#include <mock_dxl_driver.hpp>

Inheritance diagram for ttl_driver::MockDxlDriver:

[legend]

Public Member Functions
int	changeId (uint8_t id, uint8_t new_id) override
	MockDxlDriver::changeId. More...

int	checkModelNumber (uint8_t id) override
	MockDxlDriver::checkModelNumber. More...

int	getModelNumber (uint8_t id, uint16_t &model_number) override
	MockDxlDriver::getModelNumber. More...

std::string	interpretErrorState (uint32_t hw_state) const override
	MockDxlDriver::interpretErrorState. More...

	MockDxlDriver (std::shared_ptr< FakeTtlData > data)
	MockDxlDriver::MockDxlDriver. More...

int	ping (uint8_t id) override
	MockDxlDriver::ping. More...

int	readControlMode (uint8_t id, uint8_t &data) override
	MockDxlDriver::readControlMode. More...

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

int	readFirmwareVersion (uint8_t id, std::string &version) override
	MockDxlDriver::readFirmwareVersion. More...

int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status) override
	MockDxlDriver::readHwErrorStatus. More...

int	readLoad (uint8_t id, uint16_t &present_load) override
	MockDxlDriver::readLoad. More...

int	readMaxPosition (uint8_t id, uint32_t &max_pos) override
	MockDxlDriver::readMaxPosition. More...

int	readMinPosition (uint8_t id, uint32_t &min_pos) override
	MockDxlDriver::readMinPosition. More...

int	readMoving (uint8_t id, uint8_t &status) override
	MockDxlDriver::readMoving. More...

int	readPID (uint8_t id, std::vector< uint16_t > &data) override
	MockDxlDriver::readPID. More...

int	readPosition (uint8_t id, uint32_t &present_position) override
	MockDxlDriver::readPosition. More...

int	readTemperature (uint8_t id, uint8_t &temperature) override
	MockDxlDriver::readTemperature. More...

int	readVelocity (uint8_t id, uint32_t &present_velocity) override
	MockDxlDriver::readVelocity. More...

int	readVelocityProfile (uint8_t id, std::vector< uint32_t > &data_list) override

int	readVoltage (uint8_t id, double &voltage) override
	MockDxlDriver::readVoltage. More...

int	reboot (uint8_t id) override
	MockDxlDriver::reboot. More...

int	scan (std::vector< uint8_t > &id_list) override
	MockDxlDriver::scan. More...

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

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

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

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

int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 >> &data_array_list) override
	MockDxlDriver::syncReadJointStatus. More...

int	syncReadLoad (const std::vector< uint8_t > &id_list, std::vector< uint16_t > &load_list) override
	MockDxlDriver::syncReadLoad. More...

int	syncReadPosition (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &position_list) override
	MockDxlDriver::syncReadPosition. More...

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

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

int	syncReadVelocity (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &velocity_list) override
	MockDxlDriver::syncReadVelocity. More...

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

int	syncWriteLed (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &led_list) override
	MockDxlDriver::syncWriteLed. More...

int	syncWritePositionGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &position_list) override
	MockDxlDriver::syncWritePositionGoal get position goal and write it as the current position of each joint. More...

int	syncWriteTorqueGoal (const std::vector< uint8_t > &id_list, const std::vector< uint16_t > &torque_list) override
	MockDxlDriver::syncWriteTorqueGoal. More...

int	syncWriteTorquePercentage (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &torque_percentage_list) override
	MockDxlDriver::syncWriteTorquePercentage. More...

int	syncWriteVelocityGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &velocity_list) override
	MockDxlDriver::syncWriteVelocityGoal. More...

int	writeControlMode (uint8_t id, uint8_t data) override
	MockDxlDriver::writeControlMode. More...

int	writeCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t data) override
	MockDxlDriver::writeCustom. More...

int	writeLed (uint8_t id, uint8_t led_value) override
	MockDxlDriver::writeLed. More...

int	writePID (uint8_t id, const std::vector< uint16_t > &data) override
	MockDxlDriver::writePID. More...

int	writePositionGoal (uint8_t id, uint32_t position) override
	MockDxlDriver::writePositionGoal. More...

int	writeShutdownConfiguration (uint8_t id, uint8_t configuration) override
	MockDxlDriver::writeShutdownConfiguration. More...

int	writeStartupConfiguration (uint8_t id, uint8_t value) override
	MockDxlDriver::writeStartupConfiguration. More...

int	writeTemperatureLimit (uint8_t id, uint8_t temperature_limit) override
	MockDxlDriver::writeTemperatureLimit. More...

int	writeTorqueGoal (uint8_t id, uint16_t torque) override
	MockDxlDriver::writeTorqueGoal. More...

int	writeTorquePercentage (uint8_t id, uint8_t torque_percentage) override
	MockDxlDriver::writeTorquePercentage. More...

int	writeVelocityGoal (uint8_t id, uint32_t velocity) override
	MockDxlDriver::writeVelocityGoal. More...

int	writeVelocityProfile (uint8_t id, const std::vector< uint32_t > &data_list) override
	MockDxlDriver::writeVelocityProfile. More...

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

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

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

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

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	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 > > &data_array_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	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t > > &data_array_list)=0

virtual	~AbstractTtlDriver ()=default

Protected Member Functions
std::string	interpretFirmwareVersion (uint32_t fw_version) const override
	MockDxlDriver::interpretFirmwareVersion. 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)

Private Attributes
std::shared_ptr< FakeTtlData >	_fake_data

std::vector< uint8_t >	_id_list

Static Private Attributes
static constexpr int	GROUP_SYNC_REDONDANT_ID = 10

static constexpr int	LEN_ID_DATA_NOT_SAME = 20

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

Detailed Description

The DxlDriver class.

Definition at line 37 of file mock_dxl_driver.hpp.

Constructor & Destructor Documentation

◆ MockDxlDriver()

ttl_driver::MockDxlDriver::MockDxlDriver ( std::shared_ptr< FakeTtlData > data )

MockDxlDriver::MockDxlDriver.

Definition at line 35 of file mock_dxl_driver.cpp.

Member Function Documentation

◆ changeId()

int ttl_driver::MockDxlDriver::changeId	(	uint8_t	id,
		uint8_t	new_id
	)

overridevirtual

MockDxlDriver::changeId.

Parameters

id
new_id

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 166 of file mock_dxl_driver.cpp.

◆ checkModelNumber()

int ttl_driver::MockDxlDriver::checkModelNumber ( uint8_t id )

overridevirtual

MockDxlDriver::checkModelNumber.

Parameters

id

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 84 of file mock_dxl_driver.cpp.

◆ getModelNumber()

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

overridevirtual

MockDxlDriver::getModelNumber.

Parameters

id
model_number

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 70 of file mock_dxl_driver.cpp.

◆ interpretErrorState()

std::string ttl_driver::MockDxlDriver::interpretErrorState ( uint32_t hw_state ) const

overridevirtual

MockDxlDriver::interpretErrorState.

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 122 of file mock_dxl_driver.cpp.

◆ interpretFirmwareVersion()

std::string ttl_driver::MockDxlDriver::interpretFirmwareVersion ( uint32_t fw_version ) const

overrideprotectedvirtual

MockDxlDriver::interpretFirmwareVersion.

Parameters

fw_version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 924 of file mock_dxl_driver.cpp.

◆ ping()

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

overridevirtual

MockDxlDriver::ping.

Parameters

id

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 57 of file mock_dxl_driver.cpp.

◆ readControlMode()

int ttl_driver::MockDxlDriver::readControlMode	(	uint8_t	id,
		uint8_t &	data
	)

overridevirtual

MockDxlDriver::readControlMode.

Parameters

id
data

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 784 of file mock_dxl_driver.cpp.

◆ readCustom()

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

overridevirtual

MockDxlDriver::readCustom.

Parameters

address
data_len
id
data

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 132 of file mock_dxl_driver.cpp.

◆ readFirmwareVersion()

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

overridevirtual

MockDxlDriver::readFirmwareVersion.

Parameters

id
version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 222 of file mock_dxl_driver.cpp.

◆ readHwErrorStatus()

int ttl_driver::MockDxlDriver::readHwErrorStatus	(	uint8_t	id,
		uint8_t &	hardware_error_status
	)

overridevirtual

MockDxlDriver::readHwErrorStatus.

Parameters

id
hardware_error_status

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 485 of file mock_dxl_driver.cpp.

◆ readLoad()

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

overridevirtual

MockDxlDriver::readLoad.

Parameters

id
present_load

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 881 of file mock_dxl_driver.cpp.

◆ readMaxPosition()

int ttl_driver::MockDxlDriver::readMaxPosition	(	uint8_t	id,
		uint32_t &	pos
	)

overridevirtual

MockDxlDriver::readMaxPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 252 of file mock_dxl_driver.cpp.

◆ readMinPosition()

int ttl_driver::MockDxlDriver::readMinPosition	(	uint8_t	id,
		uint32_t &	pos
	)

overridevirtual

MockDxlDriver::readMinPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 237 of file mock_dxl_driver.cpp.

◆ readMoving()

int ttl_driver::MockDxlDriver::readMoving	(	uint8_t	id,
		uint8_t &	status
	)

overridevirtual

MockDxlDriver::readMoving.

Parameters

id
status

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 896 of file mock_dxl_driver.cpp.

◆ readPID()

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

overridevirtual

MockDxlDriver::readPID.

Parameters

id
data

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 715 of file mock_dxl_driver.cpp.

◆ readPosition()

int ttl_driver::MockDxlDriver::readPosition	(	uint8_t	id,
		uint32_t &	present_position
	)

overridevirtual

MockDxlDriver::readPosition.

Parameters

id
present_position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 427 of file mock_dxl_driver.cpp.

◆ readTemperature()

int ttl_driver::MockDxlDriver::readTemperature	(	uint8_t	id,
		uint8_t &	temperature
	)

overridevirtual

MockDxlDriver::readTemperature.

Parameters

id
temperature

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 455 of file mock_dxl_driver.cpp.

◆ readVelocity()

int ttl_driver::MockDxlDriver::readVelocity	(	uint8_t	id,
		uint32_t &	present_velocity
	)

overridevirtual

MockDxlDriver::readVelocity.

Parameters

id
present_velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 442 of file mock_dxl_driver.cpp.

◆ readVelocityProfile()

int ttl_driver::MockDxlDriver::readVelocityProfile	(	uint8_t	id,
		std::vector< uint32_t > &	data_list
	)

overridevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 407 of file mock_dxl_driver.cpp.

◆ readVoltage()

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

overridevirtual

MockDxlDriver::readVoltage.

Parameters

id
voltage

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 470 of file mock_dxl_driver.cpp.

◆ reboot()

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

overridevirtual

MockDxlDriver::reboot.

Parameters

id

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 116 of file mock_dxl_driver.cpp.

◆ scan()

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

overridevirtual

MockDxlDriver::scan.

Parameters

id_list

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 105 of file mock_dxl_driver.cpp.

◆ str()

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

overridevirtual

MockDxlDriver::str.

Returns

Reimplemented from ttl_driver::AbstractDxlDriver.

Definition at line 46 of file mock_dxl_driver.cpp.

◆ syncReadFirmwareVersion()

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

overridevirtual

MockDxlDriver::syncReadFirmwareVersion.

Parameters

id_list
firmware_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 589 of file mock_dxl_driver.cpp.

◆ syncReadHwErrorStatus()

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

overridevirtual

MockDxlDriver::syncReadHwErrorStatus.

Parameters

id_list
hw_error_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 696 of file mock_dxl_driver.cpp.

◆ syncReadHwStatus()

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

override

MockDxlDriver::syncReadHwStatus.

Parameters

id_list
data_list

Returns

Definition at line 666 of file mock_dxl_driver.cpp.

◆ syncReadJointStatus()

int ttl_driver::MockDxlDriver::syncReadJointStatus	(	const std::vector< uint8_t > &	id_list,
		std::vector< std::array< uint32_t, 2 >> &	data_array_list
	)

override

MockDxlDriver::syncReadJointStatus.

Parameters

id_list
data_array_list

Returns

Definition at line 550 of file mock_dxl_driver.cpp.

◆ syncReadLoad()

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

overridevirtual

MockDxlDriver::syncReadLoad.

Parameters

id_list
load_list

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 911 of file mock_dxl_driver.cpp.

◆ syncReadPosition()

int ttl_driver::MockDxlDriver::syncReadPosition	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint32_t > &	position_list
	)

overridevirtual

MockDxlDriver::syncReadPosition.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 500 of file mock_dxl_driver.cpp.

◆ syncReadRawVoltage()

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

overridevirtual

MockDxlDriver::syncReadRawVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 658 of file mock_dxl_driver.cpp.

◆ syncReadTemperature()

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

overridevirtual

MockDxlDriver::syncReadTemperature.

Parameters

id_list
temperature_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 612 of file mock_dxl_driver.cpp.

◆ syncReadVelocity()

int ttl_driver::MockDxlDriver::syncReadVelocity	(	const std::vector< uint8_t > &	id_list,
		std::vector< uint32_t > &	velocity_list
	)

overridevirtual

MockDxlDriver::syncReadVelocity.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 525 of file mock_dxl_driver.cpp.

◆ syncReadVoltage()

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

overridevirtual

MockDxlDriver::syncReadVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 635 of file mock_dxl_driver.cpp.

◆ syncWriteLed()

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

overridevirtual

MockDxlDriver::syncWriteLed.

Parameters

id_list
led_list

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 819 of file mock_dxl_driver.cpp.

◆ syncWritePositionGoal()

int ttl_driver::MockDxlDriver::syncWritePositionGoal	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint32_t > &	position_list
	)

overridevirtual

MockDxlDriver::syncWritePositionGoal get position goal and write it as the current position of each joint.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 356 of file mock_dxl_driver.cpp.

◆ syncWriteTorqueGoal()

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

overridevirtual

MockDxlDriver::syncWriteTorqueGoal.

Parameters

id_list
torque_list

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 857 of file mock_dxl_driver.cpp.

◆ syncWriteTorquePercentage()

int ttl_driver::MockDxlDriver::syncWriteTorquePercentage	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint8_t > &	torque_percentage_list
	)

overridevirtual

MockDxlDriver::syncWriteTorquePercentage.

Parameters

id_list
torque_percentage_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 335 of file mock_dxl_driver.cpp.

◆ syncWriteVelocityGoal()

int ttl_driver::MockDxlDriver::syncWriteVelocityGoal	(	const std::vector< uint8_t > &	id_list,
		const std::vector< uint32_t > &	velocity_list
	)

overridevirtual

MockDxlDriver::syncWriteVelocityGoal.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 386 of file mock_dxl_driver.cpp.

◆ writeControlMode()

int ttl_driver::MockDxlDriver::writeControlMode	(	uint8_t	id,
		uint8_t	data
	)

overridevirtual

MockDxlDriver::writeControlMode.

Parameters

id
data

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 768 of file mock_dxl_driver.cpp.

◆ writeCustom()

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

overridevirtual

MockDxlDriver::writeCustom.

Parameters

address
data_len
id
data

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 150 of file mock_dxl_driver.cpp.

◆ writeLed()

int ttl_driver::MockDxlDriver::writeLed	(	uint8_t	id,
		uint8_t	led_value
	)

overridevirtual

MockDxlDriver::writeLed.

Parameters

id
led_value

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 803 of file mock_dxl_driver.cpp.

◆ writePID()

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

overridevirtual

MockDxlDriver::writePID.

Parameters

id
data

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 742 of file mock_dxl_driver.cpp.

◆ writePositionGoal()

int ttl_driver::MockDxlDriver::writePositionGoal	(	uint8_t	id,
		uint32_t	position
	)

overridevirtual

MockDxlDriver::writePositionGoal.

Parameters

id
position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 287 of file mock_dxl_driver.cpp.

◆ writeShutdownConfiguration()

int ttl_driver::MockDxlDriver::writeShutdownConfiguration	(	uint8_t	id,
		uint8_t	configuration
	)

overridevirtual

MockDxlDriver::writeShutdownConfiguration.

Parameters

id
configuration

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 208 of file mock_dxl_driver.cpp.

◆ writeStartupConfiguration()

int ttl_driver::MockDxlDriver::writeStartupConfiguration	(	uint8_t	id,
		uint8_t	value
	)

overridevirtual

MockDxlDriver::writeStartupConfiguration.

Parameters

id
value

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 180 of file mock_dxl_driver.cpp.

