#include <abstract_ttl_driver.hpp>

Inheritance diagram for ttl_driver::AbstractTtlDriver:

[legend]

Public Member Functions
	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 std::string	str () const
	AbstractTtlDriver::str : build a string describing the object. For debug purpose only. 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 int	writeSingleCmd (const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &cmd)=0

virtual int	writeSyncCmd (int type, const std::vector< uint8_t > &ids, const std::vector< uint32_t > &params)=0

virtual	~AbstractTtlDriver ()=default

Protected Member Functions
	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
static constexpr int	PING_WRONG_MODEL_NUMBER = 30

Private Attributes
std::shared_ptr< dynamixel::PacketHandler >	_dxlPacketHandler

std::shared_ptr< dynamixel::PortHandler >	_dxlPortHandler

Static Private Attributes
static constexpr uint8_t	DXL_LEN_FOUR_BYTES = 4

static constexpr uint8_t	DXL_LEN_ONE_BYTE = 1

static constexpr uint8_t	DXL_LEN_TWO_BYTES = 2

static constexpr int	GROUP_SYNC_READ_RX_FAIL = 11

static constexpr int	GROUP_SYNC_REDONDANT_ID = 10

static constexpr int	LEN_ID_DATA_NOT_SAME = 20

Detailed Description

The AbstractTtlDriver class.

Definition at line 37 of file abstract_ttl_driver.hpp.

Constructor & Destructor Documentation

◆ AbstractTtlDriver() [1/4]

ttl_driver::AbstractTtlDriver::AbstractTtlDriver ( )

default

◆ AbstractTtlDriver() [2/4]

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

AbstractTtlDriver::AbstractTtlDriver.

Parameters

portHandler
packetHandler

Definition at line 38 of file abstract_ttl_driver.cpp.

◆ ~AbstractTtlDriver()

virtual ttl_driver::AbstractTtlDriver::~AbstractTtlDriver ( )

virtualdefault

◆ AbstractTtlDriver() [3/4]

ttl_driver::AbstractTtlDriver::AbstractTtlDriver ( const AbstractTtlDriver & )

protecteddefault

◆ AbstractTtlDriver() [4/4]

ttl_driver::AbstractTtlDriver::AbstractTtlDriver ( AbstractTtlDriver && )

protecteddefault

Member Function Documentation

◆ checkModelNumber()

virtual int ttl_driver::AbstractTtlDriver::checkModelNumber ( uint8_t id )

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ getModelNumber()

int ttl_driver::AbstractTtlDriver::getModelNumber	(	uint8_t	id,
		uint16_t &	model_number
	)

virtual

AbstractTtlDriver::getModelNumber.

Parameters

id
model_number

Returns

Reimplemented in ttl_driver::MockEndEffectorDriver, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

Definition at line 63 of file abstract_ttl_driver.cpp.

◆ interpretErrorState()

virtual std::string ttl_driver::AbstractTtlDriver::interpretErrorState ( uint32_t hw_state ) const

pure virtual

Implemented in ttl_driver::AbstractEndEffectorDriver, ttl_driver::MockDxlDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::AbstractStepperDriver, ttl_driver::DxlDriver< reg_type >, 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 >.

◆ interpretFirmwareVersion()

virtual std::string ttl_driver::AbstractTtlDriver::interpretFirmwareVersion ( uint32_t fw_version ) const

protectedpure virtual

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

◆ operator=() [1/2]

AbstractTtlDriver& ttl_driver::AbstractTtlDriver::operator= ( AbstractTtlDriver && )

protecteddefault

◆ operator=() [2/2]

AbstractTtlDriver& ttl_driver::AbstractTtlDriver::operator= ( const AbstractTtlDriver & )

protecteddefault

◆ ping()

int ttl_driver::AbstractTtlDriver::ping ( uint8_t id )

virtual

AbstractTtlDriver::ping.

Parameters

id

Returns

Reimplemented in ttl_driver::MockEndEffectorDriver, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

Definition at line 48 of file abstract_ttl_driver.cpp.

◆ read()

template<typename T >

int ttl_driver::AbstractTtlDriver::read	(	uint16_t	address,
		uint8_t	id,
		T &	data
	)

protected

AbstractTtlDriver::read.

Parameters

address
id
data

Returns: TODO(CC) : use a better method from dynamixel driver (bulk read ? maybe readRxTx ?)

Definition at line 134 of file abstract_ttl_driver.hpp.

