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Libbarrett
1.2.4
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Libbarrett
1.2.4
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Classes | |
| struct | StandardParser |
Public Types | |
| enum | RoleOption { RO_MagEncOnSerial = 0x0100, RO_MagEncOnHall = 0x0200, RO_MagEncOnEnc = 0x400, RO_Strain = 0x0800, RO_Tact = 0x1000, RO_IMU = 0x2000, RO_OpticalEncOnEnc = 0x4000 } |
| enum | PuckType { PT_Monitor, PT_Safety, PT_Motor, PT_ForceTorque, PT_Unknown } |
Public Member Functions | |
| Puck (const bus::CommunicationsBus &bus, int id) | |
| void | wake () |
| int | getProperty (enum Property prop, bool realtime=false) const |
| template<typename Parser > | |
| void | getProperty (enum Property prop, typename Parser::result_type *result, bool realtime=false) const |
| void | setProperty (enum Property prop, int value, bool blocking=false) const |
| void | saveProperty (enum Property prop) const |
| void | saveAllProperties () const |
| void | resetProperty (enum Property prop) const |
| bool | respondsToProperty (enum Property prop) const |
| int | getPropertyId (enum Property prop) const throw (std::runtime_error) |
| int | getPropertyIdNoThrow (enum Property prop) const |
| void | updateRole () |
| void | updateStatus () |
| const bus::CommunicationsBus & | getBus () const |
| int | getId () const |
| int | getVers () const |
| int | getRole () const |
| bool | hasOption (enum RoleOption ro) const |
| enum PuckType | getType () const |
| enum PuckType | getEffectiveType () const |
Static Public Member Functions | |
| static const char * | getPuckTypeStr (enum PuckType pt) |
| static const char * | getPropertyStr (enum Property prop) |
| static enum Property | getPropertyEnum (const char *str) throw (std::invalid_argument) |
| static enum Property | getPropertyEnumNoThrow (const char *str) |
| static void | wake (std::vector< Puck * > pucks) |
| static int | getProperty (const bus::CommunicationsBus &bus, int id, int propId, bool realtime=false) |
| template<typename Parser > | |
| static void | getProperty (const bus::CommunicationsBus &bus, int id, int propId, typename Parser::result_type *result, bool realtime=false) |
| static int | tryGetProperty (const bus::CommunicationsBus &bus, int id, int propId, int *result, double timeout_s=0.001) |
| template<typename Parser > | |
| static int | tryGetProperty (const bus::CommunicationsBus &bus, int id, int propId, typename Parser::result_type *result, double timeout_s=0.001) |
| static void | setProperty (const bus::CommunicationsBus &bus, int id, int propId, int value, bool blocking=false) |
| static int | sendGetPropertyRequest (const bus::CommunicationsBus &bus, int id, int propId) |
| static int | receiveGetPropertyReply (const bus::CommunicationsBus &bus, int id, int propId, int *result, bool blocking, bool realtime) |
| template<typename Parser > | |
| static int | receiveGetPropertyReply (const bus::CommunicationsBus &bus, int id, int propId, typename Parser::result_type *result, bool blocking, bool realtime) |
| static bool | respondsToProperty (enum Property prop, enum PuckType pt, int fwVers) |
| static int | getPropertyId (enum Property prop, enum PuckType pt, int fwVers) throw (std::runtime_error) |
| static int | getPropertyIdNoThrow (enum Property prop, enum PuckType pt, int fwVers) |
| static int | nodeId2BusId (int id) |
| static int | busId2NodeId (int busId) |
| static int | encodeBusId (int fromId, int toId) |
| static void | decodeBusId (int busId, int *fromId, int *toId) |
Static Public Attributes | |
| static const int | DEFAULT_IPNM = 2700 |
| static const int | MIN_ID = 1 |
| static const int | MAX_ID = 31 |
| static const int | HOST_ID = 0 |
| static const int | NODE_ID_WIDTH = 5 |
| static const int | NODE_ID_MASK = 0x1f |
| static const int | GROUP_MASK = 0x400 |
| static const int | FROM_MASK = 0x3e0 |
| static const int | TO_MASK = 0x41f |
| static const int | SET_MASK = 0x80 |
| static const int | PROPERTY_MASK = 0x7f |
| static const double | WAKE_UP_TIME = 1.0 |
| static const double | TURN_OFF_TIME = 0.01 |
Protected Types | |
| enum | { STATUS_RESET, STATUS_ERR, STATUS_READY } |
| enum | { ROLE_TATER, ROLE_GIMBALS, ROLE_SAFETY, ROLE_WRAPTOR, ROLE_TRIGGER, ROLE_BHAND, ROLE_FORCE } |
Protected Attributes | |
| const bus::CommunicationsBus & | bus |
| int | id |
| int | vers |
| int | role |
| enum PuckType type | effectiveType |
Static Protected Attributes | |
| static const int | ROLE_MASK = 0x1f |
1.7.6.1
