CommThread Class Reference
#include <Dynamixel.h>
Detailed Description
Definition at line 253 of file Dynamixel.h.
Public Member Functions | |
| CommThread (plist::DictionaryOf< ServoInfo > &servoList, const plist::Primitive< std::string > &comm, DynamixelDriver &parent) | |
| ~CommThread () | |
| virtual void | plistCollectionEntryAdded (Collection &, ObjectBase &primitive) |
| virtual void | plistCollectionEntryRemoved (Collection &, ObjectBase &primitive) |
| virtual void | plistCollectionEntriesChanged (Collection &) |
| virtual void | start () |
| virtual void | startOneUpdate () |
| virtual Thread & | stop () |
| virtual void | waitForUpdate () |
| virtual bool | isStarted () const |
| bool | takeUpdate () |
| float * | getWriteBuffer () |
| find the oldest of the output buffers that isn't currently in use | |
| void | setWriteBufferTimestamp (float *buf) |
| sets the timestamp on the indicated buffer (indicates you're done writing) | |
| unsigned int | nextTimestamp () const |
Public Attributes | |
| Thread::Lock | pidLock |
| PIDUpdate | pidValues [NumOutputs] |
| unsigned int | dirtyPIDs |
Protected Types | |
| enum | LedState { LED_OFF = 0, LED_ON, LED_UNKNOWN } |
Protected Member Functions | |
| virtual bool | launched () |
| virtual void | cancelled () |
| void | clearBuffer () |
| virtual unsigned int | runloop () |
| template<class T > | |
| void | readResponse (T &response, std::istream &is, ServoInfo &module) |
| virtual void | updateCommands (std::istream &is, std::ostream &os) |
| DynamixelProtocol::SyncWritePosSpeedEntry | setServo (const servo_iterator &servo, ServoInfo::RotationMode rm, float v, float speed) |
| converts the value v from radians into the specified servo's range, with expected speed (rad/s) | |
| bool | calcLEDValue (unsigned int i, float x) |
| allows LEDs to flicker at various frequencies to emulate having linear brightness control instead of boolean control | |
Protected Attributes | |
| const plist::Primitive < std::string > & | commName |
| plist::DictionaryOf< ServoInfo > & | servos |
| DynamixelDriver & | driver |
| std::vector< ServoInfo * > | servoPollQueue |
| priority queue of servos waiting to be polled for sensor information | |
| FailsafeThread | failsafe |
| bool | continuousUpdates |
| bool | updated |
| bool | responsePending |
| unsigned int | lastSensorTime |
| float | servoDeflection |
| 'tics' of servo deflection from target per newton·meter of torque applied | |
| bool | isFirstCheck |
| float | outputBufA [NumOutputs] |
| unsigned int | timestampBufA |
| float | outputBufB [NumOutputs] |
| unsigned int | timestampBufB |
| float | outputBufC [NumOutputs] |
| unsigned int | timestampBufC |
| float | lastOutputs [NumOutputs] |
| float * | curBuf |
| float | ledActivation [NumLEDs] |
| used to track partial LED activation (see calcLEDValue()) | |
| enum DynamixelDriver::CommThread::LedState | lastLEDState [NumLEDs] |
| keeps track of the last full activation value sent to servo | |
Private Member Functions | |
| CommThread (const CommThread &) | |
| don't copy | |
| CommThread & | operator= (const CommThread &) |
| don't assign | |
Member Enumeration Documentation
enum LedState [protected] |
Definition at line 364 of file Dynamixel.h.
Constructor & Destructor Documentation
| CommThread | ( | plist::DictionaryOf< ServoInfo > & | servoList, | |
| const plist::Primitive< std::string > & | comm, | |||
| DynamixelDriver & | parent | |||
| ) |
Definition at line 255 of file Dynamixel.h.
| ~CommThread | ( | ) |
Definition at line 266 of file Dynamixel.h.
| CommThread | ( | const CommThread & | ) | [private] |
don't copy
Member Function Documentation
allows LEDs to flicker at various frequencies to emulate having linear brightness control instead of boolean control
Definition at line 345 of file Dynamixel.h.
Referenced by CommThread::updateCommands().
| void cancelled | ( | ) | [protected, virtual] |
Reimplemented from Thread.
Definition at line 462 of file Dynamixel.cc.
| void clearBuffer | ( | ) | [protected] |
Definition at line 493 of file Dynamixel.cc.
Referenced by CommThread::cancelled().
| float * getWriteBuffer | ( | ) |
find the oldest of the output buffers that isn't currently in use
Definition at line 410 of file Dynamixel.cc.
Referenced by DynamixelDriver::motionCheck().
| virtual bool isStarted | ( | ) | const [virtual] |
Reimplemented from Thread.
Definition at line 298 of file Dynamixel.h.
Referenced by DynamixelDriver::advance(), DynamixelDriver::deregisterSource(), DynamixelDriver::doFreeze(), DynamixelDriver::doUnfreeze(), DynamixelDriver::motionStarting(), DynamixelDriver::motionStopping(), DynamixelDriver::pingServos(), CommThread::plistCollectionEntriesChanged(), CommThread::plistCollectionEntryAdded(), DynamixelDriver::plistValueChanged(), CommThread::stop(), and CommThread::waitForUpdate().
| bool launched | ( | ) | [protected, virtual] |
Reimplemented from Thread.
Definition at line 455 of file Dynamixel.cc.
| unsigned int nextTimestamp | ( | ) | const |
Definition at line 306 of file Dynamixel.h.
Referenced by DynamixelDriver::nextTimestamp().
| CommThread& operator= | ( | const CommThread & | ) | [private] |
don't assign
| virtual void plistCollectionEntriesChanged | ( | Collection & | ) | [virtual] |
Definition at line 282 of file Dynamixel.h.
Referenced by CommThread::CommThread().
| virtual void plistCollectionEntryAdded | ( | Collection & | , | |
| ObjectBase & | primitive | |||
| ) | [virtual] |
Definition at line 268 of file Dynamixel.h.
| virtual void plistCollectionEntryRemoved | ( | Collection & | , | |
| ObjectBase & | primitive | |||
| ) | [virtual] |
Definition at line 276 of file Dynamixel.h.
Definition at line 410 of file Dynamixel.h.
Referenced by CommThread::runloop().
| unsigned int runloop | ( | ) | [protected, virtual] |
Reimplemented from Thread.
Definition at line 511 of file Dynamixel.cc.
| DynamixelProtocol::SyncWritePosSpeedEntry setServo | ( | const servo_iterator & | servo, | |
| ServoInfo::RotationMode | rm, | |||
| float | v, | |||
| float | speed | |||
| ) | [protected] |
converts the value v from radians into the specified servo's range, with expected speed (rad/s)
Definition at line 942 of file Dynamixel.cc.
Referenced by CommThread::updateCommands().
| void setWriteBufferTimestamp | ( | float * | buf | ) |
sets the timestamp on the indicated buffer (indicates you're done writing)
Definition at line 444 of file Dynamixel.cc.
Referenced by DynamixelDriver::motionCheck().
| virtual void start | ( | ) | [virtual] |
Reimplemented from Thread.
Definition at line 294 of file Dynamixel.h.
Referenced by DynamixelDriver::doUnfreeze(), DynamixelDriver::motionStarting(), DynamixelDriver::pingServos(), DynamixelDriver::plistValueChanged(), and CommThread::startOneUpdate().
| virtual void startOneUpdate | ( | ) | [virtual] |
Definition at line 295 of file Dynamixel.h.
| Thread & stop | ( | ) | [virtual] |
Reimplemented from Thread.
Definition at line 385 of file Dynamixel.cc.
Referenced by DynamixelDriver::deregisterSource(), DynamixelDriver::doFreeze(), DynamixelDriver::motionStarting(), DynamixelDriver::motionStopping(), DynamixelDriver::pingServos(), and DynamixelDriver::plistValueChanged().
| bool takeUpdate | ( | ) |
Definition at line 299 of file Dynamixel.h.
Referenced by DynamixelDriver::advance().
| void updateCommands | ( | std::istream & | is, | |
| std::ostream & | os | |||
| ) | [protected, virtual] |
Definition at line 742 of file Dynamixel.cc.
