The TtlManager class manages the different motor drivers connected on the TTL bus it is used by ttl_interface_core to send or receive data to the ttl bus it also manages the lifecycle of all motors driver (do we need to add also the end effector driver in it ?) More...

#include <ttl_manager.hpp>

Inheritance diagram for ttl_driver::TtlManager:

[legend]

Classes
class	CalibrationMachineState

struct	GetJointsStepperDriverResult

Public Member Functions
int	addHardwareComponent (std::shared_ptr< common::model::AbstractHardwareState > &&state) override
	TtlManager::addHardwareComponent add hardware component like joint, ee, tool... to ttl manager. More...

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

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

void	executeJointTrajectoryCmd (std::vector< std::pair< uint8_t, uint32_t >> cmd_vec)
	TtlManager::executeJointTrajectoryCmd. More...

int	getAllIdsOnBus (std::vector< uint8_t > &id_list)
	TtlManager::getAllIdsOnDxlBus. More...

void	getBusState (bool &connection_state, std::vector< uint8_t > &motor_id, std::string &debug_msg) const override
	TtlManager::getBusState. More...

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

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

bool	getCollisionStatus () const
	TtlManager::getCollisionStatus. More...

std::vector< std::shared_ptr< common::model::ConveyorState > >	getConveyorsStates () const

std::string	getErrorMessage () const override
	TtlManager::getErrorMessage. More...

std::shared_ptr< common::model::AbstractHardwareState >	getHardwareState (uint8_t motor_id) const
	TtlManager::getHardwareState. More...

int	getLedState () const

std::vector< std::shared_ptr< common::model::JointState > >	getMotorsStates () const
	TtlManager::getMotorsStates. More...

size_t	getNbMotors () const override
	TtlManager::getNbMotors. More...

uint32_t	getPosition (const common::model::JointState &motor_state)
	TtlManager::getPosition. More...

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

bool	hasEndEffector () const
	TtlManager::hasEndEffector. More...

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

bool	isCalibrationInProgress () const
	TtlManager::isCalibrationInProgress. More...

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

bool	needCalibration () const
	TtlManager::needCalibration. More...

TtlManager &	operator= (const TtlManager &)=delete

TtlManager &	operator= (TtlManager &&)=delete

bool	ping (uint8_t id) override
	TtlManager::ping. More...

bool	readCollisionStatus ()
	TtlManager::readCollisionStatus. More...

int	readControlMode (uint8_t id, uint8_t &control_mode)
	TtlManager::readControlMode. More...

int	readCustomCommand (uint8_t id, int32_t reg_address, int &value, int byte_number)
	TtlManager::readCustomCommand. More...

bool	readEndEffectorStatus ()
	TtlManager::readEndEffectorStatus. More...

bool	readHardwareStatus ()
	TtlManager::readHardwareStatus. More...

bool	readHomingAbsPosition ()

bool	readJointsStatus ()
	TtlManager::readJointsStatus. More...

int	readMotorPID (uint8_t id, uint16_t &pos_p_gain, uint16_t &pos_i_gain, uint16_t &pos_d_gain, uint16_t &vel_p_gain, uint16_t &vel_i_gain, uint16_t &ff1_gain, uint16_t &ff2_gain)
	TtlManager::readMotorPID. More...

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

uint8_t	readNed3ProSteppersStatus ()

uint8_t	readSteppersStatus ()
	TtlManager::readCalibrationStatus : reads specific steppers related information (ned2 only) More...

int	readVelocityProfile (uint8_t id, uint32_t &v_start, uint32_t &a_1, uint32_t &v_1, uint32_t &a_max, uint32_t &v_max, uint32_t &d_max, uint32_t &d_1, uint32_t &v_stop)
	TtlManager::readVelocityProfile. More...

int	rebootHardware (uint8_t id)
	TtlManager::rebootHardware. More...

void	removeHardwareComponent (uint8_t id) override
	TtlManager::removeHardwareComponent. More...

