#include <list>#include "yarp/dev/CanBusInterface.h"
Include dependency graph for canControlUtils.h:
This graph shows which files directly or indirectly include this file:
Go to the source code of this file.
Classes | |
| struct | ThreadId |
| class | ThreadFifo |
| struct | CanRequest |
| class | RequestsQueue |
Functions | |
| int | getRcp (const yarp::dev::CanMessage &m) |
| Extract least significative 4 bits, from the id of a can msg. More... | |
| int | getSender (const yarp::dev::CanMessage &m) |
| Extract most significative 4 bits of the least significative byte from the id of a can msg. More... | |
| int | getClass (const yarp::dev::CanMessage &m) |
| Extract message class, three bit least significative of the first byte of the message ID. More... | |
| unsigned char | getMessageType (const yarp::dev::CanMessage &m) |
| Extract 7 lsb of first byte; this is the message type in our protocol. More... | |
| int | getJoint (const yarp::dev::CanMessage &m, const unsigned char *invM) |
| Extract the joint number to which a RECEIVED message is referring to. More... | |
| template<class T > | |
| long | getRcp (const T &m) |
| Extract least significative 4 bits, from the id of a can msg. More... | |
| template<class T > | |
| long | getSender (const T &m) |
| Extract most significative 4 bits of the least significative byte from the id of a can msg. More... | |
| template<class T > | |
| long | getClass (const T &m) |
| Extract message class, three bit least significative of the first byte of the message ID. More... | |
| template<class T > | |
| unsigned char | getMessageType (const T &m) |
| Extract 7 lsb of first byte; this is the message type in our protocol. More... | |
| template<class T > | |
| int | getJoint (const T &m, const unsigned char *invM) |
| Extract the joint number to which a RECEIVED message is referring to. More... | |
| void | DEBUG_FUNC (const char *fmt,...) |
Variables | |
| const int | DEBUG_PRINTF_BUFFER_LENGTH =255 |
Function Documentation
◆ DEBUG_FUNC()
|
inline |
Definition at line 134 of file canControlUtils.h.
◆ getClass() [1/2]
| long getClass | ( | const T & | m | ) |
Extract message class, three bit least significative of the first byte of the message ID.
Message id: 0000 0CCC SSSS RRRR
Definition at line 105 of file canControlUtils.h.
◆ getClass() [2/2]
|
inline |
Extract message class, three bit least significative of the first byte of the message ID.
Message id: 0000 0CCC SSSS RRRR
Definition at line 52 of file canControlUtils.h.
◆ getJoint() [1/2]
| int getJoint | ( | const T & | m, |
| const unsigned char * | invM | ||
| ) |
Extract the joint number to which a RECEIVED message is referring to.
This is the conversion message -> joint (uses can id and first bit of first data byte in the can message)
Definition at line 125 of file canControlUtils.h.
◆ getJoint() [2/2]
|
inline |
Extract the joint number to which a RECEIVED message is referring to.
This is the conversion message -> joint (uses can id and first bit of first data byte in the can message)
Definition at line 70 of file canControlUtils.h.
◆ getMessageType() [1/2]
| unsigned char getMessageType | ( | const T & | m | ) |
Extract 7 lsb of first byte; this is the message type in our protocol.
Definition at line 114 of file canControlUtils.h.
◆ getMessageType() [2/2]
|
inline |
Extract 7 lsb of first byte; this is the message type in our protocol.
Definition at line 60 of file canControlUtils.h.
◆ getRcp() [1/2]
| long getRcp | ( | const T & | m | ) |
Extract least significative 4 bits, from the id of a can msg.
In our protocol this is the recipient of a message. Message id: 0000 0XXX SSSS RRRR
Definition at line 84 of file canControlUtils.h.
◆ getRcp() [2/2]
|
inline |
Extract least significative 4 bits, from the id of a can msg.
In our protocol this is the recipient of a message. Message id: 0000 0XXX SSSS RRRR
Definition at line 33 of file canControlUtils.h.
◆ getSender() [1/2]
| long getSender | ( | const T & | m | ) |
Extract most significative 4 bits of the least significative byte from the id of a can msg.
Message id: 0000 0XXX SSSS RRRR In our protocol this is the sender of a message
Definition at line 95 of file canControlUtils.h.
◆ getSender() [2/2]
|
inline |
Extract most significative 4 bits of the least significative byte from the id of a can msg.
Message id: 0000 0XXX SSSS RRRR In our protocol this is the sender of a message
Definition at line 43 of file canControlUtils.h.
Variable Documentation
◆ DEBUG_PRINTF_BUFFER_LENGTH
| const int DEBUG_PRINTF_BUFFER_LENGTH =255 |
Definition at line 132 of file canControlUtils.h.