◆ writeTemperatureLimit()

int ttl_driver::MockDxlDriver::writeTemperatureLimit	(	uint8_t	id,
		uint8_t	temperature_limit
	)

overridevirtual

MockDxlDriver::writeTemperatureLimit.

Parameters

id
temperature_limit

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 194 of file mock_dxl_driver.cpp.

◆ writeTorqueGoal()

int ttl_driver::MockDxlDriver::writeTorqueGoal	(	uint8_t	id,
		uint16_t	torque
	)

overridevirtual

MockDxlDriver::writeTorqueGoal.

Parameters

id
torque

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 841 of file mock_dxl_driver.cpp.

◆ writeTorquePercentage()

int ttl_driver::MockDxlDriver::writeTorquePercentage	(	uint8_t	id,
		uint8_t	torque_enable
	)

overridevirtual

MockDxlDriver::writeTorquePercentage.

Parameters

id
torque_enable

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 269 of file mock_dxl_driver.cpp.

◆ writeVelocityGoal()

int ttl_driver::MockDxlDriver::writeVelocityGoal	(	uint8_t	id,
		uint32_t	velocity
	)

overridevirtual

MockDxlDriver::writeVelocityGoal.

Parameters

id
velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 302 of file mock_dxl_driver.cpp.

◆ writeVelocityProfile()

int ttl_driver::MockDxlDriver::writeVelocityProfile	(	uint8_t	id,
		const std::vector< uint32_t > &	data_list
	)

overridevirtual

MockDxlDriver::writeVelocityProfile.

Parameters

id
data_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 317 of file mock_dxl_driver.cpp.

Member Data Documentation

◆ _fake_data

std::shared_ptr<FakeTtlData> ttl_driver::MockDxlDriver::_fake_data

private

Definition at line 122 of file mock_dxl_driver.hpp.

◆ _id_list

std::vector<uint8_t> ttl_driver::MockDxlDriver::_id_list

private

Definition at line 123 of file mock_dxl_driver.hpp.

◆ GROUP_SYNC_REDONDANT_ID

constexpr int ttl_driver::MockDxlDriver::GROUP_SYNC_REDONDANT_ID = 10

staticconstexprprivate

Definition at line 125 of file mock_dxl_driver.hpp.

◆ LEN_ID_DATA_NOT_SAME

constexpr int ttl_driver::MockDxlDriver::LEN_ID_DATA_NOT_SAME = 20

staticconstexprprivate

Definition at line 126 of file mock_dxl_driver.hpp.

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

Public Member Functions

Protected Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MockDxlDriver()

Member Function Documentation

◆ changeId()

◆ checkModelNumber()

◆ getModelNumber()

◆ interpretErrorState()

◆ interpretFirmwareVersion()

◆ ping()

◆ readControlMode()

◆ readCustom()

◆ readFirmwareVersion()

◆ readHwErrorStatus()

◆ readLoad()

◆ readMaxPosition()

◆ readMinPosition()

◆ readMoving()

◆ readPID()

◆ readPosition()

◆ readTemperature()

◆ readVelocity()

◆ readVelocityProfile()

◆ readVoltage()

◆ reboot()

◆ scan()

◆ str()

◆ syncReadFirmwareVersion()

◆ syncReadHwErrorStatus()

◆ syncReadHwStatus()

◆ syncReadJointStatus()

◆ syncReadLoad()

◆ syncReadPosition()

◆ syncReadRawVoltage()

◆ syncReadTemperature()

◆ syncReadVelocity()

◆ syncReadVoltage()

◆ syncWriteLed()

◆ syncWritePositionGoal()

◆ syncWriteTorqueGoal()

◆ syncWriteTorquePercentage()

◆ syncWriteVelocityGoal()

◆ writeControlMode()

◆ writeCustom()

◆ writeLed()

◆ writePID()

◆ writePositionGoal()

◆ writeShutdownConfiguration()

◆ writeStartupConfiguration()

◆ writeTemperatureLimit()

◆ writeTorqueGoal()

◆ writeTorquePercentage()

◆ writeVelocityGoal()

◆ writeVelocityProfile()

Member Data Documentation

◆ _fake_data

◆ _id_list

◆ GROUP_SYNC_REDONDANT_ID

◆ LEN_ID_DATA_NOT_SAME