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

void	resetTorques ()
	TtlManager::resetTorques. More...

int	scanAndCheck () override
	TtlManager::scanAndCheck. More...

int	sendCustomCommand (uint8_t id, int reg_address, int value, int byte_number)
	TtlManager::sendCustomCommand. More...

int	setLeds (int led)
	TtlManager::setLeds. More...

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

	TtlManager ()=delete

	TtlManager (const TtlManager &)=delete

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

	TtlManager (TtlManager &&)=delete

int	writeSingleCommand (std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &&cmd)
	TtlManager::writeSingleCommand. More...

int	writeSynchronizeCommand (std::unique_ptr< common::model::AbstractTtlSynchronizeMotorCmd > &&cmd)
	TtlManager::writeSynchronizeCommand. More...

	~TtlManager () override
	TtlManager::~TtlManager. More...

Private Member Functions
void	addHardwareDriver (common::model::EHardwareType hardware_type) override
	TtlManager::addHardwareDriver. More...

bool	checkCollision ()
	TtlManager::checkCollision. More...

GetJointsStepperDriverResult	getJointsStepperDriver ()
	: Return the driver of the joints More...

bool	isMotorType (common::model::EHardwareType type)
	TtlManager::isMotorType. More...

void	readFakeConfig (bool use_simu_gripper, bool use_simu_conveyor)
	TtlManager::readFakeConfig. More...

template<typename Reg >
void	retrieveFakeMotorData (const std::string &current_ns, std::map< uint8_t, Reg > &fake_params, std::vector< int > hw_ids={})
	TtlManager::retrieveFakeMotorData. More...

int	setupCommunication () override
	TtlManager::setupCommunication. More...

Private Attributes
std::vector< uint8_t >	_all_ids_connected

std::vector< int >	_available_tools

int	_baudrate { 1000000 }

CalibrationMachineState	_calib_machine_state

common::model::EStepperCalibrationStatus	_calibration_status { common::model::EStepperCalibrationStatus::OK }

ros::Publisher	_calibration_status_publisher

bool	_collision_status { false }

std::vector< uint8_t >	_conveyor_list

uint32_t	_current_tool_id { 0 }

std::vector< int >	_current_tool_vector

std::string	_debug_error_message

std::shared_ptr< ttl_driver::AbstractTtlDriver >	_default_ttl_driver

std::string	_device_name

std::map< common::model::EHardwareType, std::shared_ptr< ttl_driver::AbstractTtlDriver > >	_driver_map

std::map< common::model::EHardwareType, std::shared_ptr< ttl_driver::AbstractEndEffectorDriver > >	_end_effector_driver_map

uint32_t	_end_effector_fail_counter_read { 0 }

std::map< uint8_t, std::shared_ptr< common::model::EndEffectorState > >	_end_effector_state_map

std::shared_ptr< FakeTtlData >	_fake_data

uint32_t	_hw_fail_counter_read { 0 }

std::map< common::model::EHardwareType, std::vector< uint8_t > >	_ids_map

bool	_is_connection_ok { false }

bool	_isRealCollision { true }

bool	_isWrongAction { false }

double	_last_collision_detection_activating { 0.0 }

std::string	_led_motor_type_cfg

int	_led_state = 0

std::map< common::model::EHardwareType, std::shared_ptr< ttl_driver::AbstractMotorDriver > >	_motor_driver_map

std::map< uint8_t, std::shared_ptr< common::model::AbstractMotorState > >	_motor_state_map

ros::NodeHandle	_nh

std::shared_ptr< dynamixel::PacketHandler >	_packetHandler

std::shared_ptr< dynamixel::PortHandler >	_portHandler

std::vector< uint8_t >	_position_goal_ids

std::vector< uint32_t >	_position_goal_params

std::vector< uint32_t >	_position_list

std::vector< uint8_t >	_removed_motor_id_list

bool	_simulation_mode { false }

std::map< uint8_t, std::shared_ptr< common::model::AbstractHardwareState > >	_state_map

std::mutex	_sync_mutex

Static Private Attributes
static constexpr uint32_t	MAX_HW_FAILURE = 150

static constexpr uint32_t	MAX_READ_EE_FAILURE = 150

Detailed Description

The TtlManager class manages the different motor drivers connected on the TTL bus it is used by ttl_interface_core to send or receive data to the ttl bus it also manages the lifecycle of all motors driver (do we need to add also the end effector driver in it ?)

