The TtlInterfaceCore class schedules and manager the communication in the TTL bus its main purpose it to manage queues of commands for the TTL Motors This class is used for now by : More...

#include <ttl_interface_core.hpp>

Inheritance diagram for ttl_driver::TtlInterfaceCore:

[legend]

Public Member Functions
void	activeDebugMode (bool mode) override
	TtlInterfaceCore::activeDebugMode. More...

int	addJoint (const std::shared_ptr< common::model::JointState > &jointState)
	TtlInterfaceCore::addJoint. More...

void	addSingleCommandToQueue (std::unique_ptr< common::model::ISingleMotorCmd > &&cmd) override
	TtlInterfaceCore::addSingleCommandToQueue. More...

void	addSingleCommandToQueue (std::vector< std::unique_ptr< common::model::ISingleMotorCmd >> cmd) override
	TtlInterfaceCore::addSingleCommandToQueue. More...

void	addSyncCommandToQueue (std::unique_ptr< common::model::ISynchronizeMotorCmd > &&cmd) override
	TtlInterfaceCore::setSyncCommand. More...

int	changeId (common::model::EHardwareType motor_type, uint8_t old_id, uint8_t new_id) override
	TtlInterfaceCore::changeId. More...

bool	changeTool (int value, std::string &message, int &status)
	TtlInterfaceCore::changeTool. More...

void	clearConveyorCommandQueue ()
	TtlInterfaceCore::clearConveyorCommandQueue. More...

void	clearSingleCommandQueue ()
	TtlInterfaceCore::clearSingleCommandQueue. More...

void	clearSyncCommandQueue ()
	TtlInterfaceCore::clearSyncCommandQueue. More...

common::model::EBusProtocol	getBusProtocol () const override
	TtlInterfaceCore::getBusProtocol. More...

niryo_robot_msgs::BusState	getBusState () const override
	TtlInterfaceCore::getBusState. More...

int32_t	getCalibrationResult (uint8_t id) const override
	TtlInterfaceCore::getCalibrationResult. More...

common::model::EStepperCalibrationStatus	getCalibrationStatus () const override
	TtlInterfaceCore::getCalibrationStatus. More...

bool	getCollisionStatus () const
	TtlInterfaceCore::readCollisionStatus. More...

std::shared_ptr< common::model::EndEffectorState >	getEndEffectorState (uint8_t id)
	TtlInterfaceCore::getEndEffectorState. More...

std::shared_ptr< common::model::JointState >	getJointState (uint8_t motor_id) const override
	TtlInterfaceCore::getState. More...

std::vector< std::shared_ptr< common::model::JointState > >	getJointStates () const override
	TtlInterfaceCore::getJointStates. More...

double	getPosition (uint8_t id) const
	TtlInterfaceCore::getPosition. More...

std::vector< uint8_t >	getRemovedMotorList () const override
	TtlInterfaceCore::getRemovedMotorList. More...

bool	init (ros::NodeHandle &nh) override
	TtlInterfaceCore::init. More...

int	initMotor (const std::shared_ptr< common::model::AbstractMotorState > &motor_state)

bool	isConnectionOk () const override
	TtlInterfaceCore::isConnectionOk. More...

int	launchMotorsReport () override
	TtlInterfaceCore::launchMotorsReport. More...

TtlInterfaceCore &	operator= (const TtlInterfaceCore &)=delete

TtlInterfaceCore &	operator= (TtlInterfaceCore &&)=delete

bool	readHomingAbsPosition ()
	TtlInterfaceCore::readHomingAbsPosition. More...

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

bool	rebootHardware (const std::shared_ptr< common::model::AbstractHardwareState > &hw_state) override
	TtlInterfaceCore::rebootMotor. More...

void	resetCalibration () override
	TtlInterfaceCore::resetCalibration. More...

bool	scanMotorId (uint8_t motor_to_find) override
	TtlInterfaceCore::scanMotorId. More...

std::vector< uint8_t >	scanTools ()
	TtlInterfaceCore::scanTools. More...

void	setCalibrationStatus (const common::model::EStepperCalibrationStatus status) override
	TtlInterfaceCore::setCalibrationStatus. More...

int	setConveyor (const std::shared_ptr< common::model::ConveyorState > &state) override
	TtlInterfaceCore::setConveyor. More...

int	setEndEffector (const std::shared_ptr< common::model::EndEffectorState > &end_effector_state)
	TtlInterfaceCore::setEndEffector. More...

void	setEstopFlag (bool value)

int	setTool (const std::shared_ptr< common::model::ToolState > &toolState)
	TtlInterfaceCore::setTool. More...

void	setTrajectoryControllerCommands (std::vector< std::pair< uint8_t, uint32_t >> &&cmd)
	TtlInterfaceCore::setTrajectoryControllerCommands. More...

void	startCalibration () override
	TtlInterfaceCore::startCalibration. More...

void	startControlLoop () override
	TtlInterfaceCore::startControlLoop. More...

