#include <end_effector_driver.hpp>

Inheritance diagram for ttl_driver::EndEffectorDriver< reg_type >:

Public Member Functions
int	checkModelNumber (uint8_t id) override
	EndEffectorDriver<reg_type>::checkModelNumber. More...

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

int	readAccelerometerXValue (uint8_t id, uint32_t &x_value) override
	EndEffectorDriver<reg_type>::readAccelerometerXValue. More...

int	readAccelerometerYValue (uint8_t id, uint32_t &y_value) override
	EndEffectorDriver<reg_type>::readAccelerometerYValue. More...

int	readAccelerometerZValue (uint8_t id, uint32_t &z_value) override
	EndEffectorDriver<reg_type>::readAccelerometerZValue. More...

int	readButton0Status (uint8_t id, common::model::EActionType &action) override
	EndEffectorDriver<reg_type>::readButton0Status. More...

int	readButton1Status (uint8_t id, common::model::EActionType &action) override
	EndEffectorDriver<reg_type>::readButton1Status. More...

int	readButton2Status (uint8_t id, common::model::EActionType &action) override
	EndEffectorDriver<reg_type>::readButton2Status. More...

int	readCollisionStatus (uint8_t id, bool &status) override
	EndEffectorDriver<reg_type>::readCollisionStatus. More...

int	readDigitalInput (uint8_t id, bool &in) override
	EndEffectorDriver<reg_type>::readDigitalInput. More...

int	readFirmwareVersion (uint8_t id, std::string &version) override
	EndEffectorDriver<reg_type>::readFirmwareVersion. More...

int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status) override
	EndEffectorDriver<reg_type>::readHwErrorStatus. More...

int	readTemperature (uint8_t id, uint8_t &temperature) override
	EndEffectorDriver<reg_type>::readTemperature. More...

int	readVoltage (uint8_t id, double &voltage) override
	EndEffectorDriver<reg_type>::readVoltage. More...

std::string	str () const override
	EndEffectorDriver<reg_type>::str. More...

int	syncReadButtonsStatus (const uint8_t &id, std::vector< common::model::EActionType > &action_list) override
	EndEffectorDriver<reg_type>::syncReadButtonsStatus. More...

int	syncReadFirmwareVersion (const std::vector< uint8_t > &id_list, std::vector< std::string > &firmware_list) override
	EndEffectorDriver<reg_type>::syncReadFirmwareVersion. More...

int	syncReadHwErrorStatus (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &hw_error_list) override
	EndEffectorDriver<reg_type>::syncReadHwErrorStatus. More...

int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t > > &data_list) override
	EndEffectorDriver<reg_type>::syncReadHwStatus. More...

int	syncReadRawVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	EndEffectorDriver<reg_type>::syncReadRawVoltage. More...

int	syncReadTemperature (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &temperature_list) override
	EndEffectorDriver<reg_type>::syncReadTemperature. More...

int	syncReadVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	EndEffectorDriver<reg_type>::syncReadVoltage. More...

int	writeCollisionThresh (uint8_t id, int thresh) override
	EndEffectorDriver<reg_type>::writeCollisionThresh. More...

int	writeCollisionThreshAlgo2 (uint8_t id, int thresh) override
	EndEffectorDriver<reg_type>::writeCollisionThreshAlgo2. More...

int	writeDigitalInput (uint8_t id, bool in) override
	EndEffectorDriver<reg_type>::writeDigitalInput not implemented for real end effectors. More...

int	writeDigitalOutput (uint8_t id, bool out) override
	EndEffectorDriver<reg_type>::setDigitalOutput. More...

Public Member Functions inherited from ttl_driver::AbstractEndEffectorDriver
	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...

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

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

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::AbstractEndEffectorDriver
std::string	interpretFirmwareVersion (uint32_t fw_version) const override
	MockEndEffectorDriver::interpretFirmawreVersion. 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)

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

Detailed Description

template<typename reg_type = EndEffectorReg>
class ttl_driver::EndEffectorDriver< reg_type >

The EndEffectorDriver class.

Definition at line 42 of file end_effector_driver.hpp.