Parameters for Stepper

Definition at line 84 of file ttl_manager.hpp.

Constructor & Destructor Documentation

◆ TtlManager() [1/4]

ttl_driver::TtlManager::TtlManager ( )

delete

◆ TtlManager() [2/4]

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

TtlManager::TtlManager.

Definition at line 80 of file ttl_manager.cpp.

◆ ~TtlManager()

ttl_driver::TtlManager::~TtlManager ( )

override

TtlManager::~TtlManager.

Definition at line 94 of file ttl_manager.cpp.

◆ TtlManager() [3/4]

ttl_driver::TtlManager::TtlManager ( const TtlManager & )

delete

◆ TtlManager() [4/4]

ttl_driver::TtlManager::TtlManager ( TtlManager && )

delete

Member Function Documentation

◆ addHardwareComponent()

int ttl_driver::TtlManager::addHardwareComponent ( std::shared_ptr< common::model::AbstractHardwareState > && state )

override

TtlManager::addHardwareComponent add hardware component like joint, ee, tool... to ttl manager.

Parameters

state

Definition at line 272 of file ttl_manager.cpp.

◆ addHardwareDriver()

void ttl_driver::TtlManager::addHardwareDriver ( common::model::EHardwareType hardware_type )

overrideprivate

TtlManager::addHardwareDriver.

Parameters

hardware_type

Definition at line 2260 of file ttl_manager.cpp.

◆ changeId()

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

TtlManager::changeId.

Parameters

motor_type
old_id
new_id

Returns

Definition at line 425 of file ttl_manager.cpp.

◆ changeTool()

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

TtlManager::changeTool.

Returns

Definition at line 159 of file ttl_manager.cpp.

◆ checkCollision()

bool ttl_driver::TtlManager::checkCollision ( )

private

TtlManager::checkCollision.

Returns: false if read failed. Careful, there can be lots of errors as the TTL bus is not perfect better not use the return status

Definition at line 989 of file ttl_manager.cpp.

◆ executeJointTrajectoryCmd()

void ttl_driver::TtlManager::executeJointTrajectoryCmd ( std::vector< std::pair< uint8_t, uint32_t >> cmd_vec )

TtlManager::executeJointTrajectoryCmd.

Parameters

cmd_vec

Definition at line 2074 of file ttl_manager.cpp.

◆ getAllIdsOnBus()

int ttl_driver::TtlManager::getAllIdsOnBus ( std::vector< uint8_t > & id_list )

TtlManager::getAllIdsOnDxlBus.

Parameters

id_list

Returns: The scan method is identical to all drivers, we can just use the first one (same behaviour in ping with ping method)

Definition at line 1532 of file ttl_manager.cpp.

◆ getBusState()

void ttl_driver::TtlManager::getBusState	(	bool &	connection_state,
		std::vector< uint8_t > &	motor_id,
		std::string &	debug_msg
	)		const

override

TtlManager::getBusState.

Parameters

connection_state
motor_id
debug_msg

Definition at line 2199 of file ttl_manager.cpp.

◆ getCalibrationResult()

int32_t ttl_driver::TtlManager::getCalibrationResult ( uint8_t motor_id ) const

override

TtlManager::getCalibrationResult.

Parameters

motor_id

Returns

Definition at line 2181 of file ttl_manager.cpp.

◆ getCalibrationStatus()

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

inlineoverride

TtlManager::getCalibrationStatus.

Returns

Definition at line 364 of file ttl_manager.hpp.

◆ getCollisionStatus()

bool ttl_driver::TtlManager::getCollisionStatus ( ) const

inline

TtlManager::getCollisionStatus.