	TtlInterfaceCore (const TtlInterfaceCore &)=delete

	TtlInterfaceCore (ros::NodeHandle &nh)
	TtlInterfaceCore::TtlInterfaceCore. More...

	TtlInterfaceCore (TtlInterfaceCore &&)=delete

void	unsetConveyor (uint8_t motor_id, uint8_t default_conveyor_id) override
	TtlInterfaceCore::unsetConveyor. More...

void	unsetTool (uint8_t motor_id)
	TtlInterfaceCore::unsetTool. More...

void	waitSingleQueueFree ()
	TtlInterfaceCore::waitSingleQueueFree. More...

void	waitSyncQueueFree ()
	TtlInterfaceCore::waitSyncQueueFree. More...

	~TtlInterfaceCore () override
	TtlInterfaceCore::~TtlInterfaceCore. More...

Private Member Functions
bool	_callbackActivateLeds (niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res)
	TtlInterfaceCore::callbackActivateLeds. More...

bool	_callbackReadCustomValue (ttl_driver::ReadCustomValue::Request &req, ttl_driver::ReadCustomValue::Response &res)
	TtlInterfaceCore::callbackReadCustomValue. More...

bool	_callbackReadPIDValue (ttl_driver::ReadPIDValue::Request &req, ttl_driver::ReadPIDValue::Response &res)
	TtlInterfaceCore::_callbackReadPIDValue. More...

bool	_callbackReadVelocityProfile (ttl_driver::ReadVelocityProfile::Request &req, ttl_driver::ReadVelocityProfile::Response &res)
	TtlInterfaceCore::_callbackReadVelocityProfile. More...

bool	_callbackWriteCustomValue (ttl_driver::WriteCustomValue::Request &req, ttl_driver::WriteCustomValue::Response &res)
	TtlInterfaceCore::callbackWriteCustomValue. More...

bool	_callbackWritePIDValue (ttl_driver::WritePIDValue::Request &req, ttl_driver::WritePIDValue::Response &res)
	TtlInterfaceCore::_callbackWritePIDValue. More...

bool	_callbackWriteVelocityProfile (ttl_driver::WriteVelocityProfile::Request &req, ttl_driver::WriteVelocityProfile::Response &res)
	TtlInterfaceCore::_callbackWriteVelocityProfile. More...

void	_executeCommand () override
	TtlInterfaceCore::_executeCommand : execute all the cmd in the current queue. More...

void	_publishCollisionStatus (const ros::TimerEvent &)

void	controlLoop () override
	TtlInterfaceCore::controlLoop. More...

void	initParameters (ros::NodeHandle &nh) override
	TtlInterfaceCore::initParameters. More...

int	motorCmdReport (const common::model::JointState &jState, common::model::EHardwareType motor_type)
	TtlInterfaceCore::motorCmdReport. More...

int	motorScanReport (uint8_t motor_id)
	TtlInterfaceCore::motorScanReport. More...

void	resetHardwareControlLoopRates () override
	TtlInterfaceCore::resetHardwareControlLoopRates. More...

void	startPublishers (ros::NodeHandle &nh) override
	TtlInterfaceCore::startPublishers. More...

void	startServices (ros::NodeHandle &nh) override
	TtlInterfaceCore::startServices. More...

void	startSubscribers (ros::NodeHandle &nh) override
	TtlInterfaceCore::startSubscribers. More...

Private Attributes
ros::ServiceServer	_activate_leds_server

bool	_collision_detected { false }

ros::Publisher	_collision_status_publisher

ros::Duration	_collision_status_publisher_duration { 0.01 }

ros::Timer	_collision_status_publisher_timer

bool	_control_loop_flag { false }

double	_control_loop_frequency { 0.0 }

std::mutex	_control_loop_mutex

std::thread	_control_loop_thread

std::mutex	_conveyor_cmd_queue_mutex

std::queue< std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > >	_conveyor_cmds_queue

ros::ServiceServer	_custom_cmd_getter

ros::ServiceServer	_custom_cmd_server

bool	_debug_flag { false }

double	_delta_time_data_read { 0.0 }

double	_delta_time_end_effector_read { 0.0 }

double	_delta_time_status_read { 0.0 }

double	_delta_time_write { 0.0 }

bool	_estop_flag { false }

ros::ServiceServer	_frequencies_getter

ros::ServiceServer	_frequencies_setter

std::string	_hardware_version

std::vector< std::pair< uint8_t, uint32_t > >	_joint_trajectory_cmd

ros::ServiceServer	_pid_getter

ros::ServiceServer	_pid_server

std::mutex	_single_cmd_queue_mutex

std::queue< std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > >	_single_cmds_queue

std::mutex	_sync_cmd_queue_mutex

std::queue< std::unique_ptr< common::model::AbstractTtlSynchronizeMotorCmd > >	_sync_cmds_queue

double	_time_check_connection_last_read { 0.0 }

double	_time_check_end_effector_last_read { 0.0 }

double	_time_hw_data_last_read { 0.0 }

double	_time_hw_data_last_write { 0.0 }

double	_time_hw_end_effector_last_read { 0.0 }

double	_time_hw_status_last_read { 0.0 }

std::mutex	_traj_cmd_mutex

std::unique_ptr< TtlManager >	_ttl_manager

ros::ServiceServer	_velocity_profile_getter

ros::ServiceServer	_velocity_profile_server

Static Private Attributes
static constexpr int	QUEUE_OVERFLOW = 20

Detailed Description

The TtlInterfaceCore class schedules and manager the communication in the TTL bus its main purpose it to manage queues of commands for the TTL Motors This class is used for now by :

ToolsInterfaceCore
JointsInterfaceCore
JointsHardwareInterface
CalibrationManager
EndEffectorInterfaceCore

Definition at line 75 of file ttl_interface_core.hpp.

Constructor & Destructor Documentation

◆ TtlInterfaceCore() [1/3]

ttl_driver::TtlInterfaceCore::TtlInterfaceCore ( ros::NodeHandle & nh )

TtlInterfaceCore::TtlInterfaceCore.

Definition at line 67 of file ttl_interface_core.cpp.

◆ ~TtlInterfaceCore()

ttl_driver::TtlInterfaceCore::~TtlInterfaceCore ( )

override

TtlInterfaceCore::~TtlInterfaceCore.

Definition at line 77 of file ttl_interface_core.cpp.

◆ TtlInterfaceCore() [2/3]

ttl_driver::TtlInterfaceCore::TtlInterfaceCore ( const TtlInterfaceCore & )

delete

◆ TtlInterfaceCore() [3/3]

ttl_driver::TtlInterfaceCore::TtlInterfaceCore ( TtlInterfaceCore && )

delete

Member Function Documentation

◆ _callbackActivateLeds()

bool ttl_driver::TtlInterfaceCore::_callbackActivateLeds	(	niryo_robot_msgs::SetInt::Request &	req,
		niryo_robot_msgs::SetInt::Response &	res
	)

private

TtlInterfaceCore::callbackActivateLeds.

Parameters

req
res

Returns

Definition at line 1045 of file ttl_interface_core.cpp.

◆ _callbackReadCustomValue()

bool ttl_driver::TtlInterfaceCore::_callbackReadCustomValue	(	ttl_driver::ReadCustomValue::Request &	req,
		ttl_driver::ReadCustomValue::Response &	res
	)

private

TtlInterfaceCore::callbackReadCustomValue.

Parameters

req
res

Returns

Definition at line 1067 of file ttl_interface_core.cpp.

◆ _callbackReadPIDValue()

bool ttl_driver::TtlInterfaceCore::_callbackReadPIDValue	(	ttl_driver::ReadPIDValue::Request &	req,
		ttl_driver::ReadPIDValue::Response &	res
	)

private

TtlInterfaceCore::_callbackReadPIDValue.

Parameters

req
res

Returns

Definition at line 1125 of file ttl_interface_core.cpp.

◆ _callbackReadVelocityProfile()

bool ttl_driver::TtlInterfaceCore::_callbackReadVelocityProfile	(	ttl_driver::ReadVelocityProfile::Request &	req,
		ttl_driver::ReadVelocityProfile::Response &	res
	)

private

TtlInterfaceCore::_callbackReadVelocityProfile.

Parameters

req
res

Returns

Definition at line 1199 of file ttl_interface_core.cpp.

◆ _callbackWriteCustomValue()

bool ttl_driver::TtlInterfaceCore::_callbackWriteCustomValue	(	ttl_driver::WriteCustomValue::Request &	req,
		ttl_driver::WriteCustomValue::Response &	res
	)

private

TtlInterfaceCore::callbackWriteCustomValue.

Parameters

req
res

Returns

Definition at line 1097 of file ttl_interface_core.cpp.

◆ _callbackWritePIDValue()

bool ttl_driver::TtlInterfaceCore::_callbackWritePIDValue	(	ttl_driver::WritePIDValue::Request &	req,
		ttl_driver::WritePIDValue::Response &	res
	)

private

TtlInterfaceCore::_callbackWritePIDValue.

Parameters

req
res

Returns

Definition at line 1172 of file ttl_interface_core.cpp.

◆ _callbackWriteVelocityProfile()

bool ttl_driver::TtlInterfaceCore::_callbackWriteVelocityProfile	(	ttl_driver::WriteVelocityProfile::Request &	req,
		ttl_driver::WriteVelocityProfile::Response &	res
	)

private

TtlInterfaceCore::_callbackWriteVelocityProfile.

Parameters

req
res

Returns

Definition at line 1249 of file ttl_interface_core.cpp.

