This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks. More...

#include <motor_board.hpp>

Inheritance diagram for blmc_drivers::CanBusMotorBoard:

Collaboration diagram for blmc_drivers::CanBusMotorBoard:

Public Member Functions
	CanBusMotorBoard (std::shared_ptr< CanBusInterface > can_bus, const size_t &history_length=1000, const int &control_timeout_ms=100)
	Construct a new CanBusMotorBoard object. More...

	~CanBusMotorBoard ()
	Destroy the CanBusMotorBoard object.

virtual Ptr< const ScalarTimeseries >	get_measurement (const int &index) const
	Getters. More...

virtual Ptr< const StatusTimeseries >	get_status () const
	Get the status of the CAN card. More...

virtual Ptr< const ScalarTimeseries >	get_control (const int &index) const
	Get the controls to be sent. More...

virtual Ptr< const CommandTimeseries >	get_command () const
	Get the commands to be sent. More...

virtual Ptr< const ScalarTimeseries >	get_sent_control (const int &index) const
	Get the already sent controls. More...

virtual Ptr< const CommandTimeseries >	get_sent_command () const
	Get the already sent commands. More...

virtual void	set_control (const double &control, const int &index)
	Setters. More...

virtual void	set_command (const MotorBoardCommand &command)
	Set the commands, see MotorBoardInterface::set_command. More...

virtual void	send_if_input_changed ()
	Send the actual command and controls.

void	wait_until_ready ()
	returns only once board and motors are ready.

bool	is_ready ()

void	pause_motors ()

void	disable_can_recv_timeout ()
	Disable the can reciever timeout.

Public Member Functions inherited from blmc_drivers::MotorBoardInterface
virtual	~MotorBoardInterface ()
	Destroy the MotorBoardInterface object.

Private Types
enum	CanframeIDs { COMMAND_ID = 0x00, IqRef = 0x05, STATUSMSG = 0x10, Iq = 0x20, POS = 0x30, SPEED = 0x40, ADC6 = 0x50, ENC_INDEX = 0x60 }
	These are the frame IDs that define the kind of data we acquiere from the CAN bus.

Private Member Functions
template<typename T >
int32_t	bytes_to_int32 (T bytes)
	private methods ======================================================== More...

float	q24_to_float (int32_t qval)
	Convert from 24-bit normalized fixed-point to float. More...

int32_t	float_to_q24 (float fval)
	Converts from float to 24-bit normalized fixed-point. More...

template<typename T >
float	qbytes_to_float (T qbytes)
	Converts from qbytes to float. More...

void	send_newest_controls ()
	send the controls to the cards. More...

void	send_newest_command ()
	send the latest commands to the cards.

void	loop ()
	Is the loop that constently communicate with the network.

void	print_status ()
	Display details of this object.

Static Private Member Functions
static THREAD_FUNCTION_RETURN_TYPE	loop (void *instance_pointer)
	This is the helper function used for spawning the real time thread. More...

Private Attributes
std::shared_ptr< CanBusInterface >	can_bus_
	This is the pointer to the can bus to communicate with.

Vector< Ptr< ScalarTimeseries > >	measurement_
	Outputs. More...

Ptr< StatusTimeseries >	status_
	This is the status history of the CAN board.

Vector< Ptr< ScalarTimeseries > >	control_
	Inputs. More...

Ptr< CommandTimeseries >	command_
	This is the buffer of the commands to be sent to the card.

Vector< Ptr< ScalarTimeseries > >	sent_control_
	Log. More...

Ptr< CommandTimeseries >	sent_command_
	This is the history of the already sent commands.

bool	is_loop_active_
	Loop management. More...

bool	motors_are_paused_
	Are motor in idle mode = 0 torques? update this documentation with the actual behavior.

int	control_timeout_ms_
	If no control is sent for more than control_timeout_ms_ the board will shut down.

real_time_tools::RealTimeThread	rt_thread_
	This is the thread object that allow to spwan a real-time thread or not dependening on the current OS.

Additional Inherited Members
Public Types inherited from blmc_drivers::MotorBoardInterface
enum	MeasurementIndex { current_0, current_1, position_0, position_1, velocity_0, velocity_1, analog_0, analog_1, encoder_index_0, encoder_index_1, measurement_count }
	This is the list of the measurement we can access.

enum	ControlIndex { current_target_0, current_target_1, control_count }
	This is the list of the controls we can send.

typedef real_time_tools::ThreadsafeTimeseries< double >	ScalarTimeseries
	A useful shortcut.

typedef ScalarTimeseries::Index	Index
	A useful shortcut.

typedef real_time_tools::ThreadsafeTimeseries< Index >	IndexTimeseries
	A useful shortcut.

typedef real_time_tools::ThreadsafeTimeseries< MotorBoardStatus >	StatusTimeseries
	A useful shortcut.

typedef real_time_tools::ThreadsafeTimeseries< MotorBoardCommand >	CommandTimeseries
	A useful shortcut.

template<typename Type >
using	Ptr = std::shared_ptr< Type >
	A useful shortcut.

template<typename Type >
using	Vector = std::vector< Type >
	A useful shortcut.

Detailed Description

This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks.

Constructor & Destructor Documentation

◆ CanBusMotorBoard()

blmc_drivers::CanBusMotorBoard::CanBusMotorBoard	(	std::shared_ptr< CanBusInterface >	can_bus,
		const size_t &	history_length = `1000`,
		const int &	control_timeout_ms = `100`
	)

Construct a new CanBusMotorBoard object.

Parameters

can_bus
history_length

Member Function Documentation

◆ bytes_to_int32()

template<typename T >

int32_t blmc_drivers::CanBusMotorBoard::bytes_to_int32 ( T bytes )

inlineprivate

private methods ========================================================

Useful converters Converts from bytes to int32.