Returns

Definition at line 462 of file ttl_manager.hpp.

◆ getConveyorsStates()

std::vector< std::shared_ptr< ConveyorState > > ttl_driver::TtlManager::getConveyorsStates ( ) const

Definition at line 2225 of file ttl_manager.cpp.

◆ getErrorMessage()

std::string ttl_driver::TtlManager::getErrorMessage ( ) const

inlineoverride

TtlManager::getErrorMessage.

Returns

Definition at line 355 of file ttl_manager.hpp.

◆ getHardwareState()

std::shared_ptr< common::model::AbstractHardwareState > ttl_driver::TtlManager::getHardwareState ( uint8_t motor_id ) const

TtlManager::getHardwareState.

Parameters

motor_id

Returns

Definition at line 2244 of file ttl_manager.cpp.

◆ getJointsStepperDriver()

TtlManager::GetJointsStepperDriverResult ttl_driver::TtlManager::getJointsStepperDriver ( )

private

: Return the driver of the joints

All stepper joints should have the same type of driver

Definition at line 2427 of file ttl_manager.cpp.

◆ getLedState()

int ttl_driver::TtlManager::getLedState ( ) const

◆ getMotorsStates()

std::vector< std::shared_ptr< JointState > > ttl_driver::TtlManager::getMotorsStates ( ) const

TtlManager::getMotorsStates.

Returns: only the joints states

Definition at line 2210 of file ttl_manager.cpp.

◆ getNbMotors()

size_t ttl_driver::TtlManager::getNbMotors ( ) const

inlineoverride

TtlManager::getNbMotors.

Returns

Definition at line 337 of file ttl_manager.hpp.

◆ getPosition()

uint32_t ttl_driver::TtlManager::getPosition ( const common::model::JointState & motor_state )

TtlManager::getPosition.

Parameters

motor_state

Returns

Definition at line 656 of file ttl_manager.cpp.

◆ getRemovedMotorList()

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

inlineoverride

TtlManager::getRemovedMotorList.

Returns

Definition at line 346 of file ttl_manager.hpp.

◆ hasEndEffector()

bool ttl_driver::TtlManager::hasEndEffector ( ) const

inline

TtlManager::hasEndEffector.

Returns

Definition at line 392 of file ttl_manager.hpp.

◆ init()

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

override

TtlManager::init.

Parameters

nh

Returns

Definition at line 108 of file ttl_manager.cpp.

◆ isCalibrationInProgress()

bool ttl_driver::TtlManager::isCalibrationInProgress ( ) const

inline

TtlManager::isCalibrationInProgress.

Returns

Definition at line 383 of file ttl_manager.hpp.

◆ isConnectionOk()

bool ttl_driver::TtlManager::isConnectionOk ( ) const

inlineoverride

TtlManager::isConnectionOk.

Returns

Definition at line 328 of file ttl_manager.hpp.

◆ isMotorType()

bool ttl_driver::TtlManager::isMotorType ( common::model::EHardwareType type )

private

TtlManager::isMotorType.

Parameters

type

Returns: true; false

Definition at line 408 of file ttl_manager.cpp.

◆ needCalibration()

bool ttl_driver::TtlManager::needCalibration ( ) const

inline

TtlManager::needCalibration.

Returns

Definition at line 373 of file ttl_manager.hpp.

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

TtlManager& ttl_driver::TtlManager::operator= ( TtlManager && )

delete

◆ ping()

bool ttl_driver::TtlManager::ping ( uint8_t id )

override

TtlManager::ping.

Parameters

id

Returns: The ping method is identical to all drivers, we can just use the first one (same behaviour in getAllIdsOnBus with scan method)

Definition at line 556 of file ttl_manager.cpp.

◆ readCollisionStatus()

bool ttl_driver::TtlManager::readCollisionStatus ( )

TtlManager::readCollisionStatus.

Returns

Definition at line 1073 of file ttl_manager.cpp.

