Inheritance diagram for blmc_drivers::SpiBus:

Collaboration diagram for blmc_drivers::SpiBus:

Public Member Functions
	SpiBus (std::shared_ptr< MasterBoardInterface > main_board_interface, const size_t &nb_udrivers, const size_t &history_length=1000)
	Construct a new SpiBus object. More...

	~SpiBus ()
	Destroy the SpiBus object. More...

virtual std::shared_ptr< const MotorInterface::ScalarTimeseries >	get_measurement (const size_t udriver_id, const MotorBoardInterface::MeasurementIndex &index) const
	Output and status. More...

virtual std::shared_ptr< const MotorBoardInterface::StatusTimeseries >	get_status (const size_t udriver_id) const
	Get the status of the motor board. More...

virtual std::shared_ptr< const MotorInterface::ScalarTimeseries >	get_control (const size_t udriver_id, const MotorBoardInterface::ControlIndex &index) const
	input logs More...

virtual std::shared_ptr< const MotorBoardInterface::CommandTimeseries >	get_command (const size_t udriver_id) const
	Get the commands to be send. More...

virtual std::shared_ptr< const MotorInterface::ScalarTimeseries >	get_sent_control (const size_t udriver_id, const MotorBoardInterface::ControlIndex &index) const
	Get the sent controls. More...

virtual std::shared_ptr< const MotorBoardInterface::CommandTimeseries >	get_sent_command (const size_t udriver_id) const
	Get the sent commands. More...

virtual void	set_control (const size_t udriver_id, const double &control, const MotorBoardInterface::ControlIndex &index)
	Setters. More...

virtual void	set_command (const size_t udriver_id, const MotorBoardCommand &command)
	set_command save the command internally. More...

virtual void	send_if_input_changed ()
	Actually send the commands and the controls. More...

bool	is_ready ()
	return s only once board and motors are ready.

void	wait_until_ready ()
	Wait until the robot is ready.

Private Member Functions
void	loop ()
	This is the real time thread that streams the data to/from the main board.

void	send_newest_command ()
	Send the newest control stored in the time series. More...

void	send_newest_controls ()
	Send the newest control stored in the time series.

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

Private Attributes
std::shared_ptr< MasterBoardInterface >	main_board_interface_
	Communication related attributes. More...

size_t	nb_udrivers_
	nb_udrivers_ is the number of the udriver controlled by the main board.

std::vector< std::shared_ptr< MotorInterface::ScalarTimeseries > >	measurement_
	Outputs. More...

std::vector< std::shared_ptr< MotorBoardInterface::StatusTimeseries > >	status_
	This is the status history of the udriver board.

std::vector< std::shared_ptr< MotorInterface::ScalarTimeseries > >	control_
	Inputs. More...

std::vector< std::shared_ptr< MotorBoardInterface::CommandTimeseries > >	command_
	This is the buffer of the commands to be sent to the card.

size_t	history_length_
	history_length_ is the length of data buffers in number of iteration.

std::vector< std::shared_ptr< MotorInterface::ScalarTimeseries > >	sent_control_
	Log. More...

std::vector< std::shared_ptr< MotorBoardInterface::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.

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.

std::array< bool, 12 >	motor_index_toggle_bits_
	Everytime a motor index is detected the corresponding bit change for the opposite value. More...

Constructor & Destructor Documentation

◆ SpiBus()

blmc_drivers::SpiBus::SpiBus	(	std::shared_ptr< MasterBoardInterface >	main_board_interface,
		const size_t &	nb_udrivers,
		const size_t &	history_length = `1000`
	)

Construct a new SpiBus object.

The constructor starts a real time thread: SpiBus::loop(). This thread streams the data back and forth collecting the sensor data and sends the control/commands.

Parameters

main_board_interface	is the object that communicate with the main board. The main board provides the hardware informations.
nb_udrivers	is the number udrivers plugged on the main board.
history_length	is the size of the buffer of messages stored.

◆ ~SpiBus()

blmc_drivers::SpiBus::~SpiBus ( )

Destroy the SpiBus object.

The destructor handles the proper shutdown of the class and the threads.

Member Function Documentation

◆ get_command()

std::shared_ptr< const MotorBoardInterface::CommandTimeseries > blmc_drivers::SpiBus::get_command ( const size_t udriver_id ) const

virtual

Get the commands to be send.

Returns: Ptr<const CommandTimeseries> is the list of the commands to be send. Inherited from MotorBoardInterface

◆ get_control()

std::shared_ptr< const MotorBoardInterface::ScalarTimeseries > blmc_drivers::SpiBus::get_control	(	const size_t	udriver_id,
		const MotorBoardInterface::ControlIndex &	index
	)		const

virtual

input logs

input logs Get the controls to be send.

Parameters

index define the kind of control we are looking for.