Constructor & Destructor Documentation

◆ EndEffectorDriver()

template<typename reg_type >

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

EndEffectorDriver<reg_type>::EndEffectorDriver.

Definition at line 97 of file end_effector_driver.hpp.

Member Function Documentation

◆ checkModelNumber()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::checkModelNumber ( uint8_t id )

overridevirtual

EndEffectorDriver<reg_type>::checkModelNumber.

Parameters

id

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 123 of file end_effector_driver.hpp.

◆ readAccelerometerXValue()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readAccelerometerXValue	(	uint8_t	id,
		uint32_t &	x_value
	)

overridevirtual

EndEffectorDriver<reg_type>::readAccelerometerXValue.

Parameters

id
x_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 381 of file end_effector_driver.hpp.

◆ readAccelerometerYValue()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readAccelerometerYValue	(	uint8_t	id,
		uint32_t &	y_value
	)

overridevirtual

EndEffectorDriver<reg_type>::readAccelerometerYValue.

Parameters

id
y_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 393 of file end_effector_driver.hpp.

◆ readAccelerometerZValue()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readAccelerometerZValue	(	uint8_t	id,
		uint32_t &	z_value
	)

overridevirtual

EndEffectorDriver<reg_type>::readAccelerometerZValue.

Parameters

id
z_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 405 of file end_effector_driver.hpp.

◆ readButton0Status()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readButton0Status	(	uint8_t	id,
		common::model::EActionType &	action
	)

overridevirtual

EndEffectorDriver<reg_type>::readButton0Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 311 of file end_effector_driver.hpp.

◆ readButton1Status()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readButton1Status	(	uint8_t	id,
		common::model::EActionType &	action
	)

overridevirtual

EndEffectorDriver<reg_type>::readButton1Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 327 of file end_effector_driver.hpp.

◆ readButton2Status()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readButton2Status	(	uint8_t	id,
		common::model::EActionType &	action
	)

overridevirtual

EndEffectorDriver<reg_type>::readButton2Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 342 of file end_effector_driver.hpp.

◆ readCollisionStatus()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readCollisionStatus	(	uint8_t	id,
		bool &	status
	)

overridevirtual

EndEffectorDriver<reg_type>::readCollisionStatus.

Parameters

id
status

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 417 of file end_effector_driver.hpp.

◆ readDigitalInput()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readDigitalInput	(	uint8_t	id,
		bool &	in
	)

overridevirtual

EndEffectorDriver<reg_type>::readDigitalInput.

Parameters

id
in

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 436 of file end_effector_driver.hpp.

◆ readFirmwareVersion()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readFirmwareVersion	(	uint8_t	id,
		std::string &	version
	)

overridevirtual

EndEffectorDriver<reg_type>::readFirmwareVersion.

Parameters

id
version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 146 of file end_effector_driver.hpp.

◆ readHwErrorStatus()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readHwErrorStatus	(	uint8_t	id,
		uint8_t &	hardware_error_status
	)

overridevirtual

EndEffectorDriver<reg_type>::readHwErrorStatus.

Parameters

id
hardware_error_status

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 191 of file end_effector_driver.hpp.

◆ readTemperature()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readTemperature	(	uint8_t	id,
		uint8_t &	temperature
	)

overridevirtual

EndEffectorDriver<reg_type>::readTemperature.

Parameters

id
temperature

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 164 of file end_effector_driver.hpp.

◆ readVoltage()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::readVoltage	(	uint8_t	id,
		double &	voltage
	)

overridevirtual

EndEffectorDriver<reg_type>::readVoltage.

Parameters

id
voltage

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 176 of file end_effector_driver.hpp.

◆ str()

template<typename reg_type >

std::string ttl_driver::EndEffectorDriver< reg_type >::str

overridevirtual

EndEffectorDriver<reg_type>::str.

Returns

Reimplemented from ttl_driver::AbstractEndEffectorDriver.

Definition at line 112 of file end_effector_driver.hpp.

◆ syncReadButtonsStatus()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::syncReadButtonsStatus	(	const uint8_t &	id,
		std::vector< common::model::EActionType > &	action_list
	)

overridevirtual

EndEffectorDriver<reg_type>::syncReadButtonsStatus.