◆ _executeCommand()

void ttl_driver::TtlInterfaceCore::_executeCommand ( )

overrideprivate

TtlInterfaceCore::_executeCommand : execute all the cmd in the current queue.

Definition at line 664 of file ttl_interface_core.cpp.

◆ _publishCollisionStatus()

void ttl_driver::TtlInterfaceCore::_publishCollisionStatus ( const ros::TimerEvent & )

private

Definition at line 1286 of file ttl_interface_core.cpp.

◆ activeDebugMode()

void ttl_driver::TtlInterfaceCore::activeDebugMode ( bool mode )

override

TtlInterfaceCore::activeDebugMode.

Parameters

mode

Definition at line 545 of file ttl_interface_core.cpp.

◆ addJoint()

int ttl_driver::TtlInterfaceCore::addJoint ( const std::shared_ptr< common::model::JointState > & jointState )

TtlInterfaceCore::addJoint.

Parameters

jointState

Returns

Definition at line 712 of file ttl_interface_core.cpp.

◆ addSingleCommandToQueue() [1/2]

void ttl_driver::TtlInterfaceCore::addSingleCommandToQueue ( std::unique_ptr< common::model::ISingleMotorCmd > && cmd )

override

TtlInterfaceCore::addSingleCommandToQueue.

Parameters

cmd

Definition at line 904 of file ttl_interface_core.cpp.

◆ addSingleCommandToQueue() [2/2]

void ttl_driver::TtlInterfaceCore::addSingleCommandToQueue ( std::vector< std::unique_ptr< common::model::ISingleMotorCmd >> cmd )

override

TtlInterfaceCore::addSingleCommandToQueue.

Parameters

cmd

Definition at line 945 of file ttl_interface_core.cpp.

◆ addSyncCommandToQueue()

void ttl_driver::TtlInterfaceCore::addSyncCommandToQueue ( std::unique_ptr< common::model::ISynchronizeMotorCmd > && cmd )

override

TtlInterfaceCore::setSyncCommand.

Parameters

cmd

Definition at line 886 of file ttl_interface_core.cpp.

◆ changeId()

int ttl_driver::TtlInterfaceCore::changeId	(	common::model::EHardwareType	motor_type,
		uint8_t	old_id,
		uint8_t	new_id
	)

override

TtlInterfaceCore::changeId.

Parameters

motor_type
old_id
new_id

Returns

Definition at line 828 of file ttl_interface_core.cpp.

◆ changeTool()

bool ttl_driver::TtlInterfaceCore::changeTool	(	int	value,
		std::string &	message,
		int &	status
	)

TtlInterfaceCore::changeTool.

Returns

Definition at line 202 of file ttl_interface_core.cpp.

◆ clearConveyorCommandQueue()

void ttl_driver::TtlInterfaceCore::clearConveyorCommandQueue ( )

TtlInterfaceCore::clearConveyorCommandQueue.

Definition at line 852 of file ttl_interface_core.cpp.

◆ clearSingleCommandQueue()

void ttl_driver::TtlInterfaceCore::clearSingleCommandQueue ( )

TtlInterfaceCore::clearSingleCommandQueue.

Definition at line 841 of file ttl_interface_core.cpp.

◆ clearSyncCommandQueue()

void ttl_driver::TtlInterfaceCore::clearSyncCommandQueue ( )

TtlInterfaceCore::clearSyncCommandQueue.

Definition at line 863 of file ttl_interface_core.cpp.

◆ controlLoop()

void ttl_driver::TtlInterfaceCore::controlLoop ( )

overrideprivate

TtlInterfaceCore::controlLoop.

Definition at line 564 of file ttl_interface_core.cpp.

◆ getBusProtocol()

common::model::EBusProtocol ttl_driver::TtlInterfaceCore::getBusProtocol ( ) const

inlineoverride

TtlInterfaceCore::getBusProtocol.

Returns

Definition at line 275 of file ttl_interface_core.hpp.

◆ getBusState()

niryo_robot_msgs::BusState ttl_driver::TtlInterfaceCore::getBusState ( ) const

override

TtlInterfaceCore::getBusState.

Returns

Definition at line 998 of file ttl_interface_core.cpp.

◆ getCalibrationResult()

int32_t ttl_driver::TtlInterfaceCore::getCalibrationResult ( uint8_t id ) const

override

TtlInterfaceCore::getCalibrationResult.

Parameters

id

Returns

Definition at line 513 of file ttl_interface_core.cpp.

◆ getCalibrationStatus()

common::model::EStepperCalibrationStatus ttl_driver::TtlInterfaceCore::getCalibrationStatus ( ) const

inlineoverride

TtlInterfaceCore::getCalibrationStatus.

Returns

Definition at line 522 of file ttl_interface_core.cpp.