◆ readControlMode()

int ttl_driver::TtlManager::readControlMode	(	uint8_t	id,
		uint8_t &	control_mode
	)

TtlManager::readControlMode.

Parameters

id
control_mode

Returns

Definition at line 1914 of file ttl_manager.cpp.

◆ readCustomCommand()

int ttl_driver::TtlManager::readCustomCommand	(	uint8_t	id,
		int32_t	reg_address,
		int &	value,
		int	byte_number
	)

TtlManager::readCustomCommand.

Parameters

id
reg_address
value
byte_number

Returns

Definition at line 1700 of file ttl_manager.cpp.

◆ readEndEffectorStatus()

bool ttl_driver::TtlManager::readEndEffectorStatus ( )

TtlManager::readEndEffectorStatus.

Returns

Definition at line 874 of file ttl_manager.cpp.

◆ readFakeConfig()

void ttl_driver::TtlManager::readFakeConfig	(	bool	use_simu_gripper,
		bool	use_simu_conveyor
	)

private

TtlManager::readFakeConfig.

Definition at line 2360 of file ttl_manager.cpp.

◆ readHardwareStatus()

bool ttl_driver::TtlManager::readHardwareStatus ( )

TtlManager::readHardwareStatus.

Definition at line 1140 of file ttl_manager.cpp.

◆ readHomingAbsPosition()

bool ttl_driver::TtlManager::readHomingAbsPosition ( )

Definition at line 691 of file ttl_manager.cpp.

◆ readJointsStatus()

bool ttl_driver::TtlManager::readJointsStatus ( )

TtlManager::readJointsStatus.

Returns

Definition at line 764 of file ttl_manager.cpp.

◆ readMotorPID()

int ttl_driver::TtlManager::readMotorPID	(	uint8_t	id,
		uint16_t &	pos_p_gain,
		uint16_t &	pos_i_gain,
		uint16_t &	pos_d_gain,
		uint16_t &	vel_p_gain,
		uint16_t &	vel_i_gain,
		uint16_t &	ff1_gain,
		uint16_t &	ff2_gain
	)

TtlManager::readMotorPID.

Parameters

id
pos_p_gain
pos_i_gain
pos_d_gain
vel_p_gain
vel_i_gain
ff1_gain
ff2_gain

Returns

Definition at line 1753 of file ttl_manager.cpp.

◆ readMoving()

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

TtlManager::readMoving.

Parameters

id
status

Returns

Definition at line 1873 of file ttl_manager.cpp.

◆ readNed3ProSteppersStatus()

uint8_t ttl_driver::TtlManager::readNed3ProSteppersStatus ( )

Definition at line 1432 of file ttl_manager.cpp.

◆ readSteppersStatus()

uint8_t ttl_driver::TtlManager::readSteppersStatus ( )

TtlManager::readCalibrationStatus : reads specific steppers related information (ned2 only)

Returns

Definition at line 1263 of file ttl_manager.cpp.

◆ readVelocityProfile()

int ttl_driver::TtlManager::readVelocityProfile	(	uint8_t	id,
		uint32_t &	v_start,
		uint32_t &	a_1,
		uint32_t &	v_1,
		uint32_t &	a_max,
		uint32_t &	v_max,
		uint32_t &	d_max,
		uint32_t &	d_1,
		uint32_t &	v_stop
	)

TtlManager::readVelocityProfile.

Parameters

id
v_start
a_1
v_1
a_max
v_max
d_max
d_1
v_stop

Returns

Definition at line 1818 of file ttl_manager.cpp.

◆ rebootHardware()

int ttl_driver::TtlManager::rebootHardware ( uint8_t hw_id )

TtlManager::rebootHardware.

Parameters

hw_id

Returns

Definition at line 574 of file ttl_manager.cpp.

◆ removeHardwareComponent()

void ttl_driver::TtlManager::removeHardwareComponent ( uint8_t id )

override

TtlManager::removeHardwareComponent.

Parameters

id

Definition at line 372 of file ttl_manager.cpp.

◆ resetCalibration()

void ttl_driver::TtlManager::resetCalibration ( )

override

TtlManager::resetCalibration.

Definition at line 2148 of file ttl_manager.cpp.

◆ resetTorques()

void ttl_driver::TtlManager::resetTorques ( )

TtlManager::resetTorques.

Returns

Definition at line 620 of file ttl_manager.cpp.

◆ retrieveFakeMotorData()

template<typename Reg >

void ttl_driver::TtlManager::retrieveFakeMotorData	(	const std::string &	current_ns,
		std::map< uint8_t, Reg > &	fake_params,
		std::vector< int >	hw_ids = `{}`
	)

private

TtlManager::retrieveFakeMotorData.

Parameters

current_ns
fake_params

Definition at line 405 of file ttl_manager.hpp.

◆ scanAndCheck()

int ttl_driver::TtlManager::scanAndCheck ( )

override

TtlManager::scanAndCheck.

Returns

Definition at line 487 of file ttl_manager.cpp.

◆ sendCustomCommand()

int ttl_driver::TtlManager::sendCustomCommand	(	uint8_t	id,
		int	reg_address,
		int	value,
		int	byte_number
	)

TtlManager::sendCustomCommand.

Parameters

id
reg_address
value
byte_number

Returns

Definition at line 1645 of file ttl_manager.cpp.

◆ setLeds()

int ttl_driver::TtlManager::setLeds ( int led )

TtlManager::setLeds.

Parameters

led

Returns

Definition at line 1586 of file ttl_manager.cpp.

◆ setupCommunication()

int ttl_driver::TtlManager::setupCommunication ( )

overrideprivate

TtlManager::setupCommunication.

Returns

Definition at line 215 of file ttl_manager.cpp.

◆ startCalibration()

void ttl_driver::TtlManager::startCalibration ( )

override

TtlManager::startCalibration.

Definition at line 2109 of file ttl_manager.cpp.

◆ writeSingleCommand()

int ttl_driver::TtlManager::writeSingleCommand ( std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > && cmd )

TtlManager::writeSingleCommand.

Parameters

cmd

Returns

Definition at line 2021 of file ttl_manager.cpp.

◆ writeSynchronizeCommand()

int ttl_driver::TtlManager::writeSynchronizeCommand ( std::unique_ptr< common::model::AbstractTtlSynchronizeMotorCmd > && cmd )

TtlManager::writeSynchronizeCommand.

Parameters

cmd

Returns

Definition at line 1952 of file ttl_manager.cpp.

Member Data Documentation

◆ _all_ids_connected

std::vector<uint8_t> ttl_driver::TtlManager::_all_ids_connected

private

Definition at line 209 of file ttl_manager.hpp.

◆ _available_tools

std::vector<int> ttl_driver::TtlManager::_available_tools

private

Definition at line 265 of file ttl_manager.hpp.

◆ _baudrate

int ttl_driver::TtlManager::_baudrate { 1000000 }

private

Definition at line 207 of file ttl_manager.hpp.

◆ _calib_machine_state

CalibrationMachineState ttl_driver::TtlManager::_calib_machine_state

private

Definition at line 319 of file ttl_manager.hpp.

◆ _calibration_status

common::model::EStepperCalibrationStatus ttl_driver::TtlManager::_calibration_status { common::model::EStepperCalibrationStatus::OK }

private

Definition at line 248 of file ttl_manager.hpp.

◆ _calibration_status_publisher

ros::Publisher ttl_driver::TtlManager::_calibration_status_publisher

private

Definition at line 260 of file ttl_manager.hpp.

◆ _collision_status

bool ttl_driver::TtlManager::_collision_status { false }

private

Definition at line 255 of file ttl_manager.hpp.

◆ _conveyor_list

std::vector<uint8_t> ttl_driver::TtlManager::_conveyor_list

private

Definition at line 229 of file ttl_manager.hpp.