Referenced by CommThread::runloop().
| void waitForUpdate | ( | ) | [virtual] |
Definition at line 398 of file Dynamixel.cc.
Member Data Documentation
const plist::Primitive<std::string>& commName [protected] |
Definition at line 323 of file Dynamixel.h.
Referenced by CommThread::clearBuffer(), and CommThread::runloop().
bool continuousUpdates [protected] |
Definition at line 328 of file Dynamixel.h.
Referenced by CommThread::runloop(), CommThread::start(), and CommThread::startOneUpdate().
Definition at line 342 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), and CommThread::updateCommands().
| unsigned int dirtyPIDs |
Definition at line 310 of file Dynamixel.h.
Referenced by CommThread::updateCommands(), and DynamixelDriver::updatePIDs().
DynamixelDriver& driver [protected] |
Definition at line 325 of file Dynamixel.h.
Referenced by CommThread::nextTimestamp(), CommThread::plistCollectionEntriesChanged(), CommThread::plistCollectionEntryAdded(), CommThread::runloop(), and CommThread::setServo().
FailsafeThread failsafe [protected] |
Definition at line 327 of file Dynamixel.h.
Referenced by CommThread::cancelled(), CommThread::CommThread(), CommThread::isStarted(), CommThread::launched(), CommThread::readResponse(), CommThread::runloop(), CommThread::stop(), and CommThread::waitForUpdate().
bool isFirstCheck [protected] |
Definition at line 334 of file Dynamixel.h.
Referenced by CommThread::launched(), and CommThread::updateCommands().
enum DynamixelDriver::CommThread::LedState lastLEDState[NumLEDs] [protected] |
keeps track of the last full activation value sent to servo
Referenced by CommThread::CommThread(), and CommThread::updateCommands().
float lastOutputs[NumOutputs] [protected] |
Definition at line 341 of file Dynamixel.h.
Referenced by CommThread::updateCommands().
unsigned int lastSensorTime [protected] |
Definition at line 331 of file Dynamixel.h.
Referenced by CommThread::nextTimestamp(), and CommThread::runloop().
float ledActivation[NumLEDs] [protected] |
used to track partial LED activation (see calcLEDValue())
Definition at line 363 of file Dynamixel.h.
Referenced by CommThread::calcLEDValue().
float outputBufA[NumOutputs] [protected] |
Definition at line 335 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
float outputBufB[NumOutputs] [protected] |
Definition at line 337 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
float outputBufC[NumOutputs] [protected] |
Definition at line 339 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
Definition at line 308 of file Dynamixel.h.
Referenced by CommThread::updateCommands(), and DynamixelDriver::updatePIDs().
Definition at line 309 of file Dynamixel.h.
Referenced by CommThread::updateCommands(), and DynamixelDriver::updatePIDs().
bool responsePending [protected] |
Definition at line 330 of file Dynamixel.h.
Referenced by CommThread::cancelled(), and CommThread::runloop().
float servoDeflection [protected] |
'tics' of servo deflection from target per newton·meter of torque applied
Definition at line 332 of file Dynamixel.h.
std::vector<ServoInfo*> servoPollQueue [protected] |
priority queue of servos waiting to be polled for sensor information
Definition at line 326 of file Dynamixel.h.
Referenced by CommThread::cancelled(), CommThread::plistCollectionEntriesChanged(), CommThread::plistCollectionEntryAdded(), CommThread::plistCollectionEntryRemoved(), and CommThread::runloop().
plist::DictionaryOf< ServoInfo >& servos [protected] |
Definition at line 324 of file Dynamixel.h.
Referenced by CommThread::CommThread(), CommThread::plistCollectionEntriesChanged(), CommThread::runloop(), CommThread::updateCommands(), and CommThread::~CommThread().
unsigned int timestampBufA [protected] |
Definition at line 336 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
unsigned int timestampBufB [protected] |
Definition at line 338 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
unsigned int timestampBufC [protected] |
Definition at line 340 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
Definition at line 329 of file Dynamixel.h.
Referenced by CommThread::runloop(), CommThread::start(), CommThread::startOneUpdate(), CommThread::takeUpdate(), and CommThread::waitForUpdate().
The documentation for this class was generated from the following files:
