quori_controller::SerialDevice Class Reference

#include <SerialDevice.hpp>

Classes
struct	InitializationInfo

Public Types
typedef std::shared_ptr< const SerialDevice >	ConstPtr
typedef std::shared_ptr< SerialDevice >	Ptr

Public Member Functions
void	attachSetPositionsCsv (const Csv::Ptr &csv)
Csv::Ptr	detachSetPositionsCsv ()
const std::string &	getName () const
void	getState (quori::message::States &states)
InitializationInfo	initialize ()
void	set (const double *const positions, const double *const velocities, const std::size_t length)
void	setPositions (const double *const positions, const std::size_t length)
	~SerialDevice ()

Static Public Member Functions
static Ptr	open (boost::asio::io_service &context, const std::string &path)

Private Member Functions
void	read ()
	SerialDevice (boost::asio::posix::stream_descriptor &&fd, const std::string &name)
template<typename T >
size_t	write (const T &msg)

Private Attributes
boost::asio::posix::stream_descriptor	fd_
std::string	name_
std::uint8_t	numJoints_
Csv::Ptr	set_positions_csv_
std::uint8_t *	stateBuffer_
std::size_t	stateBufferSize_
std::vector< std::uint8_t >	unprocessed_

Detailed Description

Definition at line 22 of file SerialDevice.hpp.

Member Typedef Documentation

ConstPtr

typedef std::shared_ptr<const SerialDevice> quori_controller::SerialDevice::ConstPtr

Definition at line 37 of file SerialDevice.hpp.

Ptr

typedef std::shared_ptr<SerialDevice> quori_controller::SerialDevice::Ptr

Definition at line 36 of file SerialDevice.hpp.

Constructor & Destructor Documentation

~SerialDevice()

SerialDevice::~SerialDevice

(

)

Definition at line 30 of file SerialDevice.cpp.

SerialDevice()

SerialDevice::SerialDevice ( boost::asio::posix::stream_descriptor &&  fd, const std::string &  name  )

private

Definition at line 72 of file SerialDevice.cpp.

Member Function Documentation

attachSetPositionsCsv()

void SerialDevice::attachSetPositionsCsv

(

const Csv::Ptr &

csv

)

Definition at line 220 of file SerialDevice.cpp.

detachSetPositionsCsv()

Csv::Ptr SerialDevice::detachSetPositionsCsv

(

)

Definition at line 226 of file SerialDevice.cpp.

getName()

const std::string & SerialDevice::getName

(

)

const

Definition at line 82 of file SerialDevice.cpp.

getState()

void SerialDevice::getState

(

quori::message::States &

states

)

Definition at line 185 of file SerialDevice.cpp.

initialize()

SerialDevice::InitializationInfo SerialDevice::initialize

(

)

Definition at line 87 of file SerialDevice.cpp.

open()

SerialDevice::Ptr SerialDevice::open ( boost::asio::io_service &  context, const std::string &  path  )

static

Definition at line 38 of file SerialDevice.cpp.

read()

void SerialDevice::read ( )

private

Definition at line 203 of file SerialDevice.cpp.

set()

void SerialDevice::set	(	const double *const	positions,
		const double *const	velocities,
		const std::size_t	length
	)

Definition at line 164 of file SerialDevice.cpp.

setPositions()

void SerialDevice::setPositions	(	const double *const	positions,
		const std::size_t	length
	)

Definition at line 134 of file SerialDevice.cpp.

write()

template<typename T >

size_t quori_controller::SerialDevice::write ( const T &  msg )

inlineprivate

Definition at line 61 of file SerialDevice.hpp.

Member Data Documentation

fd_

boost::asio::posix::stream_descriptor quori_controller::SerialDevice::fd_

private

Definition at line 76 of file SerialDevice.hpp.

name_

std::string quori_controller::SerialDevice::name_

private

Definition at line 77 of file SerialDevice.hpp.

numJoints_

std::uint8_t quori_controller::SerialDevice::numJoints_

private

Definition at line 79 of file SerialDevice.hpp.

set_positions_csv_

Csv::Ptr quori_controller::SerialDevice::set_positions_csv_

private

Definition at line 86 of file SerialDevice.hpp.

stateBuffer_

std::uint8_t* quori_controller::SerialDevice::stateBuffer_

private

Definition at line 82 of file SerialDevice.hpp.

stateBufferSize_

std::size_t quori_controller::SerialDevice::stateBufferSize_

private

Definition at line 81 of file SerialDevice.hpp.

unprocessed_

std::vector<std::uint8_t> quori_controller::SerialDevice::unprocessed_

private

Definition at line 84 of file SerialDevice.hpp.

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

• SerialDevice.hpp
• SerialDevice.cpp