation

enum iqr::CasterHardware::MotorIndex

Enumerator
kLeftMotor
kRightMotor

Definition at line 47 of file caster_hardware_socketcan.h.

enum iqr::CasterHardware::RoboteqCanOpenObjectDictionary

Enumerator
kSetVelocity
kSetBLCounter
kSetIndividualDO
kResetIndividualDO
kReadMotorAmps
kReadAbsBLCounter
kReadBLMotorRPM
kReadStatusFlags
kReadFaultFlags
kReadMotorStatusFlags

Definition at line 59 of file caster_hardware_socketcan.h.

enum iqr::CasterHardware::RoboteqClientCommandType

Enumerator
kCommand
kQuery
kResponseCommandSuccess
kResponseMessageError

Definition at line 52 of file caster_hardware_socketcan.h.

Constructor & Destructor Documentation

iqr::CasterHardware::CasterHardware ( )

Initialize Caster hardware

Definition at line 12 of file caster_hardware_socketcan.cpp.

Member Function Documentation

void iqr::CasterHardware::CanReceiveCallback ( const can_msgs::Frame::ConstPtr & msg )

private

Definition at line 251 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::Clear ( )

Definition at line 313 of file caster_hardware_socketcan.cpp.

bool iqr::CasterHardware::Command	(	RoboteqCanOpenObjectDictionary	query,
		uint8_t	sub_index,
		uint32_t	data,
		uint8_t	data_length
	)

private

Definition at line 455 of file caster_hardware_socketcan.cpp.

bool iqr::CasterHardware::Connect ( )

void iqr::CasterHardware::ControllerCheck ( diagnostic_updater::DiagnosticStatusWrapper & status )

private

Definition at line 212 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::ControllerTimerCallback ( const ros::TimerEvent & )

private

Definition at line 25 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::Initialize	(	std::string	node_name,
		ros::NodeHandle &	nh,
		ros::NodeHandle &	private_nh
	)

Definition at line 50 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::LeftMotorCheck ( diagnostic_updater::DiagnosticStatusWrapper & status )

private

Definition at line 83 of file caster_hardware_socketcan.cpp.

bool iqr::CasterHardware::Query	(	RoboteqCanOpenObjectDictionary	query,
		uint8_t	sub_index,
		uint8_t	data_length
	)

private

Definition at line 449 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::RegisterControlInterfaces ( )

private

Register interfaces with the RobotHW interface manager, allowing ros_control operation

Definition at line 380 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::ResetTravelOffset ( )

private

Get current encoder travel offsets from MCU and bias future encoder readings against them

Definition at line 373 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::RightMotorCheck ( diagnostic_updater::DiagnosticStatusWrapper & status )

private

Definition at line 124 of file caster_hardware_socketcan.cpp.

void iqr::CasterHardware::SendCanOpenData	(	uint32_t	node_id,
		RoboteqClientCommandType	type,
		RoboteqCanOpenObjectDictionary	index,
		uint8_t	sub_index,
		uint32_t	data,
		uint8_t	data_length
	)