canbusftsensor : driver for CAN communication with IIT's analog sensor boards, including the MAIS and STRAIN boards.
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#include <CanBusFtSensor.h>
Inheritance diagram for CanBusFtSensor:
Public Member Functions | |
| CanBusFtSensor (int period=20) | |
| ~CanBusFtSensor () | |
| virtual bool | open (yarp::os::Searchable &config) |
| virtual bool | close () |
| virtual bool | threadInit () |
| virtual void | threadRelease () |
| virtual void | run () |
| virtual size_t | getNrOfSixAxisForceTorqueSensors () const override |
| virtual yarp::dev::MAS_status | getSixAxisForceTorqueSensorStatus (size_t sens_index) const override |
| virtual bool | getSixAxisForceTorqueSensorName (size_t sens_index, std::string &name) const override |
| virtual bool | getSixAxisForceTorqueSensorFrameName (size_t sens_index, std::string &frameName) const override |
| virtual bool | getSixAxisForceTorqueSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override |
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 |
| std::string | sensorName |
| std::string | frameName |
Detailed Description
canbusftsensor : driver for CAN communication with IIT's analog sensor boards, including the MAIS and STRAIN boards.
| YARP device name |
|---|
canbusftsensor |
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 MAS_status::MAS_OK | - |
| sensorName | string | - | - | Yes | Unique name of the sensor | - |
| frameName | string | - | unknown_frame_name | No | Name of the robot link to which the sensor is attached | Many sensors can be attached to the same frame link. The parameter is typically used in ROS message headers and should match a valid frame link name defined in the robot model (.sdf / .urdf). If wrongly assigned, ROS will not work properly. |
Definition at line 44 of file CanBusFtSensor.h.
Constructor & Destructor Documentation
◆ CanBusFtSensor()
|
inline |
Definition at line 87 of file CanBusFtSensor.h.
◆ ~CanBusFtSensor()
|
inline |
Definition at line 91 of file CanBusFtSensor.h.
Member Function Documentation
◆ close()
|
virtual |
Definition at line 296 of file CanBusFtSensor.cpp.
◆ getNrOfSixAxisForceTorqueSensors()
|
overridevirtual |
Definition at line 483 of file CanBusFtSensor.cpp.
◆ getSixAxisForceTorqueSensorFrameName()
|
overridevirtual |
Definition at line 499 of file CanBusFtSensor.cpp.
◆ getSixAxisForceTorqueSensorMeasure()
|
overridevirtual |
Definition at line 505 of file CanBusFtSensor.cpp.
◆ getSixAxisForceTorqueSensorName()
|
overridevirtual |
Definition at line 493 of file CanBusFtSensor.cpp.
◆ getSixAxisForceTorqueSensorStatus()
|
overridevirtual |
Definition at line 488 of file CanBusFtSensor.cpp.
◆ open()
|
virtual |
Definition at line 19 of file CanBusFtSensor.cpp.
◆ run()
|
virtual |
Definition at line 405 of file CanBusFtSensor.cpp.
◆ threadInit()
|
virtual |
Definition at line 315 of file CanBusFtSensor.cpp.
◆ threadRelease()
|
virtual |
Definition at line 477 of file CanBusFtSensor.cpp.
Member Data Documentation
◆ boardId
|
protected |
Definition at line 75 of file CanBusFtSensor.h.
◆ canDeviceNum
|
protected |
Definition at line 70 of file CanBusFtSensor.h.
◆ channelsNum
|
protected |
Definition at line 74 of file CanBusFtSensor.h.
◆ data
|
protected |
Definition at line 79 of file CanBusFtSensor.h.
◆ dataFormat
|
protected |
Definition at line 78 of file CanBusFtSensor.h.
◆ diagnostic
|
protected |
Definition at line 82 of file CanBusFtSensor.h.
◆ driver
|
protected |
Definition at line 65 of file CanBusFtSensor.h.
◆ frameName
|
protected |
Definition at line 84 of file CanBusFtSensor.h.
◆ inBuffer
|
protected |
Definition at line 68 of file CanBusFtSensor.h.
◆ mtx
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mutableprotected |
Definition at line 72 of file CanBusFtSensor.h.
◆ outBuffer
|
protected |
Definition at line 69 of file CanBusFtSensor.h.
◆ pCanBufferFactory
|
protected |
Definition at line 67 of file CanBusFtSensor.h.
◆ pCanBus
|
protected |
Definition at line 66 of file CanBusFtSensor.h.
◆ scaleFactor
|
protected |
Definition at line 80 of file CanBusFtSensor.h.
◆ sensorName
|
protected |
Definition at line 83 of file CanBusFtSensor.h.
◆ status
|
protected |
Definition at line 76 of file CanBusFtSensor.h.
◆ timeStamp
|
protected |
Definition at line 77 of file CanBusFtSensor.h.
◆ useCalibration
|
protected |
Definition at line 81 of file CanBusFtSensor.h.
The documentation for this class was generated from the following files:
- icub-main/src/libraries/icubmod/canBusFtSensor/CanBusFtSensor.h
- icub-main/src/libraries/icubmod/canBusFtSensor/CanBusFtSensor.cpp
