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iCub-main
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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. More... | |
| int | _speed |
| thread polling interval. More... | |
| int | _networkN |
| speed of the bus. More... | |
| int | _txQueueSize |
| network number. More... | |
| int | _rxQueueSize |
| int | _txTimeout |
| int | _rxTimeout |
| unsigned int | _readMessages |
| unsigned int | _writeMessages |
| size of the last read buffer. More... | |
| unsigned int | _echoMessages |
| size of the write packet. More... | |
| CanBuffer | _readBuffer |
| size of the last read buffer. More... | |
| CanBuffer | _writeBuffer |
| read buffer. More... | |
| CanBuffer | _replyBuffer |
| write buffer. More... | |
| CanBuffer | _echoBuffer |
| reply buffer. More... | |
| BCastBufferElement * | _bcastRecvBuffer |
| echo buffer. More... | |
| unsigned char | _my_address |
| local storage for bcast messages. More... | |
| unsigned char | _destinations [CAN_MAX_CARDS] |
| int | _velShifts [CAN_MAX_CARDS] |
| list of connected cards (and their addresses). More... | |
| unsigned char * | _destInv |
| list of velocity shift More... | |
| std::string * | _jointNames |
| int | _njoints |
| bool | _error_status |
| number of joints (ncards * 2). More... | |
| int | _filter |
| error status of the last packet. More... | |
| char | _printBuffer [16384] |
| don't print filtered messages. More... | |
| RequestsQueue * | requestsQueue |
| might be better with dynamic allocation. More... | |
Definition at line 353 of file CanBusMotionControl.cpp.
| anonymous enum |
| Enumerator | |
|---|---|
| CAN_TIMEOUT | |
| CAN_POLLING_INTERVAL | |
Definition at line 400 of file CanBusMotionControl.cpp.
| CanBusResources::CanBusResources | ( | ) |
default 1Mbit/s
Definition at line 2030 of file CanBusMotionControl.cpp.
| CanBusResources::~CanBusResources | ( | ) |
Definition at line 2059 of file CanBusMotionControl.cpp.
| bool CanBusResources::addMessage | ( | int | id, |
| int | joint, | ||
| int | msg_id | ||
| ) |
Definition at line 2286 of file CanBusMotionControl.cpp.
| bool CanBusResources::addMessage | ( | int | msg_id, |
| int | joint | ||
| ) |
Definition at line 2270 of file CanBusMotionControl.cpp.
| bool CanBusResources::dumpBuffers | ( | void | ) |
dump the error.
Definition at line 2365 of file CanBusMotionControl.cpp.
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inline |
Definition at line 383 of file CanBusMotionControl.cpp.
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inline |
Definition at line 382 of file CanBusMotionControl.cpp.
| bool CanBusResources::initialize | ( | const CanBusMotionControlParameters & | parms | ) |
default 1Mbit/s
Definition at line 2093 of file CanBusMotionControl.cpp.
| bool CanBusResources::initialize | ( | yarp::os::Searchable & | config | ) |
Definition at line 2064 of file CanBusMotionControl.cpp.
| bool CanBusResources::printMessage | ( | const CanMessage & | m | ) |
Definition at line 2331 of file CanBusMotionControl.cpp.
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inline |
Definition at line 385 of file CanBusMotionControl.cpp.
| bool CanBusResources::read | ( | ) |
Definition at line 2254 of file CanBusMotionControl.cpp.
| bool CanBusResources::startPacket | ( | ) |
Definition at line 2264 of file CanBusMotionControl.cpp.
| bool CanBusResources::uninitialize | ( | ) |
Definition at line 2212 of file CanBusMotionControl.cpp.
| bool CanBusResources::writePacket | ( | ) |
Definition at line 2308 of file CanBusMotionControl.cpp.
| BCastBufferElement* CanBusResources::_bcastRecvBuffer |
echo buffer.
