rm_hw::CanBus Class Reference

#include <can_bus.h>

Public Member Functions
	CanBus (const std::string &bus_name, CanDataPtr data_ptr, int thread_priority)
	Initialize device at can_device, retry if fail. Set up header of CAN frame. More...
void	read (ros::Time time)
	Read active data from read_buffer_ to data_ptr_, such as position, velocity, torque and so on. Clear read_buffer_ after reading. More...
void	write ()
	Write commands to can bus. More...
void	write (can_frame *frame)

Public Attributes
const std::string	bus_name_

Private Member Functions
void	frameCallback (const can_frame &frame)
	This function will be called when CAN bus receive message. It push frame which received into a vector: read_buffer_. More...

Private Attributes
CanDataPtr	data_ptr_
std::mutex	mutex_
std::vector< CanFrameStamp >	read_buffer_
can_frame	rm_frame0_ {}
can_frame	rm_frame1_ {}
can::SocketCAN	socket_can_

Detailed Description

Definition at line 86 of file can_bus.h.

Constructor & Destructor Documentation

CanBus()

rm_hw::CanBus::CanBus	(	const std::string &	bus_name,
		CanDataPtr	data_ptr,
		int	thread_priority
	)

Initialize device at can_device, retry if fail. Set up header of CAN frame.

Parameters

bus_name	Bus's name(example: can0).
data_ptr	Pointer which point to CAN data.

Definition at line 75 of file can_bus.cpp.

Member Function Documentation

frameCallback()

void rm_hw::CanBus::frameCallback ( const can_frame &  frame )

private

This function will be called when CAN bus receive message. It push frame which received into a vector: read_buffer_.

Parameters

frame

The frame which socketcan receive.

Definition at line 301 of file can_bus.cpp.

read()

void rm_hw::CanBus::read

(

ros::Time

time

)

Read active data from read_buffer_ to data_ptr_, such as position, velocity, torque and so on. Clear read_buffer_ after reading.

Parameters

time	ROS time, but it doesn't be used.

Definition at line 150 of file can_bus.cpp.

write() [1/2]

void rm_hw::CanBus::write

(

)

Write commands to can bus.

Definition at line 90 of file can_bus.cpp.

write() [2/2]

void rm_hw::CanBus::write

(

can_frame *

frame

)

Definition at line 296 of file can_bus.cpp.

Member Data Documentation

bus_name_

const std::string rm_hw::CanBus::bus_name_

Definition at line 109 of file can_bus.h.

data_ptr_

CanDataPtr rm_hw::CanBus::data_ptr_

private

Definition at line 119 of file can_bus.h.

mutex_

std::mutex rm_hw::CanBus::mutex_

mutableprivate

Definition at line 125 of file can_bus.h.

read_buffer_

std::vector<CanFrameStamp> rm_hw::CanBus::read_buffer_

private

Definition at line 120 of file can_bus.h.

rm_frame0_

can_frame rm_hw::CanBus::rm_frame0_ {}

private

Definition at line 122 of file can_bus.h.

rm_frame1_

can_frame rm_hw::CanBus::rm_frame1_ {}

private

Definition at line 123 of file can_bus.h.

socket_can_

can::SocketCAN rm_hw::CanBus::socket_can_

private

Definition at line 118 of file can_bus.h.

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

• can_bus.h
• can_bus.cpp