◆ _current_tool_id

uint32_t ttl_driver::TtlManager::_current_tool_id { 0 }

private

Definition at line 236 of file ttl_manager.hpp.

◆ _current_tool_vector

std::vector<int> ttl_driver::TtlManager::_current_tool_vector

private

Definition at line 266 of file ttl_manager.hpp.

◆ _debug_error_message

std::string ttl_driver::TtlManager::_debug_error_message

private

Definition at line 233 of file ttl_manager.hpp.

◆ _default_ttl_driver

std::shared_ptr<ttl_driver::AbstractTtlDriver> ttl_driver::TtlManager::_default_ttl_driver

private

Definition at line 225 of file ttl_manager.hpp.

◆ _device_name

std::string ttl_driver::TtlManager::_device_name

private

Definition at line 206 of file ttl_manager.hpp.

◆ _driver_map

std::map<common::model::EHardwareType, std::shared_ptr<ttl_driver::AbstractTtlDriver> > ttl_driver::TtlManager::_driver_map

private

Definition at line 219 of file ttl_manager.hpp.

◆ _end_effector_driver_map

std::map<common::model::EHardwareType, std::shared_ptr<ttl_driver::AbstractEndEffectorDriver> > ttl_driver::TtlManager::_end_effector_driver_map

private

Definition at line 222 of file ttl_manager.hpp.

◆ _end_effector_fail_counter_read

uint32_t ttl_driver::TtlManager::_end_effector_fail_counter_read { 0 }

private

Definition at line 239 of file ttl_manager.hpp.

◆ _end_effector_state_map

std::map<uint8_t, std::shared_ptr<common::model::EndEffectorState> > ttl_driver::TtlManager::_end_effector_state_map

private

Definition at line 215 of file ttl_manager.hpp.

◆ _fake_data

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

private

Definition at line 251 of file ttl_manager.hpp.

◆ _hw_fail_counter_read

uint32_t ttl_driver::TtlManager::_hw_fail_counter_read { 0 }

private

Definition at line 238 of file ttl_manager.hpp.

◆ _ids_map

std::map<common::model::EHardwareType, std::vector<uint8_t> > ttl_driver::TtlManager::_ids_map

private

Definition at line 217 of file ttl_manager.hpp.

◆ _is_connection_ok

bool ttl_driver::TtlManager::_is_connection_ok { false }

private

Definition at line 232 of file ttl_manager.hpp.

◆ _isRealCollision

bool ttl_driver::TtlManager::_isRealCollision { true }

private

Definition at line 257 of file ttl_manager.hpp.

◆ _isWrongAction

bool ttl_driver::TtlManager::_isWrongAction { false }

private

Definition at line 258 of file ttl_manager.hpp.

◆ _last_collision_detection_activating

double ttl_driver::TtlManager::_last_collision_detection_activating { 0.0 }

private

Definition at line 256 of file ttl_manager.hpp.

◆ _led_motor_type_cfg

std::string ttl_driver::TtlManager::_led_motor_type_cfg

private

Definition at line 242 of file ttl_manager.hpp.

◆ _led_state

int ttl_driver::TtlManager::_led_state = 0

private

Definition at line 241 of file ttl_manager.hpp.

◆ _motor_driver_map

std::map<common::model::EHardwareType, std::shared_ptr<ttl_driver::AbstractMotorDriver> > ttl_driver::TtlManager::_motor_driver_map

private

Definition at line 220 of file ttl_manager.hpp.

◆ _motor_state_map

std::map<uint8_t, std::shared_ptr<common::model::AbstractMotorState> > ttl_driver::TtlManager::_motor_state_map

private

Definition at line 214 of file ttl_manager.hpp.

◆ _nh

ros::NodeHandle ttl_driver::TtlManager::_nh

private

Definition at line 200 of file ttl_manager.hpp.

◆ _packetHandler

std::shared_ptr<dynamixel::PacketHandler> ttl_driver::TtlManager::_packetHandler

private

Definition at line 202 of file ttl_manager.hpp.