Definition at line 424 of file CanBusMotionControl.cpp.
| unsigned char CanBusResources::_destinations[CAN_MAX_CARDS] |
Definition at line 427 of file CanBusMotionControl.cpp.
| unsigned char* CanBusResources::_destInv |
list of velocity shift
Definition at line 429 of file CanBusMotionControl.cpp.
| CanBuffer CanBusResources::_echoBuffer |
reply buffer.
Definition at line 422 of file CanBusMotionControl.cpp.
| unsigned int CanBusResources::_echoMessages |
size of the write packet.
Definition at line 417 of file CanBusMotionControl.cpp.
| bool CanBusResources::_error_status |
number of joints (ncards * 2).
Definition at line 434 of file CanBusMotionControl.cpp.
| int CanBusResources::_filter |
error status of the last packet.
used to spy on can messages.
Definition at line 437 of file CanBusMotionControl.cpp.
| bool CanBusResources::_initialized |
Definition at line 403 of file CanBusMotionControl.cpp.
| std::string* CanBusResources::_jointNames |
Definition at line 430 of file CanBusMotionControl.cpp.
| unsigned char CanBusResources::_my_address |
local storage for bcast messages.
Definition at line 426 of file CanBusMotionControl.cpp.
| int CanBusResources::_networkN |
speed of the bus.
Definition at line 408 of file CanBusMotionControl.cpp.
| int CanBusResources::_njoints |
Definition at line 432 of file CanBusMotionControl.cpp.
| int CanBusResources::_polling_interval |
this is my thread timeout.
Definition at line 406 of file CanBusMotionControl.cpp.
| char CanBusResources::_printBuffer[16384] |
don't print filtered messages.
Definition at line 439 of file CanBusMotionControl.cpp.
| CanBuffer CanBusResources::_readBuffer |
size of the last read buffer.
Definition at line 419 of file CanBusMotionControl.cpp.
| unsigned int CanBusResources::_readMessages |
Definition at line 415 of file CanBusMotionControl.cpp.
| CanBuffer CanBusResources::_replyBuffer |
write buffer.
Definition at line 421 of file CanBusMotionControl.cpp.
| int CanBusResources::_rxQueueSize |
Definition at line 411 of file CanBusMotionControl.cpp.
| int CanBusResources::_rxTimeout |
Definition at line 413 of file CanBusMotionControl.cpp.
| int CanBusResources::_speed |
thread polling interval.
Definition at line 407 of file CanBusMotionControl.cpp.
| unsigned int CanBusResources::_timeout |
Definition at line 404 of file CanBusMotionControl.cpp.
| int CanBusResources::_txQueueSize |
network number.
Definition at line 410 of file CanBusMotionControl.cpp.
| int CanBusResources::_txTimeout |
Definition at line 412 of file CanBusMotionControl.cpp.
| int CanBusResources::_velShifts[CAN_MAX_CARDS] |
list of connected cards (and their addresses).
Definition at line 428 of file CanBusMotionControl.cpp.
| CanBuffer CanBusResources::_writeBuffer |
read buffer.
Definition at line 420 of file CanBusMotionControl.cpp.
| unsigned int CanBusResources::_writeMessages |
size of the last read buffer.
Definition at line 416 of file CanBusMotionControl.cpp.
| char CanBusResources::buffer[DEBUG_PRINTF_BUFFER_LENGTH] |
Definition at line 398 of file CanBusMotionControl.cpp.
| ICanBufferFactory* CanBusResources::iBufferFactory |
Definition at line 362 of file CanBusMotionControl.cpp.
| ICanBus* CanBusResources::iCanBus |
Definition at line 361 of file CanBusMotionControl.cpp.
| ICanBusErrors* CanBusResources::iCanErrors |
Definition at line 363 of file CanBusMotionControl.cpp.
| RequestsQueue* CanBusResources::requestsQueue |
might be better with dynamic allocation.
Definition at line 440 of file CanBusMotionControl.cpp.
1.9.1