◆ readCustom()

int ttl_driver::AbstractTtlDriver::readCustom	(	uint16_t	address,
		uint8_t	data_len,
		uint8_t	id,
		uint32_t &	data
	)

virtual

AbstractTtlDriver::readCustom.

Parameters

address
data_len
id
data

Returns

Reimplemented in ttl_driver::MockDxlDriver.

Definition at line 121 of file abstract_ttl_driver.cpp.

◆ readFirmwareVersion()

virtual int ttl_driver::AbstractTtlDriver::readFirmwareVersion	(	uint8_t	id,
		std::string &	version
	)

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ readHwErrorStatus()

virtual int ttl_driver::AbstractTtlDriver::readHwErrorStatus	(	uint8_t	id,
		uint8_t &	hardware_error_status
	)

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ readTemperature()

virtual int ttl_driver::AbstractTtlDriver::readTemperature	(	uint8_t	id,
		uint8_t &	temperature
	)

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ readVoltage()

virtual int ttl_driver::AbstractTtlDriver::readVoltage	(	uint8_t	id,
		double &	voltage
	)

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::StepperDriver< reg_type >, and ttl_driver::MockEndEffectorDriver.

◆ reboot()

int ttl_driver::AbstractTtlDriver::reboot ( uint8_t id )

virtual

AbstractTtlDriver::reboot.

Parameters

id

Returns

Reimplemented in ttl_driver::MockEndEffectorDriver, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

Definition at line 84 of file abstract_ttl_driver.cpp.

◆ scan()

int ttl_driver::AbstractTtlDriver::scan ( std::vector< uint8_t > & id_list )

virtual

AbstractTtlDriver::scan.

Parameters

id_list

Returns

Reimplemented in ttl_driver::MockEndEffectorDriver, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

Definition at line 77 of file abstract_ttl_driver.cpp.

◆ str()

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

virtual

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

Returns

Reimplemented in ttl_driver::AbstractEndEffectorDriver, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::Ned3ProStepperDriver< reg_type >, ttl_driver::AbstractMotorDriver, ttl_driver::StepperDriver< reg_type >, ttl_driver::AbstractStepperDriver, ttl_driver::AbstractDxlDriver, ttl_driver::MockDxlDriver, and ttl_driver::MockStepperDriver.

Definition at line 98 of file abstract_ttl_driver.cpp.

◆ syncRead()

template<typename T >

int ttl_driver::AbstractTtlDriver::syncRead	(	uint16_t	address,
		const std::vector< uint8_t > &	id_list,
		std::vector< T > &	data_list
	)

protected

AbstractTtlDriver::syncRead.

Parameters

address
id_list
data_list

Returns

Definition at line 252 of file abstract_ttl_driver.hpp.

◆ syncReadConsecutiveBytes()

template<typename T , const size_t N>

int ttl_driver::AbstractTtlDriver::syncReadConsecutiveBytes	(	uint16_t	address,
		const std::vector< uint8_t > &	id_list,
		std::vector< std::array< T, N > > &	data_list
	)

protected

AbstractTtlDriver::syncReadConsecutiveBytes.

Parameters

address
id_list
data_list	Reads N consecutive blocks of T bytes simultaneously

Returns

Definition at line 194 of file abstract_ttl_driver.hpp.

◆ syncReadFirmwareVersion()

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

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ syncReadHwErrorStatus()

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

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ syncReadHwStatus()

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

pure virtual

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

◆ syncReadRawVoltage()

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

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ syncReadTemperature()

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

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ syncReadVoltage()

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

pure virtual

Implemented in ttl_driver::MockDxlDriver, ttl_driver::MockStepperDriver, ttl_driver::DxlDriver< reg_type >, ttl_driver::EndEffectorDriver< reg_type >, ttl_driver::Ned3ProEndEffectorDriver< reg_type >, ttl_driver::MockEndEffectorDriver, ttl_driver::Ned3ProStepperDriver< reg_type >, and ttl_driver::StepperDriver< reg_type >.

◆ syncWrite()

template<typename T >

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

protected

Definition at line 337 of file abstract_ttl_driver.hpp.

◆ write()

template<typename T >

int ttl_driver::AbstractTtlDriver::write	(	uint16_t	address,
		uint8_t	id,
		T	data
	)

protected

Definition at line 303 of file abstract_ttl_driver.hpp.

◆ writeCustom()

int ttl_driver::AbstractTtlDriver::writeCustom	(	uint16_t	address,
		uint8_t	data_len,
		uint8_t	id,
		uint32_t	data
	)

virtual

AbstractTtlDriver::writeCustom.

