A RTSocketCAN device wrapped with MTS interfaces. More...

#include <mtsRTSocketCAN.h>

Inheritance diagram for mtsRTSocketCAN:

Public Member Functions
	mtsRTSocketCAN (const std::string &cmpname, const std::string &canname, osaCANBus::Rate rate, osaCANBus::Loopback loopback=osaCANBus::LOOPBACK_OFF)
	Main constructor. More...

Public Member Functions inherited from mtsCANBus
	mtsCANBus (const std::string &componentname, osaCANBus *can)

Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)

virtual	~mtsComponent ()

const std::string &	GetName (void) const

void	GetName (std::string &placeHolder) const

void	SetName (const std::string &componentName)

virtual void	Configure (const std::string &filename="")

virtual void	Create (void)

bool	CreateAndWait (double timeoutInSeconds)

virtual void	Start (void)

bool	StartAndWait (double timeoutInSeconds)

virtual void	Suspend (void)

virtual void	Kill (void)

bool	KillAndWait (double timeoutInSeconds)

virtual void	Startup (void)

virtual void	Cleanup (void)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

virtual mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const

mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const

size_t	GetNumberOfInterfacesProvided (void) const

size_t	GetNumberOfInterfacesOutput (void) const

bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

virtual mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)

mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)

mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const

size_t	GetNumberOfInterfacesRequired (void) const

size_t	GetNumberOfInterfacesInput (void) const

bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

mtsStateTable *	GetStateTable (const std::string &stateTableName)

bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)

void	UseSeparateLogFileDefault (bool forwardToLogger=true)

void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)

void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)

cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

bool	IsRunning (void) const

bool CISST_DEPRECATED	Running (void) const

bool	IsStarted (void) const

bool	IsTerminated (void) const

bool	IsEndTask (void) const

const mtsComponentState &	GetState (void) const

void	GetState (mtsComponentState &state) const

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (void) const

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Public Member Functions inherited from osaRTSocketCAN
	osaRTSocketCAN (const std::string &devicename, osaCANBus::Rate rate, osaCANBus::Loopback loopback=osaCANBus::LOOPBACK_OFF)
	Constructor. More...

	~osaRTSocketCAN ()
	Destructor. More...

osaCANBus::Errno	Open ()
	Open and configure the CAN socket. More...

osaCANBus::Errno	Close ()
	Close the CAN socket. More...

osaCANBus::Errno	Send (const osaCANBusFrame &frame, osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG)
	Send a CAN frame on the bus. More...

osaCANBus::Errno	Recv (osaCANBusFrame &frame, osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG)
	Receive a CAN frame. More...

osaCANBus::Errno	AddFilter (const osaCANBus::Filter &filter)
	Add a filter to the RTSocketCAN device. More...

Public Member Functions inherited from osaCANBus
	osaCANBus (osaCANBus::Rate rate, osaCANBus::Loopback loopback=osaCANBus::LOOPBACK_OFF)
	Default constructor. More...

virtual	~osaCANBus ()
	Default destructor. More...

Additional Inherited Members
Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Public Types inherited from osaCANBus
enum	Rate { RATE_150 =150000, RATE_300 =300000, RATE_1000 =1000000 }
	The different CAN rates. More...

enum	Errno { ESUCCESS, EFAILURE }
	The different CAN rates. More...

enum	Flags { MSG_NOFLAG = 0x00, MSG_CONFIRM = 0x01, MSG_DONTWAIT = 0x02 }

enum	Loopback { LOOPBACK_ON, LOOPBACK_OFF }

Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Protected Member Functions inherited from mtsComponent
	mtsComponent (void)

	mtsComponent (const mtsComponent &other)

void	Initialize (void)

mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)

mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)

mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)

mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)

mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)

void	KillSeparateLogFile (void)

virtual bool	WaitForState (mtsComponentState desiredState, double timeout)

size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)

size_t	ProcessQueuedCommands (void)

size_t	ProcessQueuedEvents (void)

mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Protected Attributes inherited from mtsCANBus
mtsInterfaceProvided *	io
	The input/output interface. More...

mtsInterfaceProvided *	ctl
	The control interface. More...

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Protected Attributes inherited from osaCANBus
osaCANBus::Rate	rate
	The rate of the device. More...

osaCANBus::Loopback	loopback

Detailed Description

A RTSocketCAN device wrapped with MTS interfaces.

This class combines the MTS CAN interfaces to osaRTSocketCAN. It simply derives from both osaRTSocketCAN and mtsCAN

Constructor & Destructor Documentation

mtsRTSocketCAN::mtsRTSocketCAN	(	const std::string &	cmpname,
		const std::string &	canname,
		osaCANBus::Rate	rate,
		osaCANBus::Loopback	loopback = `osaCANBus::LOOPBACK_OFF`
	)

inline

Main constructor.

Parameters

cmpname	MTS component name
canname	The name of the RT Socket CAN device (rtcan0, rtcan1, ... )
rate	The CAN rate of the device
loopback	Specify if the device is operating in loopback mode

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawCANBus/include/sawCANBus/mtsRTSocketCAN.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation