The MockEndEffectorDriver class. More...

#include <mock_end_effector_driver.hpp>

Inheritance diagram for ttl_driver::MockEndEffectorDriver:

Public Member Functions
int	checkModelNumber (uint8_t id) override
	MockEndEffectorDriver::checkModelNumber. More...

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

	MockEndEffectorDriver (std::shared_ptr< FakeTtlData > data)
	MockEndEffectorDriver::EndEffectorDriver. More...

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

int	readAccelerometerXValue (uint8_t id, uint32_t &x_value) override
	MockEndEffectorDriver::readAccelerometerXValue. More...

int	readAccelerometerYValue (uint8_t id, uint32_t &y_value) override
	MockEndEffectorDriver::readAccelerometerYValue. More...

int	readAccelerometerZValue (uint8_t id, uint32_t &z_value) override
	MockEndEffectorDriver::readAccelerometerZValue. More...

int	readButton0Status (uint8_t id, common::model::EActionType &action) override
	MockEndEffectorDriver::readButton0Status. More...

int	readButton1Status (uint8_t id, common::model::EActionType &action) override
	MockEndEffectorDriver::readButton1Status. More...

int	readButton2Status (uint8_t id, common::model::EActionType &action) override
	MockEndEffectorDriver::readButton2Status. More...

int	readCollisionStatus (uint8_t id, bool &status) override
	MockEndEffectorDriver::readCollisionStatus. More...

int	readDigitalInput (uint8_t id, bool &in) override
	MockEndEffectorDriver::readDigitalInput. More...

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

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

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

int	readVoltage (uint8_t id, double &_voltage) override
	MockEndEffectorDriver::readVoltage. More...

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

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

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

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

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

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

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

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

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

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

int	writeCollisionThresh (uint8_t id, int thresh) override
	MockEndEffectorDriver::writeCollisionThresh. More...

int	writeCollisionThreshAlgo2 (uint8_t id, int thresh) override
	MockEndEffectorDriver::writeCollisionThreshAlgo2. More...

int	writeDigitalInput (uint8_t id, bool in) override
	MockEndEffectorDriver::writeDigitalInput stores the digital input value in the fake data. More...

int	writeDigitalOutput (uint8_t id, bool out) override
	MockEndEffectorDriver::writeDigitalOutput. 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	readCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t &data)
	AbstractTtlDriver::readCustom. More...

virtual int	writeCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t data)
	AbstractTtlDriver::writeCustom. More...

virtual	~AbstractTtlDriver ()=default

Private Attributes
std::shared_ptr< FakeTtlData >	_fake_data

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

The MockEndEffectorDriver class.

Definition at line 42 of file mock_end_effector_driver.hpp.

Constructor & Destructor Documentation

◆ MockEndEffectorDriver()

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

MockEndEffectorDriver::EndEffectorDriver.

Definition at line 33 of file mock_end_effector_driver.cpp.

Member Function Documentation

◆ checkModelNumber()

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

overridevirtual

MockEndEffectorDriver::checkModelNumber.

Parameters

id

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 80 of file mock_end_effector_driver.cpp.

◆ getModelNumber()

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

overridevirtual

MockEndEffectorDriver::getModelNumber.

Parameters

id
model_number

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 66 of file mock_end_effector_driver.cpp.

◆ ping()

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

overridevirtual

MockEndEffectorDriver::ping.

Parameters

id

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 53 of file mock_end_effector_driver.cpp.

◆ readAccelerometerXValue()

int ttl_driver::MockEndEffectorDriver::readAccelerometerXValue	(	uint8_t	id,
		uint32_t &	x_value
	)

overridevirtual

MockEndEffectorDriver::readAccelerometerXValue.

Parameters

id
x_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 340 of file mock_end_effector_driver.cpp.

◆ readAccelerometerYValue()

int ttl_driver::MockEndEffectorDriver::readAccelerometerYValue	(	uint8_t	id,
		uint32_t &	y_value
	)

overridevirtual

MockEndEffectorDriver::readAccelerometerYValue.

