A logical group of pucks. More...

#include <osaGroup.h>

Public Types
enum	ID { BROADCAST = 0x00, UPPERARM = 0x01, FOREARM = 0x02, POSITION = 0x03, UPPERARM_POSITION = 0x04, FOREARM_POSITION = 0x05, PROPERTY = 0x06, HAND = 0x07, HAND_POSITION = 0x08, LASTGROUP = 0x09 }
	The ID used to identify each group. More...

enum	Status { RESET =0, READY =2 }
	Define the status of a group. More...

enum	Errno { ESUCCESS, EFAILURE }
	Error codes used by osaGroup. More...

Public Member Functions
	osaGroup (osaGroup::ID id, osaCANBus *canbus, bool createfilter=true)
	Create a group with an ID and a CAN device. More...

osaGroup::ID	GetID () const
	Return the group ID. More...

void	AddPuckToGroup (osaPuck::ID pid)
	Add the puck ID to the group. More...

bool	Clear () const

osaPuck	First () const
	Return the puck ID of the first member. More...

osaPuck	Last () const

bool	IsEmpty () const

osaGroup::Errno	Initialize ()

osaGroup::Errno	Reset ()

osaGroup::Errno	Ready ()

osaGroup::Errno	GetStatus (std::vector< Barrett::Value > &status)

osaGroup::Errno	GetPositions (vctDynamicVector< double > &q)

osaGroup::Errno	SetTorques (const vctFixedSizeVector< double, 4 > &tau)

osaGroup::Errno	SetMode (Barrett::Value mode)

Static Public Member Functions
static osaCANBusFrame::ID	CANID (osaGroup::ID groupid)
	Convert a group ID to a CAN id. More...

static osaGroup::ID	OriginID (osaCANBusFrame::ID canid)
	Return the origin ID of the CAN id. More...

static osaGroup::ID	OriginID (const osaCANBusFrame &canframe)
	Return the origin ID of the CAN frame. More...

static osaGroup::ID	DestinationID (osaCANBusFrame::ID canid)
	Return the destination ID of the CAN id. More...

static osaGroup::ID	DestinationID (const osaCANBusFrame &canframe)
	Return the destination ID of the CAN id. More...

static bool	IsDestinationAGroup (const osaCANBusFrame canframe)
	Return true if the CAN frame id's destination is a group (any group) More...

Detailed Description

A logical group of pucks.

Groups are used to communicate with pucks simultaneously. This has the benifit of saving bandwidth. For example, all the pucks belong to the BROADCAST group. Thus, when a CAN frame is destined to the BROADCAST group all the pucks will process the frame.

Member Enumeration Documentation

enum osaGroup::Errno

Error codes used by osaGroup.

Enumerator
ESUCCESS
EFAILURE

enum osaGroup::ID

The ID used to identify each group.

Enumerator
BROADCAST	The broadcast group. The broadcast group contains all the pucks in a WAM (with the exception of the safety module)
UPPERARM	The upper arm group. The upper arm group represents the 4 pucks of the upper arm (shoulder+elbow)
FOREARM	The forearm group. The forearm group represents the 3 pucks of the upper arm (wrist)
POSITION	The motor position group. All pucks belong to the position group. Send a message to this group to query all the motor positions. Each puck will reply to a message to this group with its motor position
UPPERARM_POSITION	Upper arm property group.
FOREARM_POSITION	Forearm property group.
PROPERTY	Feedback property group.
HAND
HAND_POSITION
LASTGROUP

enum osaGroup::Status

Define the status of a group.

Barrett defines the following mode in which a puck can be

Enumerator
RESET
READY

Constructor & Destructor Documentation

osaGroup::osaGroup	(	osaGroup::ID	id,
		osaCANBus *	canbus,
		bool	createfilter = `true`
	)

Create a group with an ID and a CAN device.

Initialize the group to the given ID and give the CAN device connected to the pucks.

Parameters

groupid	The ID of the puck
can	The CAN device used to communicate with the pucks

Member Function Documentation

void osaGroup::AddPuckToGroup ( osaPuck::ID pid )

Add the puck ID to the group.

static osaCANBusFrame::ID osaGroup::CANID ( osaGroup::ID groupid )

static

Convert a group ID to a CAN id.

Convert the ID of a group to a CAN ID used in a CAN frame. This assumes that the origin of the CAN ID will be the host (00000)

bool osaGroup::Clear ( ) const

inline

static osaGroup::ID osaGroup::DestinationID ( osaCANBusFrame::ID canid )

static

Return the destination ID of the CAN id.

static osaGroup::ID osaGroup::DestinationID ( const osaCANBusFrame & canframe )

static

Return the destination ID of the CAN id.

osaPuck osaGroup::First ( ) const

inline

Return the puck ID of the first member.

osaGroup::ID osaGroup::GetID ( ) const

Return the group ID.

osaGroup::Errno osaGroup::GetPositions ( vctDynamicVector< double > & q )

osaGroup::Errno osaGroup::GetStatus ( std::vector< Barrett::Value > & status )

osaGroup::Errno osaGroup::Initialize ( )

static bool osaGroup::IsDestinationAGroup ( const osaCANBusFrame canframe )

static

Return true if the CAN frame id's destination is a group (any group)

bool osaGroup::IsEmpty ( void ) const

inline

osaPuck osaGroup::Last ( ) const

inline

static osaGroup::ID osaGroup::OriginID ( osaCANBusFrame::ID canid )

static

Return the origin ID of the CAN id.

static osaGroup::ID osaGroup::OriginID ( const osaCANBusFrame & canframe )

static

Return the origin ID of the CAN frame.

osaGroup::Errno osaGroup::Ready ( )

osaGroup::Errno osaGroup::Reset ( )

osaGroup::Errno osaGroup::SetMode ( Barrett::Value mode )

osaGroup::Errno osaGroup::SetTorques ( const vctFixedSizeVector< double, 4 > & tau )

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawBarrett/include/sawBarrett/osaGroup.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation