Public Types
enum	{ ESD_TIMEOUT = 20 , ESD_POLLING_INTERVAL = 10 }

Public Member Functions
	EsdResources ()

	~EsdResources ()

bool	initialize (const EsdMessageSnifferParameters &parms)

bool	uninitialize (void)

bool	read (void)

bool	error (const CMSG &m)

bool	startPacket (void)

bool	addMessage (int msg_id, int joint)

bool	writePacket (void)

bool	printMessage (const CMSG &m)

bool	dumpBuffers (void)

int	getJoints (void) const

bool	getErrorStatus (void) const

Public Attributes
HANDLE	_handle

int	_timeout
	the actual ddriver handle.

int	_polling_interval
	this is my thread timeout.

int	_speed
	thread polling interval.

int	_networkN
	speed of the bus.

long int	_txQueueSize
	network number.

long int	_rxQueueSize

long int	_txTimeout

long int	_rxTimeout

int	_readMessages

int	_msg_lost
	size of the last read buffer.

CMSG	_readBuffer [BUF_SIZE]

int	_writeMessages
	read buffer.

CMSG	_writeBuffer [BUF_SIZE]
	size of the write packet.

CMSG	_replyBuffer [BUF_SIZE]
	write buffer.

BCastBufferElement *	_bcastRecvBuffer
	reply buffer.

unsigned char	_my_address
	local storage for bcast messages.

unsigned char	_destinations [ESD_MAX_CARDS]

int	_njoints
	list of connected cards (and their addresses).

bool	_error_status
	number of joints (ncards * 2).

PV	_p
	error status of the last packet (true = error).

char	_printBuffer [16384]
	pointer to a printf type function used to spy on can messages.

Detailed Description

Definition at line 120 of file EsdMessageSniffer.cpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
ESD_TIMEOUT
ESD_POLLING_INTERVAL

Definition at line 139 of file EsdMessageSniffer.cpp.

Constructor & Destructor Documentation

◆ EsdResources()

EsdResources::EsdResources ( )

default 1Mbit/s

Definition at line 174 of file EsdMessageSniffer.cpp.

◆ ~EsdResources()

EsdResources::~EsdResources ( )

Definition at line 199 of file EsdMessageSniffer.cpp.

Member Function Documentation

◆ addMessage()

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

Definition at line 305 of file EsdMessageSniffer.cpp.

◆ dumpBuffers()

bool EsdResources::dumpBuffers ( void )

dump the error.

Definition at line 374 of file EsdMessageSniffer.cpp.

◆ error()

bool EsdResources::error ( const CMSG & m )

Definition at line 397 of file EsdMessageSniffer.cpp.

◆ getErrorStatus()

bool EsdResources::getErrorStatus ( void ) const

inline

Definition at line 136 of file EsdMessageSniffer.cpp.

◆ getJoints()

int EsdResources::getJoints ( void ) const

inline

Definition at line 135 of file EsdMessageSniffer.cpp.

◆ initialize()

bool EsdResources::initialize ( const EsdMessageSnifferParameters & parms )

general variable init.

default 1Mbit/s

clean up buffers.

open the device.

sets all message ID's for class 0 and 1.

Definition at line 204 of file EsdMessageSniffer.cpp.

◆ printMessage()

bool EsdResources::printMessage ( const CMSG & m )

Definition at line 342 of file EsdMessageSniffer.cpp.

◆ read()

bool EsdResources::read ( void )

Definition at line 283 of file EsdMessageSniffer.cpp.

◆ startPacket()

bool EsdResources::startPacket ( void )

Definition at line 299 of file EsdMessageSniffer.cpp.

◆ uninitialize()

bool EsdResources::uninitialize ( void )

Definition at line 263 of file EsdMessageSniffer.cpp.

◆ writePacket()

bool EsdResources::writePacket ( void )

Definition at line 324 of file EsdMessageSniffer.cpp.

Member Data Documentation

◆ _bcastRecvBuffer

BCastBufferElement* EsdResources::_bcastRecvBuffer

reply buffer.

Definition at line 160 of file EsdMessageSniffer.cpp.

◆ _destinations

unsigned char EsdResources::_destinations[ESD_MAX_CARDS]

Definition at line 163 of file EsdMessageSniffer.cpp.

◆ _error_status

bool EsdResources::_error_status

number of joints (ncards * 2).

Definition at line 166 of file EsdMessageSniffer.cpp.

◆ _handle

HANDLE EsdResources::_handle

Definition at line 141 of file EsdMessageSniffer.cpp.

◆ _msg_lost

int EsdResources::_msg_lost

size of the last read buffer.

Definition at line 154 of file EsdMessageSniffer.cpp.

◆ _my_address

unsigned char EsdResources::_my_address

local storage for bcast messages.

Definition at line 162 of file EsdMessageSniffer.cpp.

◆ _networkN

int EsdResources::_networkN

speed of the bus.

Definition at line 146 of file EsdMessageSniffer.cpp.

◆ _njoints

int EsdResources::_njoints

list of connected cards (and their addresses).

Definition at line 164 of file EsdMessageSniffer.cpp.

◆ _p

PV EsdResources::_p

error status of the last packet (true = error).

Definition at line 168 of file EsdMessageSniffer.cpp.

◆ _polling_interval

int EsdResources::_polling_interval

this is my thread timeout.

Definition at line 144 of file EsdMessageSniffer.cpp.

◆ _printBuffer

char EsdResources::_printBuffer[16384]

pointer to a printf type function used to spy on can messages.

Definition at line 171 of file EsdMessageSniffer.cpp.

◆ _readBuffer

CMSG EsdResources::_readBuffer[BUF_SIZE]

of lost messages.

Definition at line 155 of file EsdMessageSniffer.cpp.

◆ _readMessages

int EsdResources::_readMessages

Definition at line 153 of file EsdMessageSniffer.cpp.

◆ _replyBuffer

CMSG EsdResources::_replyBuffer[BUF_SIZE]

write buffer.

Definition at line 158 of file EsdMessageSniffer.cpp.

◆ _rxQueueSize

long int EsdResources::_rxQueueSize

Definition at line 149 of file EsdMessageSniffer.cpp.

◆ _rxTimeout

long int EsdResources::_rxTimeout

Definition at line 151 of file EsdMessageSniffer.cpp.

◆ _speed

int EsdResources::_speed

thread polling interval.

Definition at line 145 of file EsdMessageSniffer.cpp.

◆ _timeout

int EsdResources::_timeout

the actual ddriver handle.

Definition at line 142 of file EsdMessageSniffer.cpp.

◆ _txQueueSize

long int EsdResources::_txQueueSize

network number.

Definition at line 148 of file EsdMessageSniffer.cpp.

◆ _txTimeout

long int EsdResources::_txTimeout

Definition at line 150 of file EsdMessageSniffer.cpp.

◆ _writeBuffer

CMSG EsdResources::_writeBuffer[BUF_SIZE]

size of the write packet.

Definition at line 157 of file EsdMessageSniffer.cpp.

◆ _writeMessages

int EsdResources::_writeMessages

read buffer.

Definition at line 156 of file EsdMessageSniffer.cpp.

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

icub-main/src/libraries/icubmod/esdSniffer/EsdMessageSniffer.cpp

Public Types

Public Member Functions

Public Attributes