canControlUtils.h File Reference

#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.
int	getSender (const yarp::dev::CanMessage &m)
	Extract most significative 4 bits of the least significative byte from the id of a can msg.
int	getClass (const yarp::dev::CanMessage &m)
	Extract message class, three bit least significative of the first byte of the message ID.
unsigned char	getMessageType (const yarp::dev::CanMessage &m)
	Extract 7 lsb of first byte; this is the message type in our protocol.
int	getJoint (const yarp::dev::CanMessage &m, const unsigned char *invM)
	Extract the joint number to which a RECEIVED message is referring to.
template<class T >
long	getRcp (const T &m)
	Extract least significative 4 bits, from the id of a can msg.
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.
template<class T >
long	getClass (const T &m)
	Extract message class, three bit least significative of the first byte of the message ID.
template<class T >
unsigned char	getMessageType (const T &m)
	Extract 7 lsb of first byte; this is the message type in our protocol.
template<class T >
int	getJoint (const T &m, const unsigned char *invM)
	Extract the joint number to which a RECEIVED message is referring to.
void	DEBUG_FUNC (const char *fmt,...)

Variables
const int	DEBUG_PRINTF_BUFFER_LENGTH =255

Function Documentation

DEBUG_FUNC()

void DEBUG_FUNC ( const char *  fmt,   ...  )

inline

Definition at line 134 of file canControlUtils.h.

getClass() [1/2]

template<class T >

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]

int getClass ( const yarp::dev::CanMessage &  m )

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]

template<class T >

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]

int getJoint ( const yarp::dev::CanMessage &  m, const unsigned char *  invM  )

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]

template<class T >

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]

unsigned char getMessageType ( const yarp::dev::CanMessage &  m )

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]

template<class T >

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]

int getRcp ( const yarp::dev::CanMessage &  m )

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]

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.

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]

int getSender ( const yarp::dev::CanMessage &  m )

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.