CanBusAnalogSensor Class Reference

canbusanalogsensor : driver for CAN communication with IIT's analog sensor boards, including the MAIS and STRAIN boards. More...

#include <CanBusAnalogSensor.h>

Inheritance diagram for CanBusAnalogSensor:

Public Member Functions
	CanBusAnalogSensor (int period=20)
	~CanBusAnalogSensor ()
virtual bool	open (yarp::os::Searchable &config)
virtual bool	close ()
virtual int	read (yarp::sig::Vector &out)
virtual int	getState (int ch)
virtual int	getChannels ()
int	calibrateSensor ()
virtual int	calibrateChannel (int ch, double v)
virtual int	calibrateSensor (const yarp::sig::Vector &v)
virtual int	calibrateChannel (int ch)
virtual bool	threadInit ()
virtual void	threadRelease ()
virtual void	run ()

Protected Attributes
PolyDriver	driver
ICanBus *	pCanBus
ICanBufferFactory *	pCanBufferFactory
CanBuffer	inBuffer
CanBuffer	outBuffer
int	canDeviceNum
std::mutex	mtx
unsigned int	channelsNum
unsigned short	boardId
short	status
double	timeStamp
AnalogDataFormat	dataFormat
yarp::sig::Vector	data
yarp::sig::Vector	scaleFactor
unsigned short	useCalibration
bool	diagnostic

Detailed Description

canbusanalogsensor : driver for CAN communication with IIT's analog sensor boards, including the MAIS and STRAIN boards.

YARP device name
canbusanalogsensor

Parameters accepted in the config argument of the open method:

Parameter name	Type	Units	Default Value	Required	Description	Notes
canbusDevice	string	-	-	Yes	Yarp device name of CAN Bus wrapper	-
physDevice	string	-	-	Yes	Yarp device name for the low level CAN device driver	-
canDeviceNum	int	-	-	Yes	ID of the CAN Bus line	-
canAddress	int	-	-	Yes	CAN Bus Address for the sensor board	-
format	int	bits	-	Yes	Format (i.e. number of bits) of analog data transmitted on the CAN bus (16 for STRAIN board, 8 for MAIS board)	-
period	int	ms	-	Yes	Publication period (in ms) of the sensor reading on the Can Bus	-
channels	int	-	-	Yes	Number of output channels of the sensor (6 for STRAIN board, 16 for MAIS board)	-
useCalibration	int	-	-	No	If useCalibration is present and set to 1 output the calibrated readings, otherwise output the raw values	-
diagnostic	int	-	-	No	If diagnostic is present and set to 1 properly return the state of the sensor, otherwise always return IAnalogSensor::AS_OK	-

Definition at line 42 of file CanBusAnalogSensor.h.

Constructor & Destructor Documentation

CanBusAnalogSensor()

CanBusAnalogSensor::CanBusAnalogSensor ( int  period = 20 )

inline

Definition at line 81 of file CanBusAnalogSensor.h.

~CanBusAnalogSensor()

CanBusAnalogSensor::~CanBusAnalogSensor ( )

inline

Definition at line 85 of file CanBusAnalogSensor.h.

Member Function Documentation

calibrateChannel() [1/2]

int CanBusAnalogSensor::calibrateChannel ( int  ch )

virtual

Definition at line 350 of file CanBusAnalogSensor.cpp.

calibrateChannel() [2/2]

int CanBusAnalogSensor::calibrateChannel ( int  ch, double  v  )

virtual

Definition at line 338 of file CanBusAnalogSensor.cpp.

calibrateSensor() [1/2]

int CanBusAnalogSensor::calibrateSensor

(

)

Definition at line 332 of file CanBusAnalogSensor.cpp.

calibrateSensor() [2/2]

int CanBusAnalogSensor::calibrateSensor ( const yarp::sig::Vector &  v )

virtual

Definition at line 344 of file CanBusAnalogSensor.cpp.

close()

bool CanBusAnalogSensor::close ( )

virtual

Definition at line 288 of file CanBusAnalogSensor.cpp.

getChannels()

int CanBusAnalogSensor::getChannels ( )

virtual

Definition at line 327 of file CanBusAnalogSensor.cpp.

getState()

int CanBusAnalogSensor::getState ( int  ch )

virtual

Definition at line 319 of file CanBusAnalogSensor.cpp.

open()

bool CanBusAnalogSensor::open ( yarp::os::Searchable &  config )

virtual

Definition at line 19 of file CanBusAnalogSensor.cpp.

read()

int CanBusAnalogSensor::read ( yarp::sig::Vector &  out )

virtual

Definition at line 307 of file CanBusAnalogSensor.cpp.

run()

void CanBusAnalogSensor::run ( )

virtual

Definition at line 446 of file CanBusAnalogSensor.cpp.

threadInit()

bool CanBusAnalogSensor::threadInit ( )

virtual

Definition at line 356 of file CanBusAnalogSensor.cpp.

threadRelease()

void CanBusAnalogSensor::threadRelease ( )

virtual

Definition at line 518 of file CanBusAnalogSensor.cpp.

Member Data Documentation

boardId

unsigned short CanBusAnalogSensor::boardId

protected

Definition at line 71 of file CanBusAnalogSensor.h.

canDeviceNum

int CanBusAnalogSensor::canDeviceNum

protected

Definition at line 66 of file CanBusAnalogSensor.h.

channelsNum

unsigned int CanBusAnalogSensor::channelsNum

protected

Definition at line 70 of file CanBusAnalogSensor.h.

data

yarp::sig::Vector CanBusAnalogSensor::data

protected

Definition at line 75 of file CanBusAnalogSensor.h.

dataFormat

AnalogDataFormat CanBusAnalogSensor::dataFormat

protected

Definition at line 74 of file CanBusAnalogSensor.h.

diagnostic

bool CanBusAnalogSensor::diagnostic

protected

Definition at line 78 of file CanBusAnalogSensor.h.

driver

PolyDriver CanBusAnalogSensor::driver

protected

Definition at line 61 of file CanBusAnalogSensor.h.

inBuffer

CanBuffer CanBusAnalogSensor::inBuffer

protected

Definition at line 64 of file CanBusAnalogSensor.h.

mtx

std::mutex CanBusAnalogSensor::mtx

protected

Definition at line 68 of file CanBusAnalogSensor.h.

outBuffer

CanBuffer CanBusAnalogSensor::outBuffer

protected

Definition at line 65 of file CanBusAnalogSensor.h.

pCanBufferFactory

ICanBufferFactory* CanBusAnalogSensor::pCanBufferFactory

protected

Definition at line 63 of file CanBusAnalogSensor.h.

pCanBus

ICanBus* CanBusAnalogSensor::pCanBus

protected

Definition at line 62 of file CanBusAnalogSensor.h.

scaleFactor

yarp::sig::Vector CanBusAnalogSensor::scaleFactor

protected

Definition at line 76 of file CanBusAnalogSensor.h.

status

short CanBusAnalogSensor::status

protected

Definition at line 72 of file CanBusAnalogSensor.h.

timeStamp

double CanBusAnalogSensor::timeStamp

protected

Definition at line 73 of file CanBusAnalogSensor.h.

useCalibration

unsigned short CanBusAnalogSensor::useCalibration

protected

Definition at line 77 of file CanBusAnalogSensor.h.

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

• icub-main/src/libraries/icubmod/canBusAnalogSensor/CanBusAnalogSensor.h
• icub-main/src/libraries/icubmod/canBusAnalogSensor/CanBusAnalogSensor.cpp