Parameters

id
action_list

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 357 of file end_effector_driver.hpp.

◆ syncReadFirmwareVersion()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::syncReadFirmwareVersion	(	const std::vector< uint8_t > &	id_list,
		std::vector< std::string > &	firmware_list
	)

overridevirtual

EndEffectorDriver<reg_type>::syncReadFirmwareVersion.

Parameters

id_list
firmware_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 204 of file end_effector_driver.hpp.

◆ syncReadHwErrorStatus()

template<typename reg_type >

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

overridevirtual

EndEffectorDriver<reg_type>::syncReadHwErrorStatus.

Parameters

id_list
hw_error_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 297 of file end_effector_driver.hpp.

◆ syncReadHwStatus()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::syncReadHwStatus	(	const std::vector< uint8_t > &	id_list,
		std::vector< std::pair< double, uint8_t > > &	data_list
	)

overridevirtual

EndEffectorDriver<reg_type>::syncReadHwStatus.

Parameters

id_list
data_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 268 of file end_effector_driver.hpp.

◆ syncReadRawVoltage()

template<typename reg_type >

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

overridevirtual

EndEffectorDriver<reg_type>::syncReadRawVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 251 of file end_effector_driver.hpp.

◆ syncReadTemperature()

template<typename reg_type >

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

overridevirtual

EndEffectorDriver<reg_type>::syncReadTemperature.

Parameters

id_list
temperature_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 222 of file end_effector_driver.hpp.

◆ syncReadVoltage()

template<typename reg_type >

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

overridevirtual

EndEffectorDriver<reg_type>::syncReadVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 234 of file end_effector_driver.hpp.

◆ writeCollisionThresh()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::writeCollisionThresh	(	uint8_t	id,
		int	thresh
	)

overridevirtual

EndEffectorDriver<reg_type>::writeCollisionThresh.

Parameters

id
thresh

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 475 of file end_effector_driver.hpp.

◆ writeCollisionThreshAlgo2()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::writeCollisionThreshAlgo2	(	uint8_t	id,
		int	thresh
	)

overridevirtual

EndEffectorDriver<reg_type>::writeCollisionThreshAlgo2.

Parameters

id
thresh

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 487 of file end_effector_driver.hpp.

◆ writeDigitalInput()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::writeDigitalInput	(	uint8_t	id,
		bool	in
	)

overridevirtual

EndEffectorDriver<reg_type>::writeDigitalInput not implemented for real end effectors.

Parameters

id	the device ID
out	the output value to write

Returns: the result of the operation as a status code

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 451 of file end_effector_driver.hpp.

◆ writeDigitalOutput()

template<typename reg_type >

int ttl_driver::EndEffectorDriver< reg_type >::writeDigitalOutput	(	uint8_t	id,
		bool	out
	)

overridevirtual

EndEffectorDriver<reg_type>::setDigitalOutput.

Parameters

id
out	1 : true, 0: false

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 463 of file end_effector_driver.hpp.

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

end_effector_driver.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename reg_type = EndEffectorReg> class ttl_driver::EndEffectorDriver< reg_type >

Constructor & Destructor Documentation

◆ EndEffectorDriver()

Member Function Documentation

◆ checkModelNumber()

◆ readAccelerometerXValue()

◆ readAccelerometerYValue()

◆ readAccelerometerZValue()

◆ readButton0Status()

◆ readButton1Status()

◆ readButton2Status()

◆ readCollisionStatus()

◆ readDigitalInput()

◆ readFirmwareVersion()

◆ readHwErrorStatus()

◆ readTemperature()

◆ readVoltage()

◆ str()

◆ syncReadButtonsStatus()

◆ syncReadFirmwareVersion()

◆ syncReadHwErrorStatus()

◆ syncReadHwStatus()

◆ syncReadRawVoltage()

◆ syncReadTemperature()

◆ syncReadVoltage()

◆ writeCollisionThresh()

◆ writeCollisionThreshAlgo2()

◆ writeDigitalInput()

◆ writeDigitalOutput()

template<typename reg_type = EndEffectorReg>
class ttl_driver::EndEffectorDriver< reg_type >