◆ getCollisionStatus()

bool ttl_driver::TtlInterfaceCore::getCollisionStatus ( ) const

inline

TtlInterfaceCore::readCollisionStatus.

Returns: true; false

Definition at line 294 of file ttl_interface_core.hpp.

◆ getEndEffectorState()

std::shared_ptr< common::model::EndEffectorState > ttl_driver::TtlInterfaceCore::getEndEffectorState ( uint8_t id )

TtlInterfaceCore::getEndEffectorState.

Parameters

id

Returns

Definition at line 979 of file ttl_interface_core.cpp.

◆ getJointState()

std::shared_ptr< common::model::JointState > ttl_driver::TtlInterfaceCore::getJointState ( uint8_t motor_id ) const

override

TtlInterfaceCore::getState.

Parameters

motor_id

Returns

Definition at line 969 of file ttl_interface_core.cpp.

◆ getJointStates()

std::vector< std::shared_ptr< common::model::JointState > > ttl_driver::TtlInterfaceCore::getJointStates ( ) const

override

TtlInterfaceCore::getJointStates.

Returns

Definition at line 959 of file ttl_interface_core.cpp.

◆ getPosition()

double ttl_driver::TtlInterfaceCore::getPosition ( uint8_t id ) const

TtlInterfaceCore::getPosition.

Parameters

id

Returns

Definition at line 989 of file ttl_interface_core.cpp.

◆ getRemovedMotorList()

std::vector< uint8_t > ttl_driver::TtlInterfaceCore::getRemovedMotorList ( ) const

inlineoverride

TtlInterfaceCore::getRemovedMotorList.

Returns

Definition at line 284 of file ttl_interface_core.hpp.

◆ init()

bool ttl_driver::TtlInterfaceCore::init ( ros::NodeHandle & nh )

override

TtlInterfaceCore::init.

Definition at line 86 of file ttl_interface_core.cpp.

◆ initMotor()

int ttl_driver::TtlInterfaceCore::initMotor ( const std::shared_ptr< common::model::AbstractMotorState > & motor_state )

◆ initParameters()

void ttl_driver::TtlInterfaceCore::initParameters ( ros::NodeHandle & nh )

overrideprivate

TtlInterfaceCore::initParameters.

Definition at line 110 of file ttl_interface_core.cpp.

◆ isConnectionOk()

bool ttl_driver::TtlInterfaceCore::isConnectionOk ( ) const

inlineoverride

TtlInterfaceCore::isConnectionOk.

Returns

Definition at line 266 of file ttl_interface_core.hpp.

◆ launchMotorsReport()

int ttl_driver::TtlInterfaceCore::launchMotorsReport ( )

override

TtlInterfaceCore::launchMotorsReport.

Returns

Definition at line 367 of file ttl_interface_core.cpp.

◆ motorCmdReport()

int ttl_driver::TtlInterfaceCore::motorCmdReport	(	const common::model::JointState &	jState,
		common::model::EHardwareType	motor_type
	)

private

TtlInterfaceCore::motorCmdReport.

Parameters

jState
motor_type

Returns

Definition at line 288 of file ttl_interface_core.cpp.

◆ motorScanReport()

int ttl_driver::TtlInterfaceCore::motorScanReport ( uint8_t motor_id )

private

TtlInterfaceCore::motorScanReport.

Parameters

motor_id

Returns

Definition at line 262 of file ttl_interface_core.cpp.

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

TtlInterfaceCore& ttl_driver::TtlInterfaceCore::operator= ( TtlInterfaceCore && )

delete

◆ readHomingAbsPosition()

bool ttl_driver::TtlInterfaceCore::readHomingAbsPosition ( )

TtlInterfaceCore::readHomingAbsPosition.

Definition at line 448 of file ttl_interface_core.cpp.

◆ readMoving()

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

TtlInterfaceCore::readMoving.

Definition at line 457 of file ttl_interface_core.cpp.

◆ rebootHardware()

bool ttl_driver::TtlInterfaceCore::rebootHardware ( const std::shared_ptr< common::model::AbstractHardwareState > & hw_state )

override

TtlInterfaceCore::rebootMotor.

Returns

Definition at line 211 of file ttl_interface_core.cpp.

◆ resetCalibration()

void ttl_driver::TtlInterfaceCore::resetCalibration ( )

override

TtlInterfaceCore::resetCalibration.

Definition at line 502 of file ttl_interface_core.cpp.

◆ resetHardwareControlLoopRates()

void ttl_driver::TtlInterfaceCore::resetHardwareControlLoopRates ( )

overrideprivate

TtlInterfaceCore::resetHardwareControlLoopRates.

Definition at line 530 of file ttl_interface_core.cpp.

◆ scanMotorId()

bool ttl_driver::TtlInterfaceCore::scanMotorId ( uint8_t motor_to_find )

override

TtlInterfaceCore::scanMotorId.

Definition at line 484 of file ttl_interface_core.cpp.