Template Parameters

T	this is the type of the bytes convert.

Parameters

bytes The bytes value

Returns: int32_t the output integer in int32.

◆ float_to_q24()

int32_t blmc_drivers::CanBusMotorBoard::float_to_q24 ( float fval )

inlineprivate

Converts from float to 24-bit normalized fixed-point.

Parameters

fval

Returns: int32_t

◆ get_command()

virtual Ptr<const CommandTimeseries> blmc_drivers::CanBusMotorBoard::get_command ( ) const

inlinevirtual

Get the commands to be sent.

Returns: Ptr<const CommandTimeseries> is the list of the command to be sent.

Implements blmc_drivers::MotorBoardInterface.

◆ get_control()

virtual Ptr<const ScalarTimeseries> blmc_drivers::CanBusMotorBoard::get_control ( const int & index ) const

inlinevirtual

Get the controls to be sent.

Parameters

index the kind of control we are interested in.

Returns: Ptr<const ScalarTimeseries> is the list of the control to be sent.

Implements blmc_drivers::MotorBoardInterface.

◆ get_measurement()

virtual Ptr<const ScalarTimeseries> blmc_drivers::CanBusMotorBoard::get_measurement ( const int & index ) const

inlinevirtual

Getters.

Get the measurement data.

Parameters

index is the kind of measurement we are insterested in.

Returns: Ptr<const ScalarTimeseries> is the list of the last measurements acquiered from the CAN card.

Implements blmc_drivers::MotorBoardInterface.

◆ get_sent_command()

virtual Ptr<const CommandTimeseries> blmc_drivers::CanBusMotorBoard::get_sent_command ( ) const

inlinevirtual

Get the already sent commands.

Returns: Ptr<const CommandTimeseries> is the list of the sent cotnrols.

Implements blmc_drivers::MotorBoardInterface.

◆ get_sent_control()

virtual Ptr<const ScalarTimeseries> blmc_drivers::CanBusMotorBoard::get_sent_control ( const int & index ) const

inlinevirtual

Get the already sent controls.

Parameters

index the kind of control we are interested in.

Returns: Ptr<const ScalarTimeseries> is the list of the sent cotnrols.

Implements blmc_drivers::MotorBoardInterface.

◆ get_status()

virtual Ptr<const StatusTimeseries> blmc_drivers::CanBusMotorBoard::get_status ( ) const

inlinevirtual

Get the status of the CAN card.

Returns: Ptr<const StatusTimeseries> is the list of last acquiered status.

Implements blmc_drivers::MotorBoardInterface.

◆ loop()

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

inlinestaticprivate

This is the helper function used for spawning the real time thread.

Parameters

instance_pointer is the current object in this case.

Returns: THREAD_FUNCTION_RETURN_TYPE depends on the current OS.

◆ pause_motors()

void blmc_drivers::CanBusMotorBoard::pause_motors ( )

Todo:: : this function should go away, and we should add somewhere a warning in case there is a timeout

◆ q24_to_float()

float blmc_drivers::CanBusMotorBoard::q24_to_float ( int32_t qval )

inlineprivate

Convert from 24-bit normalized fixed-point to float.

Parameters

qval	is the floating base point.

Returns: float is the converted value

◆ qbytes_to_float()

template<typename T >

float blmc_drivers::CanBusMotorBoard::qbytes_to_float ( T qbytes )

inlineprivate

Converts from qbytes to float.

Template Parameters

T	the type of byte to manage

Parameters

qbytes the input value in bytes

Returns: float the output value.

◆ send_newest_controls()

void blmc_drivers::CanBusMotorBoard::send_newest_controls ( )

private

send the controls to the cards.

Parameters

controls are the controls to be sent.

◆ set_command()

virtual void blmc_drivers::CanBusMotorBoard::set_command ( const MotorBoardCommand & command )

inlinevirtual

Set the commands, see MotorBoardInterface::set_command.

Parameters

command

Implements blmc_drivers::MotorBoardInterface.

◆ set_control()

virtual void blmc_drivers::CanBusMotorBoard::set_control	(	const double &	control,
		const int &	index
	)

inlinevirtual

Setters.

Set the controls, see MotorBoardInterface::set_control

Parameters

control
index

Implements blmc_drivers::MotorBoardInterface.

Member Data Documentation

◆ control_

Vector<Ptr<ScalarTimeseries> > blmc_drivers::CanBusMotorBoard::control_

private

Inputs.

This is the buffer of the controls to be sent to card.

◆ is_loop_active_

bool blmc_drivers::CanBusMotorBoard::is_loop_active_

private

Loop management.

This boolean makes sure that the loop is stopped upon destruction of this object.

◆ measurement_

Vector<Ptr<ScalarTimeseries> > blmc_drivers::CanBusMotorBoard::measurement_

private

Outputs.

measurement_ contains all the measurements acquiered from the CAN board.

◆ sent_control_

Vector<Ptr<ScalarTimeseries> > blmc_drivers::CanBusMotorBoard::sent_control_

private

Log.

This is the history of the already sent controls.

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

include/blmc_drivers/devices/motor_board.hpp
src/motor_board.cpp

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CanBusMotorBoard()

Member Function Documentation

◆ bytes_to_int32()

◆ float_to_q24()

◆ get_command()

◆ get_control()

◆ get_measurement()

◆ get_sent_command()

◆ get_sent_control()

◆ get_status()

◆ loop()

◆ pause_motors()

◆ q24_to_float()

◆ qbytes_to_float()

◆ send_newest_controls()

◆ set_command()

◆ set_control()

Member Data Documentation

◆ control_

◆ is_loop_active_

◆ measurement_

◆ sent_control_