Parameters

id
y_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 355 of file mock_end_effector_driver.cpp.

◆ readAccelerometerZValue()

int ttl_driver::MockEndEffectorDriver::readAccelerometerZValue	(	uint8_t	id,
		uint32_t &	z_value
	)

overridevirtual

MockEndEffectorDriver::readAccelerometerZValue.

Parameters

id
z_value

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 370 of file mock_end_effector_driver.cpp.

◆ readButton0Status()

int ttl_driver::MockEndEffectorDriver::readButton0Status	(	uint8_t	id,
		common::model::EActionType &	action
	)

overridevirtual

MockEndEffectorDriver::readButton0Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 273 of file mock_end_effector_driver.cpp.

◆ readButton1Status()

int ttl_driver::MockEndEffectorDriver::readButton1Status	(	uint8_t	id,
		common::model::EActionType &	action
	)

overridevirtual

MockEndEffectorDriver::readButton1Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 288 of file mock_end_effector_driver.cpp.

◆ readButton2Status()

int ttl_driver::MockEndEffectorDriver::readButton2Status	(	uint8_t	id,
		common::model::EActionType &	action
	)

overridevirtual

MockEndEffectorDriver::readButton2Status.

Parameters

id
action

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 303 of file mock_end_effector_driver.cpp.

◆ readCollisionStatus()

int ttl_driver::MockEndEffectorDriver::readCollisionStatus	(	uint8_t	id,
		bool &	status
	)

overridevirtual

MockEndEffectorDriver::readCollisionStatus.

Parameters

id
status

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 385 of file mock_end_effector_driver.cpp.

◆ readDigitalInput()

int ttl_driver::MockEndEffectorDriver::readDigitalInput	(	uint8_t	id,
		bool &	in
	)

overridevirtual

MockEndEffectorDriver::readDigitalInput.

Parameters

id
in

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 426 of file mock_end_effector_driver.cpp.

◆ readFirmwareVersion()

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

overridevirtual

MockEndEffectorDriver::readFirmwareVersion.

Parameters

id
version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 120 of file mock_end_effector_driver.cpp.

◆ readHwErrorStatus()

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

overridevirtual

MockEndEffectorDriver::readHwErrorStatus.

Parameters

id
hardware_error_status

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 167 of file mock_end_effector_driver.cpp.

◆ readTemperature()

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

overridevirtual

MockEndEffectorDriver::readTemperature.

Parameters

id
temperature

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 137 of file mock_end_effector_driver.cpp.

◆ readVoltage()

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

overridevirtual

MockEndEffectorDriver::readVoltage.

Parameters

id
voltage

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 152 of file mock_end_effector_driver.cpp.

◆ reboot()

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

overridevirtual

MockEndEffectorDriver::reboot.

Parameters

id

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 112 of file mock_end_effector_driver.cpp.

◆ scan()

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

overridevirtual

MockEndEffectorDriver::scan.

Parameters

id_list

Returns

Reimplemented from ttl_driver::AbstractTtlDriver.

Definition at line 101 of file mock_end_effector_driver.cpp.

◆ str()

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

overridevirtual

MockEndEffectorDriver::str.

Returns

Reimplemented from ttl_driver::AbstractEndEffectorDriver.

Definition at line 43 of file mock_end_effector_driver.cpp.

◆ syncReadButtonsStatus()

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

overridevirtual

MockEndEffectorDriver::syncReadButtonsStatus.

Parameters

id
action_list

Returns

Implements ttl_driver::AbstractEndEffectorDriver.

Definition at line 318 of file mock_end_effector_driver.cpp.

◆ syncReadFirmwareVersion()

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

overridevirtual

MockEndEffectorDriver::syncReadFirmwareVersion.

Parameters

id_list
firmware_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 182 of file mock_end_effector_driver.cpp.

◆ syncReadHwErrorStatus()

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

overridevirtual

MockEndEffectorDriver::syncReadHwErrorStatus.

Parameters

id_list
hw_error_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 258 of file mock_end_effector_driver.cpp.

◆ syncReadHwStatus()

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