CommThread Class Reference
#include <Dynamixel.h>
Detailed Description
Definition at line 270 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 381 of file Dynamixel.h.
Constructor & Destructor Documentation
| CommThread | ( | plist::DictionaryOf< ServoInfo > & | servoList, | |
| const plist::Primitive< std::string > & | comm, | |||
| DynamixelDriver & | parent | |||
| ) |
Definition at line 272 of file Dynamixel.h.
| ~CommThread | ( | ) |
Definition at line 283 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 362 of file Dynamixel.h.
Referenced by CommThread::updateCommands().
| void cancelled | ( | ) | [protected, virtual] |
Reimplemented from Thread.
Definition at line 461 of file Dynamixel.cc.
| void clearBuffer | ( | ) | [protected] |
Definition at line 492 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 409 of file Dynamixel.cc.
Referenced by DynamixelDriver::motionCheck().
| virtual bool isStarted | ( | ) | const [virtual] |
Reimplemented from Thread.
Definition at line 315 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 454 of file Dynamixel.cc.
| unsigned int nextTimestamp | ( | ) | const |
Definition at line 323 of file Dynamixel.h.
Referenced by DynamixelDriver::nextTimestamp().
| CommThread& operator= | ( | const CommThread & | ) | [private] |
don't assign
| virtual void plistCollectionEntriesChanged | ( | Collection & | ) | [virtual] |
Definition at line 299 of file Dynamixel.h.
Referenced by CommThread::CommThread().
| virtual void plistCollectionEntryAdded | ( | Collection & | , | |
| ObjectBase & | primitive | |||
| ) | [virtual] |
Definition at line 285 of file Dynamixel.h.
| virtual void plistCollectionEntryRemoved | ( | Collection & | , | |
| ObjectBase & | primitive | |||
| ) | [virtual] |
Definition at line 293 of file Dynamixel.h.
Definition at line 427 of file Dynamixel.h.
Referenced by CommThread::runloop().
| unsigned int runloop | ( | ) | [protected, virtual] |
Reimplemented from Thread.
Definition at line 510 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 953 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 443 of file Dynamixel.cc.
Referenced by DynamixelDriver::motionCheck().
| virtual void start | ( | ) | [virtual] |
Reimplemented from Thread.
Definition at line 311 of file Dynamixel.h.
Referenced by DynamixelDriver::doUnfreeze(), DynamixelDriver::motionStarting(), DynamixelDriver::pingServos(), DynamixelDriver::plistValueChanged(), and CommThread::startOneUpdate().
| virtual void startOneUpdate | ( | ) | [virtual] |
Definition at line 312 of file Dynamixel.h.
| Thread & stop | ( | ) | [virtual] |
Reimplemented from Thread.
Definition at line 384 of file Dynamixel.cc.
Referenced by DynamixelDriver::deregisterSource(), DynamixelDriver::doFreeze(), DynamixelDriver::motionStarting(), DynamixelDriver::motionStopping(), DynamixelDriver::pingServos(), and DynamixelDriver::plistValueChanged().
| bool takeUpdate | ( | ) |
Definition at line 316 of file Dynamixel.h.
Referenced by DynamixelDriver::advance().
| void updateCommands | ( | std::istream & | is, | |
| std::ostream & | os | |||
| ) | [protected, virtual] |
Definition at line 741 of file Dynamixel.cc.
Referenced by CommThread::runloop().
| void waitForUpdate | ( | ) | [virtual] |
Definition at line 397 of file Dynamixel.cc.
Member Data Documentation
const plist::Primitive<std::string>& commName [protected] |
Definition at line 340 of file Dynamixel.h.
Referenced by CommThread::clearBuffer(), and CommThread::runloop().
bool continuousUpdates [protected] |
Definition at line 345 of file Dynamixel.h.
Referenced by CommThread::runloop(), CommThread::start(), and CommThread::startOneUpdate().
Definition at line 359 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), and CommThread::updateCommands().
| unsigned int dirtyPIDs |
Definition at line 327 of file Dynamixel.h.
Referenced by CommThread::updateCommands(), and DynamixelDriver::updatePIDs().
DynamixelDriver& driver [protected] |
Definition at line 342 of file Dynamixel.h.
Referenced by CommThread::nextTimestamp(), CommThread::plistCollectionEntriesChanged(), CommThread::plistCollectionEntryAdded(), CommThread::runloop(), and CommThread::setServo().
FailsafeThread failsafe [protected] |
Definition at line 344 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 351 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 358 of file Dynamixel.h.
Referenced by CommThread::updateCommands().
unsigned int lastSensorTime [protected] |
Definition at line 348 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 380 of file Dynamixel.h.
Referenced by CommThread::calcLEDValue().
float outputBufA[NumOutputs] [protected] |
Definition at line 352 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
float outputBufB[NumOutputs] [protected] |
Definition at line 354 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
float outputBufC[NumOutputs] [protected] |
Definition at line 356 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
Definition at line 325 of file Dynamixel.h.
Referenced by CommThread::updateCommands(), and DynamixelDriver::updatePIDs().
Definition at line 326 of file Dynamixel.h.
Referenced by CommThread::updateCommands(), and DynamixelDriver::updatePIDs().
bool responsePending [protected] |
Definition at line 347 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 349 of file Dynamixel.h.
std::vector<ServoInfo*> servoPollQueue [protected] |
priority queue of servos waiting to be polled for sensor information
Definition at line 343 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 341 of file Dynamixel.h.
Referenced by CommThread::CommThread(), CommThread::plistCollectionEntriesChanged(), CommThread::runloop(), CommThread::updateCommands(), and CommThread::~CommThread().
unsigned int timestampBufA [protected] |
Definition at line 353 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
unsigned int timestampBufB [protected] |
Definition at line 355 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
unsigned int timestampBufC [protected] |
Definition at line 357 of file Dynamixel.h.
Referenced by CommThread::getWriteBuffer(), CommThread::setWriteBufferTimestamp(), and CommThread::updateCommands().
Definition at line 346 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:
