#include <abstract_dxl_driver.hpp>

Inheritance diagram for ttl_driver::AbstractDxlDriver:

[legend]

Public Member Functions
	AbstractDxlDriver ()=default

	AbstractDxlDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	AbstractDxlDriver::AbstractDxlDriver. More...

virtual int	readLoad (uint8_t id, uint16_t &present_load)=0

virtual int	readMoving (uint8_t id, uint8_t &status)=0

virtual int	readPID (uint8_t id, std::vector< uint16_t > &data)=0

std::string	str () const override
	AbstractTtlDriver::str : build a string describing the object. For debug purpose only. More...

virtual int	syncReadLoad (const std::vector< uint8_t > &id_list, std::vector< uint16_t > &load_list)=0

virtual int	syncWriteLed (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &led_list)=0

virtual int	syncWriteTorqueGoal (const std::vector< uint8_t > &id_list, const std::vector< uint16_t > &torque_list)=0

virtual int	writeLed (uint8_t id, uint8_t led_value)=0

virtual int	writePID (uint8_t id, const std::vector< uint16_t > &data)=0

virtual int	writeShutdownConfiguration (uint8_t id, uint8_t configuration)=0

int	writeSingleCmd (const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &cmd) override
	AbstractDxlDriver::writeSingleCmd. More...

virtual int	writeStartupConfiguration (uint8_t id, uint8_t config)=0

int	writeSyncCmd (int type, const std::vector< uint8_t > &ids, const std::vector< uint32_t > &params) override
	AbstractDxlDriver::writeSyncCmd. More...

virtual int	writeTemperatureLimit (uint8_t id, uint8_t temperature_limit)=0

virtual int	writeTorqueGoal (uint8_t id, uint16_t torque)=0

Public Member Functions inherited from ttl_driver::AbstractMotorDriver
	AbstractMotorDriver ()=default

	AbstractMotorDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)

virtual int	changeId (uint8_t id, uint8_t new_id)=0

virtual int	readControlMode (uint8_t id, uint8_t &mode)=0

virtual int	readMaxPosition (uint8_t id, uint32_t &max_pos)=0

virtual int	readMinPosition (uint8_t id, uint32_t &min_pos)=0

virtual int	readPosition (uint8_t id, uint32_t &present_position)=0

virtual int	readVelocity (uint8_t id, uint32_t &present_velocity)=0

virtual int	readVelocityProfile (uint8_t id, std::vector< uint32_t > &data_list)=0

std::string	str () const override
	AbstractMotorDriver::str. More...

virtual int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 > > &data_array_list)=0

virtual int	syncReadPosition (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &position_list)=0

virtual int	syncReadVelocity (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &velocity_list)=0

virtual int	syncWritePositionGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &position_list)=0

virtual int	syncWriteTorquePercentage (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &torque_percentage_list)=0

virtual int	syncWriteVelocityGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &velocity_list)=0

virtual int	writeControlMode (uint8_t id, uint8_t mode)=0

virtual int	writePositionGoal (uint8_t id, uint32_t position)=0

virtual int	writeTorquePercentage (uint8_t id, uint8_t torque_percentage)=0

virtual int	writeVelocityGoal (uint8_t id, uint32_t velocity)=0

virtual int	writeVelocityProfile (uint8_t id, const std::vector< uint32_t > &data_list)=0

Public Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver ()=default

	AbstractTtlDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	AbstractTtlDriver::AbstractTtlDriver. More...

virtual int	checkModelNumber (uint8_t id)=0

virtual int	getModelNumber (uint8_t id, uint16_t &model_number)
	AbstractTtlDriver::getModelNumber. More...

virtual std::string	interpretErrorState (uint32_t hw_state) const =0

virtual int	ping (uint8_t id)
	AbstractTtlDriver::ping. More...

virtual int	readCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t &data)
	AbstractTtlDriver::readCustom. More...

virtual int	readFirmwareVersion (uint8_t id, std::string &version)=0

virtual int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status)=0

virtual int	readTemperature (uint8_t id, uint8_t &temperature)=0

virtual int	readVoltage (uint8_t id, double &voltage)=0

virtual int	reboot (uint8_t id)
	AbstractTtlDriver::reboot. More...

virtual int	scan (std::vector< uint8_t > &id_list)
	AbstractTtlDriver::scan. More...

virtual int	syncReadFirmwareVersion (const std::vector< uint8_t > &id_list, std::vector< std::string > &firmware_version)=0

virtual int	syncReadHwErrorStatus (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &hw_error_list)=0

virtual int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t > > &data_array_list)=0

virtual int	syncReadRawVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list)=0

virtual int	syncReadTemperature (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &temperature_list)=0

virtual int	syncReadVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list)=0

virtual int	writeCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t data)
	AbstractTtlDriver::writeCustom. More...

virtual	~AbstractTtlDriver ()=default

Additional Inherited Members
Protected Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver (AbstractTtlDriver &&)=default

	AbstractTtlDriver (const AbstractTtlDriver &)=default

virtual std::string	interpretFirmwareVersion (uint32_t fw_version) const =0

AbstractTtlDriver &	operator= (AbstractTtlDriver &&)=default

AbstractTtlDriver &	operator= (const AbstractTtlDriver &)=default

template<typename T >
int	read (uint16_t address, uint8_t id, T &data)
	AbstractTtlDriver::read. More...

template<typename T >
int	syncRead (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< T > &data_list)
	AbstractTtlDriver::syncRead. More...

template<typename T , const size_t N>
int	syncReadConsecutiveBytes (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< std::array< T, N > > &data_list)
	AbstractTtlDriver::syncReadConsecutiveBytes. More...

template<typename T >
int	syncWrite (uint16_t address, const std::vector< uint8_t > &id_list, const std::vector< T > &data_list)

template<typename T >
int	write (uint16_t address, uint8_t id, T data)

Static Protected Attributes inherited from ttl_driver::AbstractTtlDriver
static constexpr int	PING_WRONG_MODEL_NUMBER = 30

Detailed Description

Definition at line 33 of file abstract_dxl_driver.hpp.

