blmc_drivers::CanBus Class Reference

CanBus is the implementation of the CanBusInterface. More...

#include <can_bus.hpp>

Inheritance diagram for blmc_drivers::CanBus:

Collaboration diagram for blmc_drivers::CanBus:

Public Member Functions
	CanBus (const std::string &can_interface_name, const size_t &history_length=1000)
	Construct a new CanBus object. More...
virtual	~CanBus ()
	Destroy the CanBus object.
std::shared_ptr< const CanframeTimeseries >	get_output_frame () const
	Getters. More...
virtual std::shared_ptr< const CanframeTimeseries >	get_input_frame ()
	Get the input frame. More...
virtual std::shared_ptr< const CanframeTimeseries >	get_sent_input_frame ()
	Get the input frame thas has been sent. More...
virtual void	set_input_frame (const CanBusFrame &input_frame)
	Setters. More...
virtual void	send_if_input_changed ()
	Sender. More...
Public Member Functions inherited from blmc_drivers::CanBusInterface
virtual	~CanBusInterface ()
	Destroy the CanBusInterface object.

Private Member Functions
void	loop ()
	Execute the communication loop with the can bus.
void	send_frame (const CanBusFrame &unstamped_can_frame)
	Send input data. More...
CanBusFrame	receive_frame ()
	Get the output frame from the bus. More...
CanBusConnection	setup_can (std::string name, uint32_t err_mask)
	Setup and initialize the CanBus object. More...

Static Private Member Functions
static THREAD_FUNCTION_RETURN_TYPE	loop (void *instance_pointer)
	private attributes and methods More...

Private Attributes
real_time_tools::SingletypeThreadsafeObject< CanBusConnection, 1 >	can_connection_
	Attributes. More...
std::shared_ptr< real_time_tools::ThreadsafeTimeseries< CanBusFrame > >	input_
	input_ is a list of time stamped frame to be send to the can network.
std::shared_ptr< real_time_tools::ThreadsafeTimeseries< CanBusFrame > >	sent_input_
	sent_inupt_ is the list of the input already sent to the network.
std::shared_ptr< real_time_tools::ThreadsafeTimeseries< CanBusFrame > >	output_
	output_ is the list of the frames received from the can network.
bool	is_loop_active_
	This boolean makes sure that the loop is not active upon destruction of the current object.
real_time_tools::RealTimeThread	rt_thread_
	rt_thread_ is the thread object allowing us to spawn real-time threads.
std::string	log_dir_
	Log directory.
std::string	name_
	time_log_name is the name of the loggin

Additional Inherited Members
Public Types inherited from blmc_drivers::CanBusInterface
typedef real_time_tools::ThreadsafeTimeseries< CanBusFrame >	CanframeTimeseries
	CanframeTimeseries is a simple sohortcut.

Detailed Description

CanBus is the implementation of the CanBusInterface.

Constructor & Destructor Documentation

CanBus()

blmc_drivers::CanBus::CanBus	(	const std::string &	can_interface_name,
		const size_t &	history_length = 1000
	)

Construct a new CanBus object.

Parameters

can_interface_name
history_length

Member Function Documentation

get_input_frame()

virtual std::shared_ptr<const CanframeTimeseries> blmc_drivers::CanBus::get_input_frame ( )

inlinevirtual

Get the input frame.

Returns

std::shared_ptr<const CanframeTimeseries>

Implements blmc_drivers::CanBusInterface.

get_output_frame()

std::shared_ptr<const CanframeTimeseries> blmc_drivers::CanBus::get_output_frame ( ) const

inlinevirtual

Getters.

Get the output frame

Returns

std::shared_ptr<const CanframeTimeseries>

Implements blmc_drivers::CanBusInterface.

get_sent_input_frame()

virtual std::shared_ptr<const CanframeTimeseries> blmc_drivers::CanBus::get_sent_input_frame ( )

inlinevirtual

Get the input frame thas has been sent.

Returns

std::shared_ptr<const CanframeTimeseries>

Implements blmc_drivers::CanBusInterface.

loop()

static THREAD_FUNCTION_RETURN_TYPE blmc_drivers::CanBus::loop ( void *  instance_pointer )

inlinestaticprivate

private attributes and methods

This function is an helper that allows us to launch real-time thread in xenaomai, ubunt, or rt-preempt seemlessly.

Parameters

instance_pointer

Returns

THREAD_FUNCTION_RETURN_TYPE (is void or void* depending on the OS.

receive_frame()

CanBusFrame blmc_drivers::CanBus::receive_frame ( )

private

Get the output frame from the bus.

Returns

CanBusFrame is the output frame data.

send_frame()

void blmc_drivers::CanBus::send_frame ( const CanBusFrame &  unstamped_can_frame )

private

Send input data.

Parameters

unstamped_can_frame

is a frame without id nor time.

send_if_input_changed()

void blmc_drivers::CanBus::send_if_input_changed ( )

virtual

Sender.

Send the queue of message to the can network

Implements blmc_drivers::CanBusInterface.

set_input_frame()

virtual void blmc_drivers::CanBus::set_input_frame ( const CanBusFrame &  input_frame )

inlinevirtual

Setters.

Set the input frame

Parameters

input_frame

Implements blmc_drivers::CanBusInterface.

setup_can()

CanBusConnection blmc_drivers::CanBus::setup_can ( std::string  name, uint32_t  err_mask  )

private

Setup and initialize the CanBus object.

It connects to the can bus. This method is used once in the constructor.

Parameters

name	is the can card name.
err_mask,always	used with "0" so far (TODO: Manuel explain)

Returns

CanBusConnection

Member Data Documentation

can_connection_

real_time_tools::SingletypeThreadsafeObject<CanBusConnection, 1> blmc_drivers::CanBus::can_connection_

private

Attributes.

can_connection_ is the communication object allowing to send or receive can frames.

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

• include/blmc_drivers/devices/can_bus.hpp
• src/can_bus.cpp