Parameters

address
data_len
id
data

Returns

Reimplemented in ttl_driver::MockDxlDriver.

Definition at line 166 of file abstract_ttl_driver.cpp.

◆ writeSingleCmd()

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

pure virtual

Implemented in ttl_driver::AbstractEndEffectorDriver, ttl_driver::AbstractStepperDriver, and ttl_driver::AbstractDxlDriver.

◆ writeSyncCmd()

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

pure virtual

Implemented in ttl_driver::AbstractEndEffectorDriver, ttl_driver::AbstractStepperDriver, and ttl_driver::AbstractDxlDriver.

Member Data Documentation

◆ _dxlPacketHandler

std::shared_ptr<dynamixel::PacketHandler> ttl_driver::AbstractTtlDriver::_dxlPacketHandler

private

Definition at line 107 of file abstract_ttl_driver.hpp.

◆ _dxlPortHandler

std::shared_ptr<dynamixel::PortHandler> ttl_driver::AbstractTtlDriver::_dxlPortHandler

private

Definition at line 106 of file abstract_ttl_driver.hpp.

◆ DXL_LEN_FOUR_BYTES

constexpr uint8_t ttl_driver::AbstractTtlDriver::DXL_LEN_FOUR_BYTES = 4

staticconstexprprivate

Definition at line 111 of file abstract_ttl_driver.hpp.

◆ DXL_LEN_ONE_BYTE

constexpr uint8_t ttl_driver::AbstractTtlDriver::DXL_LEN_ONE_BYTE = 1

staticconstexprprivate

Definition at line 109 of file abstract_ttl_driver.hpp.

◆ DXL_LEN_TWO_BYTES

constexpr uint8_t ttl_driver::AbstractTtlDriver::DXL_LEN_TWO_BYTES = 2

staticconstexprprivate

Definition at line 110 of file abstract_ttl_driver.hpp.

◆ GROUP_SYNC_READ_RX_FAIL

constexpr int ttl_driver::AbstractTtlDriver::GROUP_SYNC_READ_RX_FAIL = 11

staticconstexprprivate

Definition at line 114 of file abstract_ttl_driver.hpp.

◆ GROUP_SYNC_REDONDANT_ID

constexpr int ttl_driver::AbstractTtlDriver::GROUP_SYNC_REDONDANT_ID = 10

staticconstexprprivate

Definition at line 113 of file abstract_ttl_driver.hpp.

◆ LEN_ID_DATA_NOT_SAME

constexpr int ttl_driver::AbstractTtlDriver::LEN_ID_DATA_NOT_SAME = 20

staticconstexprprivate

Definition at line 115 of file abstract_ttl_driver.hpp.

◆ PING_WRONG_MODEL_NUMBER

constexpr int ttl_driver::AbstractTtlDriver::PING_WRONG_MODEL_NUMBER = 30

staticconstexprprotected

Definition at line 101 of file abstract_ttl_driver.hpp.

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

Public Member Functions

Protected Member Functions

Static Protected Attributes

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AbstractTtlDriver() [1/4]

◆ AbstractTtlDriver() [2/4]

◆ ~AbstractTtlDriver()

◆ AbstractTtlDriver() [3/4]

◆ AbstractTtlDriver() [4/4]

Member Function Documentation

◆ checkModelNumber()

◆ getModelNumber()

◆ interpretErrorState()

◆ interpretFirmwareVersion()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ping()

◆ read()

◆ readCustom()

◆ readFirmwareVersion()

◆ readHwErrorStatus()

◆ readTemperature()

◆ readVoltage()

◆ reboot()

◆ scan()

◆ str()

◆ syncRead()

◆ syncReadConsecutiveBytes()

◆ syncReadFirmwareVersion()

◆ syncReadHwErrorStatus()

◆ syncReadHwStatus()

◆ syncReadRawVoltage()

◆ syncReadTemperature()

◆ syncReadVoltage()

◆ syncWrite()

◆ write()

◆ writeCustom()

◆ writeSingleCmd()

◆ writeSyncCmd()

Member Data Documentation

◆ _dxlPacketHandler

◆ _dxlPortHandler

◆ DXL_LEN_FOUR_BYTES

◆ DXL_LEN_ONE_BYTE

◆ DXL_LEN_TWO_BYTES

◆ GROUP_SYNC_READ_RX_FAIL

◆ GROUP_SYNC_REDONDANT_ID

◆ LEN_ID_DATA_NOT_SAME

◆ PING_WRONG_MODEL_NUMBER