Constructor & Destructor Documentation

◆ AbstractDxlDriver() [1/2]

ttl_driver::AbstractDxlDriver::AbstractDxlDriver ( )

default

◆ AbstractDxlDriver() [2/2]

ttl_driver::AbstractDxlDriver::AbstractDxlDriver	(	std::shared_ptr< dynamixel::PortHandler >	portHandler,
		std::shared_ptr< dynamixel::PacketHandler >	packetHandler
	)

AbstractDxlDriver::AbstractDxlDriver.

Definition at line 37 of file abstract_dxl_driver.cpp.

Member Function Documentation

◆ readLoad()

virtual int ttl_driver::AbstractDxlDriver::readLoad	(	uint8_t	id,
		uint16_t &	present_load
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::DxlDriver< reg_type >, and ttl_driver::DxlDriver< reg_type >.

◆ readMoving()

virtual int ttl_driver::AbstractDxlDriver::readMoving	(	uint8_t	id,
		uint8_t &	status
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, and ttl_driver::MockDxlDriver.

◆ readPID()

virtual int ttl_driver::AbstractDxlDriver::readPID	(	uint8_t	id,
		std::vector< uint16_t > &	data
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, and ttl_driver::MockDxlDriver.

◆ str()

std::string ttl_driver::AbstractDxlDriver::str ( ) const

overridevirtual

AbstractTtlDriver::str : build a string describing the object. For debug purpose only.

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Reimplemented in ttl_driver::DxlDriver< reg_type >, and ttl_driver::MockDxlDriver.

Definition at line 42 of file abstract_dxl_driver.cpp.

◆ syncReadLoad()

virtual int ttl_driver::AbstractDxlDriver::syncReadLoad	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint16_t > &	load_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::DxlDriver< reg_type >, and ttl_driver::DxlDriver< reg_type >.

◆ syncWriteLed()

virtual int ttl_driver::AbstractDxlDriver::syncWriteLed	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint8_t > &	led_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, and ttl_driver::MockDxlDriver.

◆ syncWriteTorqueGoal()

virtual int ttl_driver::AbstractDxlDriver::syncWriteTorqueGoal	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint16_t > &	torque_list
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, and ttl_driver::DxlDriver< reg_type >.

◆ writeLed()

virtual int ttl_driver::AbstractDxlDriver::writeLed	(	uint8_t	id,
		uint8_t	led_value
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, and ttl_driver::MockDxlDriver.

◆ writePID()

virtual int ttl_driver::AbstractDxlDriver::writePID	(	uint8_t	id,
		const std::vector< uint16_t > &	data
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, and ttl_driver::MockDxlDriver.

◆ writeShutdownConfiguration()

virtual int ttl_driver::AbstractDxlDriver::writeShutdownConfiguration	(	uint8_t	id,
		uint8_t	configuration
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, and ttl_driver::DxlDriver< reg_type >.

◆ writeSingleCmd()

int ttl_driver::AbstractDxlDriver::writeSingleCmd ( const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > & cmd )

overridevirtual

AbstractDxlDriver::writeSingleCmd.

Parameters

cmd

Implements ttl_driver::AbstractTtlDriver.

Definition at line 48 of file abstract_dxl_driver.cpp.

◆ writeStartupConfiguration()

virtual int ttl_driver::AbstractDxlDriver::writeStartupConfiguration	(	uint8_t	id,
		uint8_t	config
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, and ttl_driver::DxlDriver< reg_type >.

◆ writeSyncCmd()

int ttl_driver::AbstractDxlDriver::writeSyncCmd	(	int	type,
		const std::vector< uint8_t > &	ids,
		const std::vector< uint32_t > &	params
	)

overridevirtual

AbstractDxlDriver::writeSyncCmd.

Parameters

type
ids
params

Implements ttl_driver::AbstractTtlDriver.

Definition at line 102 of file abstract_dxl_driver.cpp.

◆ writeTemperatureLimit()

virtual int ttl_driver::AbstractDxlDriver::writeTemperatureLimit	(	uint8_t	id,
		uint8_t	temperature_limit
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, and ttl_driver::DxlDriver< reg_type >.

◆ writeTorqueGoal()

virtual int ttl_driver::AbstractDxlDriver::writeTorqueGoal	(	uint8_t	id,
		uint16_t	torque
	)

pure virtual

Implemented in ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, ttl_driver::MockDxlDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::DxlDriver< reg_type >, and ttl_driver::DxlDriver< reg_type >.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AbstractDxlDriver() [1/2]

◆ AbstractDxlDriver() [2/2]

Member Function Documentation

◆ readLoad()

◆ readMoving()

◆ readPID()

◆ str()

◆ syncReadLoad()

◆ syncWriteLed()

◆ syncWriteTorqueGoal()

◆ writeLed()

◆ writePID()

◆ writeShutdownConfiguration()

◆ writeSingleCmd()

◆ writeStartupConfiguration()

◆ writeSyncCmd()

◆ writeTemperatureLimit()

◆ writeTorqueGoal()