◆ scanTools()

vector< uint8_t > ttl_driver::TtlInterfaceCore::scanTools ( )

TtlInterfaceCore::scanTools.

Returns

Definition at line 231 of file ttl_interface_core.cpp.

◆ setCalibrationStatus()

void ttl_driver::TtlInterfaceCore::setCalibrationStatus ( const common::model::EStepperCalibrationStatus status )

inlineoverride

TtlInterfaceCore::setCalibrationStatus.

Definition at line 302 of file ttl_interface_core.hpp.

◆ setConveyor()

int ttl_driver::TtlInterfaceCore::setConveyor ( const std::shared_ptr< common::model::ConveyorState > & state )

override

TtlInterfaceCore::setConveyor.

Parameters

state

Returns

Definition at line 783 of file ttl_interface_core.cpp.

◆ setEndEffector()

int ttl_driver::TtlInterfaceCore::setEndEffector ( const std::shared_ptr< common::model::EndEffectorState > & end_effector_state )

TtlInterfaceCore::setEndEffector.

Parameters

end_effector_state

Returns

Definition at line 759 of file ttl_interface_core.cpp.

◆ setEstopFlag()

void ttl_driver::TtlInterfaceCore::setEstopFlag ( bool value )

inline

Definition at line 257 of file ttl_interface_core.hpp.

◆ setTool()

int ttl_driver::TtlInterfaceCore::setTool ( const std::shared_ptr< common::model::ToolState > & toolState )

TtlInterfaceCore::setTool.

Parameters

toolState

Returns

Definition at line 724 of file ttl_interface_core.cpp.

◆ setTrajectoryControllerCommands()

void ttl_driver::TtlInterfaceCore::setTrajectoryControllerCommands ( std::vector< std::pair< uint8_t, uint32_t >> && cmd )

TtlInterfaceCore::setTrajectoryControllerCommands.

Parameters

cmd

Definition at line 875 of file ttl_interface_core.cpp.

◆ startCalibration()

void ttl_driver::TtlInterfaceCore::startCalibration ( )

override

TtlInterfaceCore::startCalibration.

Definition at line 493 of file ttl_interface_core.cpp.

◆ startControlLoop()

void ttl_driver::TtlInterfaceCore::startControlLoop ( )

override

TtlInterfaceCore::startControlLoop.

Definition at line 470 of file ttl_interface_core.cpp.

◆ startPublishers()

void ttl_driver::TtlInterfaceCore::startPublishers ( ros::NodeHandle & nh )

overrideprivate

TtlInterfaceCore::startPublishers.

Parameters

nh

Definition at line 177 of file ttl_interface_core.cpp.

◆ startServices()

void ttl_driver::TtlInterfaceCore::startServices ( ros::NodeHandle & nh )

overrideprivate

TtlInterfaceCore::startServices.

Parameters

nh

Definition at line 148 of file ttl_interface_core.cpp.

◆ startSubscribers()

void ttl_driver::TtlInterfaceCore::startSubscribers ( ros::NodeHandle & nh )

overrideprivate

TtlInterfaceCore::startSubscribers.

Parameters

nh

Definition at line 189 of file ttl_interface_core.cpp.

◆ unsetConveyor()

void ttl_driver::TtlInterfaceCore::unsetConveyor	(	uint8_t	motor_id,
		uint8_t	default_conveyor_id
	)

override

TtlInterfaceCore::unsetConveyor.

Parameters

motor_id
default_conveyor_id

Definition at line 806 of file ttl_interface_core.cpp.

◆ unsetTool()

void ttl_driver::TtlInterfaceCore::unsetTool ( uint8_t motor_id )

TtlInterfaceCore::unsetTool.

Parameters

motor_id

Definition at line 748 of file ttl_interface_core.cpp.

◆ waitSingleQueueFree()

void ttl_driver::TtlInterfaceCore::waitSingleQueueFree ( )

TtlInterfaceCore::waitSingleQueueFree.

Definition at line 1027 of file ttl_interface_core.cpp.

◆ waitSyncQueueFree()

void ttl_driver::TtlInterfaceCore::waitSyncQueueFree ( )

TtlInterfaceCore::waitSyncQueueFree.

Definition at line 1016 of file ttl_interface_core.cpp.

Member Data Documentation

◆ _activate_leds_server

ros::ServiceServer ttl_driver::TtlInterfaceCore::_activate_leds_server

private

Definition at line 240 of file ttl_interface_core.hpp.

◆ _collision_detected

bool ttl_driver::TtlInterfaceCore::_collision_detected { false }

private

Definition at line 199 of file ttl_interface_core.hpp.

◆ _collision_status_publisher

ros::Publisher ttl_driver::TtlInterfaceCore::_collision_status_publisher

private

Definition at line 190 of file ttl_interface_core.hpp.