Returns: Ptr<const ScalarTimeseries> is the list of the controls to be send. Inherited from MotorBoardInterface

◆ get_measurement()

std::shared_ptr< const MotorBoardInterface::ScalarTimeseries > blmc_drivers::SpiBus::get_measurement	(	const size_t	udriver_id,
		const MotorBoardInterface::MeasurementIndex &	index
	)		const

virtual

Output and status.

Get the measurements from the main board.

Parameters

udriver_id	is the index of the spi port on the control board
index

Returns: std::shared_ptr<const MotorInterface::ScalarTimeseries>

◆ get_sent_command()

std::shared_ptr< const MotorBoardInterface::CommandTimeseries > blmc_drivers::SpiBus::get_sent_command ( const size_t udriver_id ) const

virtual

Get the sent commands.

Returns: Ptr<const CommandTimeseries> is the list of the commands sent recently. Inherited from MotorBoardInterface

◆ get_sent_control()

std::shared_ptr< const MotorBoardInterface::ScalarTimeseries > blmc_drivers::SpiBus::get_sent_control	(	const size_t	udriver_id,
		const MotorBoardInterface::ControlIndex &	index
	)		const

virtual

Get the sent controls.

Parameters

index define the kind of control we are looking for.

Returns: Ptr<const ScalarTimeseries> is the list of the controls sent recently. Inherited from MotorBoardInterface

◆ get_status()

std::shared_ptr< const MotorBoardInterface::StatusTimeseries > blmc_drivers::SpiBus::get_status ( const size_t udriver_id ) const

virtual

Get the status of the motor board.

Returns: Ptr<const StatusTimeseries> is the list of the last status of the card. Inherited from MotorBoardInterface

◆ loop()

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

inlinestaticprivate

Private methods.

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.

◆ send_if_input_changed()

void blmc_drivers::SpiBus::send_if_input_changed ( )

virtual

Actually send the commands and the controls.

Inherited from MotorBoardInterface. This particualr instance does not actually check if it is is a new command or control as the full status of the robot is exchange at every tick.

◆ send_newest_command()

void blmc_drivers::SpiBus::send_newest_command ( )

private

Send the newest control stored in the time series.

Some of the command are not implemented/will be implemented. A warning is issued upon miss-use.

◆ set_command()

void blmc_drivers::SpiBus::set_command	(	const size_t	udriver_id,
		const MotorBoardCommand &	command
	)

virtual

set_command save the command internally.

In order to actaully send the controls to the network please call "send_if_input_changed"

Parameters

command is the command to be sent. Inherited from MotorBoardInterface

◆ set_control()

void blmc_drivers::SpiBus::set_control	(	const size_t	udriver_id,
		const double &	control,
		const MotorBoardInterface::ControlIndex &	index
	)

virtual

Setters.

Setters. set_control save the control internally. In order to actaully send the controls to the network please call "send_if_input_changed"

Parameters

control	is the value of the control.
index	define the kind of control we want to send. Inherited from MotorBoardInterface

Member Data Documentation

◆ control_

std::vector<std::shared_ptr<MotorInterface::ScalarTimeseries> > blmc_drivers::SpiBus::control_

private

Inputs.

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

◆ is_loop_active_

bool blmc_drivers::SpiBus::is_loop_active_

private

Loop management.

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

◆ main_board_interface_

std::shared_ptr<MasterBoardInterface> blmc_drivers::SpiBus::main_board_interface_

private

Communication related attributes.

Main board interface sdk: https://github.com/open-dynamic-robot-initiative/master-board

◆ measurement_

std::vector<std::shared_ptr<MotorInterface::ScalarTimeseries> > blmc_drivers::SpiBus::measurement_

private

Outputs.

All the measurements acquiered from the CAN board.

◆ motor_index_toggle_bits_

std::array<bool, 12> blmc_drivers::SpiBus::motor_index_toggle_bits_

private

Everytime a motor index is detected the corresponding bit change for the opposite value.

if (index detected on motor X)
{
    motor_index_toggle_bits_[X] = !motor_index_toggle_bits_[X]
}

◆ sent_control_

std::vector<std::shared_ptr<MotorInterface::ScalarTimeseries> > blmc_drivers::SpiBus::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/spi_bus.hpp
src/spi_bus.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ SpiBus()

◆ ~SpiBus()

Member Function Documentation

◆ get_command()

◆ get_control()

◆ get_measurement()

◆ get_sent_command()

◆ get_sent_control()

◆ get_status()

◆ loop()

◆ send_if_input_changed()

◆ send_newest_command()

◆ set_command()

◆ set_control()

Member Data Documentation

◆ control_

◆ is_loop_active_

◆ main_board_interface_

◆ measurement_

◆ motor_index_toggle_bits_

◆ sent_control_