Public Types
enum	{ CAN_TIMEOUT = 20 , CAN_POLLING_INTERVAL = 10 }

Public Member Functions
	CanBusResources ()
	~CanBusResources ()
bool	initialize (const CanBusMotionControlParameters &parms)
bool	initialize (yarp::os::Searchable &config)
bool	uninitialize ()
bool	read ()
bool	startPacket ()
bool	addMessage (int msg_id, int joint)
bool	addMessage (int id, int joint, int msg_id)
bool	writePacket ()
bool	printMessage (const CanMessage &m)
bool	dumpBuffers (void)
int	getJoints (void) const
bool	getErrorStatus (void) const
void	printMessage (const char *fmt,...)

Public Attributes
ICanBus *	iCanBus
ICanBufferFactory *	iBufferFactory
ICanBusErrors *	iCanErrors
char	buffer [DEBUG_PRINTF_BUFFER_LENGTH]
bool	_initialized
unsigned int	_timeout
int	_polling_interval
	this is my thread timeout.
int	_speed
	thread polling interval.
int	_networkN
	speed of the bus.
int	_txQueueSize
	network number.
int	_rxQueueSize
int	_txTimeout
int	_rxTimeout
unsigned int	_readMessages
unsigned int	_writeMessages
	size of the last read buffer.
unsigned int	_echoMessages
	size of the write packet.
CanBuffer	_readBuffer
	size of the last read buffer.
CanBuffer	_writeBuffer
	read buffer.
CanBuffer	_replyBuffer
	write buffer.
CanBuffer	_echoBuffer
	reply buffer.
BCastBufferElement *	_bcastRecvBuffer
	echo buffer.
unsigned char	_my_address
	local storage for bcast messages.
unsigned char	_destinations [CAN_MAX_CARDS]
int	_velShifts [CAN_MAX_CARDS]
	list of connected cards (and their addresses).
unsigned char *	_destInv
	list of velocity shift
std::string *	_jointNames
int	_njoints
bool	_error_status
	number of joints (ncards * 2).
int	_filter
	error status of the last packet.
char	_printBuffer [16384]
	don't print filtered messages.
RequestsQueue *	requestsQueue
	might be better with dynamic allocation.

Detailed Description

Definition at line 353 of file CanBusMotionControl.cpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
CAN_TIMEOUT
CAN_POLLING_INTERVAL

Definition at line 400 of file CanBusMotionControl.cpp.

Constructor & Destructor Documentation

◆ CanBusResources()

CanBusResources::CanBusResources ( )

default 1Mbit/s

Definition at line 2030 of file CanBusMotionControl.cpp.

◆ ~CanBusResources()

CanBusResources::~CanBusResources ( )

Definition at line 2059 of file CanBusMotionControl.cpp.

Member Function Documentation

◆ addMessage() [1/2]

bool CanBusResources::addMessage	(	int	id,
		int	joint,
		int	msg_id )

Definition at line 2286 of file CanBusMotionControl.cpp.

◆ addMessage() [2/2]

bool CanBusResources::addMessage	(	int	msg_id,
		int	joint )

Definition at line 2270 of file CanBusMotionControl.cpp.

◆ dumpBuffers()

bool CanBusResources::dumpBuffers ( void )

dump the error.

Definition at line 2365 of file CanBusMotionControl.cpp.

◆ getErrorStatus()

bool CanBusResources::getErrorStatus ( void ) const

inline

Definition at line 383 of file CanBusMotionControl.cpp.

◆ getJoints()

int CanBusResources::getJoints ( void ) const

inline

Definition at line 382 of file CanBusMotionControl.cpp.

◆ initialize() [1/2]

bool CanBusResources::initialize ( const CanBusMotionControlParameters & parms )

default 1Mbit/s

Definition at line 2093 of file CanBusMotionControl.cpp.

◆ initialize() [2/2]

bool CanBusResources::initialize ( yarp::os::Searchable & config )

Definition at line 2064 of file CanBusMotionControl.cpp.

◆ printMessage() [1/2]

bool CanBusResources::printMessage ( const CanMessage & m )

Definition at line 2331 of file CanBusMotionControl.cpp.

◆ printMessage() [2/2]

void CanBusResources::printMessage	(	const char *	fmt,
			... )

inline

Definition at line 385 of file CanBusMotionControl.cpp.

◆ read()

bool CanBusResources::read ( )

Definition at line 2254 of file CanBusMotionControl.cpp.

◆ startPacket()

bool CanBusResources::startPacket ( )

Definition at line 2264 of file CanBusMotionControl.cpp.

◆ uninitialize()

bool CanBusResources::uninitialize ( )

Definition at line 2212 of file CanBusMotionControl.cpp.

◆ writePacket()

bool CanBusResources::writePacket ( )

Definition at line 2308 of file CanBusMotionControl.cpp.

Member Data Documentation

◆ _bcastRecvBuffer

BCastBufferElement* CanBusResources::_bcastRecvBuffer

echo buffer.

Definition at line 424 of file CanBusMotionControl.cpp.

◆ _destinations

unsigned char CanBusResources::_destinations[CAN_MAX_CARDS]

Definition at line 427 of file CanBusMotionControl.cpp.

◆ _destInv

unsigned char* CanBusResources::_destInv

list of velocity shift

Definition at line 429 of file CanBusMotionControl.cpp.