◆ _collision_status_publisher_duration

ros::Duration ttl_driver::TtlInterfaceCore::_collision_status_publisher_duration { 0.01 }

private

Definition at line 192 of file ttl_interface_core.hpp.

◆ _collision_status_publisher_timer

ros::Timer ttl_driver::TtlInterfaceCore::_collision_status_publisher_timer

private

Definition at line 191 of file ttl_interface_core.hpp.

◆ _control_loop_flag

bool ttl_driver::TtlInterfaceCore::_control_loop_flag { false }

private

Definition at line 196 of file ttl_interface_core.hpp.

◆ _control_loop_frequency

double ttl_driver::TtlInterfaceCore::_control_loop_frequency { 0.0 }

private

Definition at line 209 of file ttl_interface_core.hpp.

◆ _control_loop_mutex

std::mutex ttl_driver::TtlInterfaceCore::_control_loop_mutex

mutableprivate

Definition at line 201 of file ttl_interface_core.hpp.

◆ _control_loop_thread

std::thread ttl_driver::TtlInterfaceCore::_control_loop_thread

private

Definition at line 207 of file ttl_interface_core.hpp.

◆ _conveyor_cmd_queue_mutex

std::mutex ttl_driver::TtlInterfaceCore::_conveyor_cmd_queue_mutex

mutableprivate

Definition at line 203 of file ttl_interface_core.hpp.

◆ _conveyor_cmds_queue

std::queue<std::unique_ptr<common::model::AbstractTtlSingleMotorCmd> > ttl_driver::TtlInterfaceCore::_conveyor_cmds_queue

private

Definition at line 238 of file ttl_interface_core.hpp.

◆ _custom_cmd_getter

ros::ServiceServer ttl_driver::TtlInterfaceCore::_custom_cmd_getter

private

Definition at line 243 of file ttl_interface_core.hpp.

◆ _custom_cmd_server

ros::ServiceServer ttl_driver::TtlInterfaceCore::_custom_cmd_server

private

Definition at line 242 of file ttl_interface_core.hpp.

◆ _debug_flag

bool ttl_driver::TtlInterfaceCore::_debug_flag { false }

private

Definition at line 197 of file ttl_interface_core.hpp.

◆ _delta_time_data_read

double ttl_driver::TtlInterfaceCore::_delta_time_data_read { 0.0 }

private

Definition at line 211 of file ttl_interface_core.hpp.

◆ _delta_time_end_effector_read

double ttl_driver::TtlInterfaceCore::_delta_time_end_effector_read { 0.0 }

private

Definition at line 212 of file ttl_interface_core.hpp.

◆ _delta_time_status_read

double ttl_driver::TtlInterfaceCore::_delta_time_status_read { 0.0 }

private

Definition at line 222 of file ttl_interface_core.hpp.

◆ _delta_time_write

double ttl_driver::TtlInterfaceCore::_delta_time_write { 0.0 }

private

Definition at line 213 of file ttl_interface_core.hpp.

◆ _estop_flag

bool ttl_driver::TtlInterfaceCore::_estop_flag { false }

private

Definition at line 231 of file ttl_interface_core.hpp.

◆ _frequencies_getter

ros::ServiceServer ttl_driver::TtlInterfaceCore::_frequencies_getter

private

Definition at line 252 of file ttl_interface_core.hpp.

◆ _frequencies_setter

ros::ServiceServer ttl_driver::TtlInterfaceCore::_frequencies_setter

private

Definition at line 251 of file ttl_interface_core.hpp.

◆ _hardware_version

std::string ttl_driver::TtlInterfaceCore::_hardware_version

private

Definition at line 194 of file ttl_interface_core.hpp.

◆ _joint_trajectory_cmd

std::vector<std::pair<uint8_t, uint32_t> > ttl_driver::TtlInterfaceCore::_joint_trajectory_cmd

private

Definition at line 229 of file ttl_interface_core.hpp.

◆ _pid_getter

ros::ServiceServer ttl_driver::TtlInterfaceCore::_pid_getter

private

Definition at line 246 of file ttl_interface_core.hpp.

◆ _pid_server

ros::ServiceServer ttl_driver::TtlInterfaceCore::_pid_server

private

Definition at line 245 of file ttl_interface_core.hpp.

◆ _single_cmd_queue_mutex

std::mutex ttl_driver::TtlInterfaceCore::_single_cmd_queue_mutex

mutableprivate

Definition at line 202 of file ttl_interface_core.hpp.

◆ _single_cmds_queue

std::queue<std::unique_ptr<common::model::AbstractTtlSingleMotorCmd> > ttl_driver::TtlInterfaceCore::_single_cmds_queue

private

Definition at line 237 of file ttl_interface_core.hpp.

◆ _sync_cmd_queue_mutex

std::mutex ttl_driver::TtlInterfaceCore::_sync_cmd_queue_mutex

mutableprivate

Definition at line 204 of file ttl_interface_core.hpp.

