The AbstractEndEffectorDriver class. More...

#include <abstract_end_effector_driver.hpp>

Inheritance diagram for ttl_driver::AbstractEndEffectorDriver:

[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	writeDigitalInput (uint8_t id, bool in)=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::Ned3ProEndEffectorDriver< reg_type >, and ttl_driver::MockEndEffectorDriver.

◆ 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.

◆ writeDigitalInput()

virtual int ttl_driver::AbstractEndEffectorDriver::writeDigitalInput	(	uint8_t	id,
		bool	in
	)

pure virtual

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

◆ 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 166 of file abstract_end_effector_driver.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AbstractEndEffectorDriver() [1/2]

◆ AbstractEndEffectorDriver() [2/2]

Member Function Documentation

◆ interpretActionValue()

◆ interpretErrorState()

◆ interpretFirmwareVersion()

◆ readAccelerometerXValue()

◆ readAccelerometerYValue()

◆ readAccelerometerZValue()

◆ readButton0Status()

◆ readButton1Status()

◆ readButton2Status()

◆ readCollisionStatus()

◆ readDigitalInput()

◆ str()

◆ syncReadButtonsStatus()

◆ writeCollisionThresh()

◆ writeCollisionThreshAlgo2()

◆ writeDigitalInput()

◆ writeDigitalOutput()

◆ writeSingleCmd()

◆ writeSyncCmd()