◆ _echoBuffer

CanBuffer CanBusResources::_echoBuffer

reply buffer.

Definition at line 422 of file CanBusMotionControl.cpp.

◆ _echoMessages

unsigned int CanBusResources::_echoMessages

size of the write packet.

Definition at line 417 of file CanBusMotionControl.cpp.

◆ _error_status

bool CanBusResources::_error_status

number of joints (ncards * 2).

Definition at line 434 of file CanBusMotionControl.cpp.

◆ _filter

int CanBusResources::_filter

error status of the last packet.

used to spy on can messages.

Definition at line 437 of file CanBusMotionControl.cpp.

◆ _initialized

bool CanBusResources::_initialized

Definition at line 403 of file CanBusMotionControl.cpp.

◆ _jointNames

std::string* CanBusResources::_jointNames

Definition at line 430 of file CanBusMotionControl.cpp.

◆ _my_address

unsigned char CanBusResources::_my_address

local storage for bcast messages.

Definition at line 426 of file CanBusMotionControl.cpp.

◆ _networkN

int CanBusResources::_networkN

speed of the bus.

Definition at line 408 of file CanBusMotionControl.cpp.

◆ _njoints

int CanBusResources::_njoints

Definition at line 432 of file CanBusMotionControl.cpp.

◆ _polling_interval

int CanBusResources::_polling_interval

this is my thread timeout.

Definition at line 406 of file CanBusMotionControl.cpp.

◆ _printBuffer

char CanBusResources::_printBuffer[16384]

don't print filtered messages.

Definition at line 439 of file CanBusMotionControl.cpp.

◆ _readBuffer

CanBuffer CanBusResources::_readBuffer

size of the last read buffer.

Definition at line 419 of file CanBusMotionControl.cpp.

◆ _readMessages

unsigned int CanBusResources::_readMessages

Definition at line 415 of file CanBusMotionControl.cpp.

◆ _replyBuffer

CanBuffer CanBusResources::_replyBuffer

write buffer.

Definition at line 421 of file CanBusMotionControl.cpp.

◆ _rxQueueSize

int CanBusResources::_rxQueueSize

Definition at line 411 of file CanBusMotionControl.cpp.

◆ _rxTimeout

int CanBusResources::_rxTimeout

Definition at line 413 of file CanBusMotionControl.cpp.

◆ _speed

int CanBusResources::_speed

thread polling interval.

Definition at line 407 of file CanBusMotionControl.cpp.

◆ _timeout

unsigned int CanBusResources::_timeout

Definition at line 404 of file CanBusMotionControl.cpp.

◆ _txQueueSize

int CanBusResources::_txQueueSize

network number.

Definition at line 410 of file CanBusMotionControl.cpp.

◆ _txTimeout

int CanBusResources::_txTimeout

Definition at line 412 of file CanBusMotionControl.cpp.

◆ _velShifts

int CanBusResources::_velShifts[CAN_MAX_CARDS]

list of connected cards (and their addresses).

Definition at line 428 of file CanBusMotionControl.cpp.

◆ _writeBuffer

CanBuffer CanBusResources::_writeBuffer

read buffer.

Definition at line 420 of file CanBusMotionControl.cpp.

◆ _writeMessages

unsigned int CanBusResources::_writeMessages

size of the last read buffer.

Definition at line 416 of file CanBusMotionControl.cpp.

◆ buffer

char CanBusResources::buffer[DEBUG_PRINTF_BUFFER_LENGTH]

Definition at line 398 of file CanBusMotionControl.cpp.

◆ iBufferFactory

ICanBufferFactory* CanBusResources::iBufferFactory

Definition at line 362 of file CanBusMotionControl.cpp.

◆ iCanBus

ICanBus* CanBusResources::iCanBus

Definition at line 361 of file CanBusMotionControl.cpp.

◆ iCanErrors

ICanBusErrors* CanBusResources::iCanErrors

Definition at line 363 of file CanBusMotionControl.cpp.

◆ requestsQueue

RequestsQueue* CanBusResources::requestsQueue

might be better with dynamic allocation.

Definition at line 440 of file CanBusMotionControl.cpp.

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

icub-main/src/libraries/icubmod/canBusMotionControl/CanBusMotionControl.cpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ CanBusResources()

◆ ~CanBusResources()

Member Function Documentation

◆ addMessage() [1/2]

◆ addMessage() [2/2]

◆ dumpBuffers()

◆ getErrorStatus()

◆ getJoints()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ printMessage() [1/2]

◆ printMessage() [2/2]

◆ read()

◆ startPacket()

◆ uninitialize()

◆ writePacket()

Member Data Documentation

◆ _bcastRecvBuffer

◆ _destinations

◆ _destInv

◆ _echoBuffer

◆ _echoMessages

◆ _error_status

◆ _filter

◆ _initialized

◆ _jointNames

◆ _my_address

◆ _networkN

◆ _njoints

◆ _polling_interval

◆ _printBuffer

◆ _readBuffer

◆ _readMessages

◆ _replyBuffer

◆ _rxQueueSize

◆ _rxTimeout

◆ _speed

◆ _timeout

◆ _txQueueSize

◆ _txTimeout

◆ _velShifts

◆ _writeBuffer

◆ _writeMessages

◆ buffer

◆ iBufferFactory

◆ iCanBus

◆ iCanErrors

◆ requestsQueue