◆ _sync_cmds_queue

std::queue<std::unique_ptr<common::model::AbstractTtlSynchronizeMotorCmd> > ttl_driver::TtlInterfaceCore::_sync_cmds_queue

private

Definition at line 236 of file ttl_interface_core.hpp.

◆ _time_check_connection_last_read

double ttl_driver::TtlInterfaceCore::_time_check_connection_last_read { 0.0 }

private

Definition at line 219 of file ttl_interface_core.hpp.

◆ _time_check_end_effector_last_read

double ttl_driver::TtlInterfaceCore::_time_check_end_effector_last_read { 0.0 }

private

Definition at line 225 of file ttl_interface_core.hpp.

◆ _time_hw_data_last_read

double ttl_driver::TtlInterfaceCore::_time_hw_data_last_read { 0.0 }

private

Definition at line 215 of file ttl_interface_core.hpp.

◆ _time_hw_data_last_write

double ttl_driver::TtlInterfaceCore::_time_hw_data_last_write { 0.0 }

private

Definition at line 217 of file ttl_interface_core.hpp.

◆ _time_hw_end_effector_last_read

double ttl_driver::TtlInterfaceCore::_time_hw_end_effector_last_read { 0.0 }

private

Definition at line 216 of file ttl_interface_core.hpp.

◆ _time_hw_status_last_read

double ttl_driver::TtlInterfaceCore::_time_hw_status_last_read { 0.0 }

private

Definition at line 223 of file ttl_interface_core.hpp.

◆ _traj_cmd_mutex

std::mutex ttl_driver::TtlInterfaceCore::_traj_cmd_mutex

mutableprivate

Definition at line 205 of file ttl_interface_core.hpp.

◆ _ttl_manager

std::unique_ptr<TtlManager> ttl_driver::TtlInterfaceCore::_ttl_manager

private

Definition at line 227 of file ttl_interface_core.hpp.

◆ _velocity_profile_getter

ros::ServiceServer ttl_driver::TtlInterfaceCore::_velocity_profile_getter

private

Definition at line 249 of file ttl_interface_core.hpp.

◆ _velocity_profile_server

ros::ServiceServer ttl_driver::TtlInterfaceCore::_velocity_profile_server

private

Definition at line 248 of file ttl_interface_core.hpp.

◆ QUEUE_OVERFLOW

constexpr int ttl_driver::TtlInterfaceCore::QUEUE_OVERFLOW = 20

staticconstexprprivate

Definition at line 254 of file ttl_interface_core.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TtlInterfaceCore() [1/3]

◆ ~TtlInterfaceCore()

◆ TtlInterfaceCore() [2/3]

◆ TtlInterfaceCore() [3/3]

Member Function Documentation

◆ _callbackActivateLeds()

◆ _callbackReadCustomValue()

◆ _callbackReadPIDValue()

◆ _callbackReadVelocityProfile()

◆ _callbackWriteCustomValue()

◆ _callbackWritePIDValue()

◆ _callbackWriteVelocityProfile()

◆ _executeCommand()

◆ _publishCollisionStatus()

◆ activeDebugMode()

◆ addJoint()

◆ addSingleCommandToQueue() [1/2]

◆ addSingleCommandToQueue() [2/2]

◆ addSyncCommandToQueue()

◆ changeId()

◆ changeTool()

◆ clearConveyorCommandQueue()

◆ clearSingleCommandQueue()

◆ clearSyncCommandQueue()

◆ controlLoop()

◆ getBusProtocol()

◆ getBusState()

◆ getCalibrationResult()

◆ getCalibrationStatus()

◆ getCollisionStatus()

◆ getEndEffectorState()

◆ getJointState()

◆ getJointStates()

◆ getPosition()

◆ getRemovedMotorList()

◆ init()

◆ initMotor()

◆ initParameters()

◆ isConnectionOk()

◆ launchMotorsReport()

◆ motorCmdReport()

◆ motorScanReport()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ readHomingAbsPosition()

◆ readMoving()

◆ rebootHardware()

◆ resetCalibration()

◆ resetHardwareControlLoopRates()

◆ scanMotorId()

◆ scanTools()

◆ setCalibrationStatus()

◆ setConveyor()

◆ setEndEffector()

◆ setEstopFlag()

◆ setTool()

◆ setTrajectoryControllerCommands()

◆ startCalibration()

◆ startControlLoop()

◆ startPublishers()

◆ startServices()

◆ startSubscribers()

◆ unsetConveyor()

◆ unsetTool()

◆ waitSingleQueueFree()

◆ waitSyncQueueFree()

Member Data Documentation

◆ _activate_leds_server

◆ _collision_detected

◆ _collision_status_publisher

◆ _collision_status_publisher_duration

◆ _collision_status_publisher_timer

◆ _control_loop_flag

◆ _control_loop_frequency