Public Member Functions | Protected Member Functions | List of all members
ttl_driver::AbstractEndEffectorDriver Class Referenceabstract

The AbstractEndEffectorDriver class. More...

#include <abstract_end_effector_driver.hpp>

Inheritance diagram for ttl_driver::AbstractEndEffectorDriver:
Inheritance graph
[legend]

Public Member Functions

 AbstractEndEffectorDriver ()=default
 
 AbstractEndEffectorDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
 
common::model::EActionType interpretActionValue (uint32_t value) const
 MockEndEffectorDriver::interpretActionValue. More...
 
std::string interpretErrorState (uint32_t hw_state) const override
 MockEndEffectorDriver::interpretErrorState. More...
 
virtual int readAccelerometerXValue (uint8_t id, uint32_t &x_value)=0
 
virtual int readAccelerometerYValue (uint8_t id, uint32_t &y_value)=0
 
virtual int readAccelerometerZValue (uint8_t id, uint32_t &z_value)=0
 
virtual int readButton0Status (uint8_t id, common::model::EActionType &action)=0
 
virtual int readButton1Status (uint8_t id, common::model::EActionType &action)=0
 
virtual int readButton2Status (uint8_t id, common::model::EActionType &action)=0
 
virtual int readCollisionStatus (uint8_t id, bool &status)=0
 
virtual int readDigitalInput (uint8_t id, bool &in)=0
 
virtual int syncReadButtonsStatus (const uint8_t &id, std::vector< common::model::EActionType > &action_list)=0
 
virtual int writeCollisionThresh (uint8_t id, int thresh)=0
 
virtual int writeCollisionThreshAlgo2 (uint8_t id, int thresh)=0
 
virtual int writeDigitalOutput (uint8_t id, bool out)=0
 
int writeSingleCmd (const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &cmd) override
 MockEndEffectorDriver::writeSingleCmd. More...
 
int writeSyncCmd (int type, const std::vector< uint8_t > &ids, const std::vector< uint32_t > &params) override
 MockEndEffectorDriver::writeSyncCmd. More...
 
- 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 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
 

Protected Member Functions

std::string interpretFirmwareVersion (uint32_t fw_version) const override
 MockEndEffectorDriver::interpretFirmawreVersion. More...
 
std::string str () const override
 AbstractEndEffectorDriver::str : build a string describing the object. For debug purpose only. More...
 
- Protected Member Functions inherited from ttl_driver::AbstractTtlDriver
 AbstractTtlDriver (AbstractTtlDriver &&)=default
 
 AbstractTtlDriver (const AbstractTtlDriver &)=default
 
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)
 

Additional Inherited Members

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

Detailed Description

The AbstractEndEffectorDriver class.

Definition at line 41 of file abstract_end_effector_driver.hpp.

Constructor & Destructor Documentation

◆ AbstractEndEffectorDriver() [1/2]

ttl_driver::AbstractEndEffectorDriver::AbstractEndEffectorDriver ( )
default

◆ AbstractEndEffectorDriver() [2/2]

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

Member Function Documentation

◆ interpretActionValue()

common::model::EActionType ttl_driver::AbstractEndEffectorDriver::interpretActionValue ( uint32_t  value) const

MockEndEffectorDriver::interpretActionValue.

Parameters
value
Returns

Definition at line 103 of file abstract_end_effector_driver.cpp.

◆ interpretErrorState()

std::string ttl_driver::AbstractEndEffectorDriver::interpretErrorState ( uint32_t  hw_state) const
overridevirtual

MockEndEffectorDriver::interpretErrorState.

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 54 of file abstract_end_effector_driver.cpp.

◆ interpretFirmwareVersion()

std::string ttl_driver::AbstractEndEffectorDriver::interpretFirmwareVersion ( uint32_t  fw_version) const
overrideprotectedvirtual

MockEndEffectorDriver::interpretFirmawreVersion.

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 85 of file abstract_end_effector_driver.cpp.

◆ readAccelerometerXValue()

virtual int ttl_driver::AbstractEndEffectorDriver::readAccelerometerXValue ( uint8_t  id,
uint32_t &  x_value 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ readAccelerometerYValue()

virtual int ttl_driver::AbstractEndEffectorDriver::readAccelerometerYValue ( uint8_t  id,
uint32_t &  y_value 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ readAccelerometerZValue()

virtual int ttl_driver::AbstractEndEffectorDriver::readAccelerometerZValue ( uint8_t  id,
uint32_t &  z_value 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ readButton0Status()

virtual int ttl_driver::AbstractEndEffectorDriver::readButton0Status ( uint8_t  id,
common::model::EActionType &  action 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ readButton1Status()

virtual int ttl_driver::AbstractEndEffectorDriver::readButton1Status ( uint8_t  id,
common::model::EActionType &  action 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ readButton2Status()

virtual int ttl_driver::AbstractEndEffectorDriver::readButton2Status ( uint8_t  id,
common::model::EActionType &  action 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ readCollisionStatus()

virtual int ttl_driver::AbstractEndEffectorDriver::readCollisionStatus ( uint8_t  id,
bool &  status 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ readDigitalInput()

virtual int ttl_driver::AbstractEndEffectorDriver::readDigitalInput ( uint8_t  id,
bool &  in 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ str()

std::string ttl_driver::AbstractEndEffectorDriver::str ( ) const
overrideprotectedvirtual

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

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Reimplemented in ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, and ttl_driver::MockEndEffectorDriver.

Definition at line 48 of file abstract_end_effector_driver.cpp.

◆ syncReadButtonsStatus()

virtual int ttl_driver::AbstractEndEffectorDriver::syncReadButtonsStatus ( const uint8_t &  id,
std::vector< common::model::EActionType > &  action_list 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ writeCollisionThresh()

virtual int ttl_driver::AbstractEndEffectorDriver::writeCollisionThresh ( uint8_t  id,
int  thresh 
)
pure virtual

Implemented in ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ writeCollisionThreshAlgo2()

virtual int ttl_driver::AbstractEndEffectorDriver::writeCollisionThreshAlgo2 ( uint8_t  id,
int  thresh 
)
pure virtual

Implemented in ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::MockEndEffectorDriver.

◆ writeDigitalOutput()

virtual int ttl_driver::AbstractEndEffectorDriver::writeDigitalOutput ( uint8_t  id,
bool  out 
)
pure virtual

Implemented in ttl_driver::MockEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, and ttl_driver::Ned3ProEndEffectorDriver< reg_type >.

◆ writeSingleCmd()

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

MockEndEffectorDriver::writeSingleCmd.

Parameters
cmd
Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 133 of file abstract_end_effector_driver.cpp.

◆ writeSyncCmd()

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

MockEndEffectorDriver::writeSyncCmd.

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 163 of file abstract_end_effector_driver.cpp.

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

ttl_driver
Author(s): Clement Cocquempot
autogenerated on Mon Aug 18 2025 15:50:40