◆ _portHandler

std::shared_ptr<dynamixel::PortHandler> ttl_driver::TtlManager::_portHandler

private

Definition at line 201 of file ttl_manager.hpp.

◆ _position_goal_ids

std::vector<uint8_t> ttl_driver::TtlManager::_position_goal_ids

private

Definition at line 263 of file ttl_manager.hpp.

◆ _position_goal_params

std::vector<uint32_t> ttl_driver::TtlManager::_position_goal_params

private

Definition at line 264 of file ttl_manager.hpp.

◆ _position_list

std::vector<uint32_t> ttl_driver::TtlManager::_position_list

private

Definition at line 262 of file ttl_manager.hpp.

◆ _removed_motor_id_list

std::vector<uint8_t> ttl_driver::TtlManager::_removed_motor_id_list

private

Definition at line 210 of file ttl_manager.hpp.

◆ _simulation_mode

bool ttl_driver::TtlManager::_simulation_mode { false }

private

Definition at line 252 of file ttl_manager.hpp.

◆ _state_map

std::map<uint8_t, std::shared_ptr<common::model::AbstractHardwareState> > ttl_driver::TtlManager::_state_map

private

Definition at line 213 of file ttl_manager.hpp.

◆ _sync_mutex

std::mutex ttl_driver::TtlManager::_sync_mutex

mutableprivate

Definition at line 204 of file ttl_manager.hpp.

◆ MAX_HW_FAILURE

constexpr uint32_t ttl_driver::TtlManager::MAX_HW_FAILURE = 150

staticconstexprprivate

Definition at line 244 of file ttl_manager.hpp.

◆ MAX_READ_EE_FAILURE

constexpr uint32_t ttl_driver::TtlManager::MAX_READ_EE_FAILURE = 150

staticconstexprprivate

Definition at line 245 of file ttl_manager.hpp.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TtlManager() [1/4]

◆ TtlManager() [2/4]

◆ ~TtlManager()

◆ TtlManager() [3/4]

◆ TtlManager() [4/4]

Member Function Documentation

◆ addHardwareComponent()

◆ addHardwareDriver()

◆ changeId()

◆ changeTool()

◆ checkCollision()

◆ executeJointTrajectoryCmd()

◆ getAllIdsOnBus()

◆ getBusState()

◆ getCalibrationResult()

◆ getCalibrationStatus()

◆ getCollisionStatus()

◆ getConveyorsStates()

◆ getErrorMessage()

◆ getHardwareState()

◆ getJointsStepperDriver()

◆ getLedState()

◆ getMotorsStates()

◆ getNbMotors()

◆ getPosition()

◆ getRemovedMotorList()

◆ hasEndEffector()

◆ init()

◆ isCalibrationInProgress()

◆ isConnectionOk()

◆ isMotorType()

◆ needCalibration()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ping()

◆ readCollisionStatus()

◆ readControlMode()

◆ readCustomCommand()

◆ readEndEffectorStatus()

◆ readFakeConfig()

◆ readHardwareStatus()

◆ readHomingAbsPosition()

◆ readJointsStatus()

◆ readMotorPID()

◆ readMoving()

◆ readNed3ProSteppersStatus()

◆ readSteppersStatus()

◆ readVelocityProfile()

◆ rebootHardware()

◆ removeHardwareComponent()

◆ resetCalibration()

◆ resetTorques()

◆ retrieveFakeMotorData()

◆ scanAndCheck()

◆ sendCustomCommand()

◆ setLeds()

◆ setupCommunication()

◆ startCalibration()

◆ writeSingleCommand()

◆ writeSynchronizeCommand()

Member Data Documentation

◆ _all_ids_connected

◆ _available_tools

◆ _baudrate

◆ _calib_machine_state

◆ _calibration_status

◆ _calibration_status_publisher

◆ _collision_status

◆ _conveyor_list

◆ _current_tool_id

◆ _current_tool_vector

◆ _debug_error_message

◆ _default_ttl_driver