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cisst-saw
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cisst-saw
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#include <mtsPuck.h>
Public Member Functions | |
| mtsPuck (const std::string &componentname, osaPuck::ID id, 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 osaPuck | |
| osaPuck () | |
| Default constructor. More... | |
| osaPuck (osaPuck::ID id, osaCANBus *can, bool createfilter=true) | |
| Create a puck with an ID and a CAN device. More... | |
| osaPuck::ID | GetID () const |
| Return the puck ID. More... | |
| Barrett::Value | GroupIndex () const |
| Return the index of the puck within its group. More... | |
| Barrett::Value | IpNm () const |
| Return the motor Amp/Nm constant. More... | |
| Barrett::Value | CountsPerRevolution () const |
| Return the encoder counts/revolution constant. More... | |
| osaPuck::Errno | InitializeMotor () |
| Perform the initial configuration. More... | |
| osaPuck::Errno | InitializeSM () |
| Perform the initial configuration. More... | |
| osaPuck::Errno | SetMode (Barrett::Value mode) |
| osaPuck::Errno | GetMode (Barrett::Value &mode) |
| osaPuck::Errno | GetGroupA () |
| osaPuck::Errno | GetGroupB () |
| osaPuck::Errno | GetGroupC () |
| osaPuck::Errno | SetGroupA (Barrett::Value A) |
| osaPuck::Errno | SetGroupB (Barrett::Value B) |
| osaPuck::Errno | SetGroupC (Barrett::Value C) |
| osaPuck::Errno | GetStatus (Barrett::Value &status) |
| osaPuck::Errno | GetCountsPerRev () |
| osaPuck::Errno | GetIpNm () |
| osaPuck::Errno | GetGroupIndex () |
| osaPuck::Errno | GetMembership () |
| osaPuck::Errno | IgnoreFault (Barrett::Value fault) |
| osaPuck::Errno | SetVelocityWarning (Barrett::Value vw) |
| osaPuck::Errno | SetVelocityFault (Barrett::Value vf) |
| osaPuck::Errno | SetTorqueWarning (Barrett::Value tw) |
| osaPuck::Errno | SetTorqueFault (Barrett::Value tf) |
| osaPuck::Errno | GetProperty (Barrett::ID id, Barrett::Value &value) |
| Query the puck for a property ID. More... | |
| osaPuck::Errno | SetProperty (Barrett::ID propid, Barrett::Value propval, bool verify) |
| Set the puck property ID to a value. More... | |
| osaPuck::Errno | Reset () |
| Reset the firmware. More... | |
| osaPuck::Errno | Ready () |
| Set the status to ready. More... | |
| osaPuck::Errno | SetPosition (double q) |
| osaPuck::Errno | GetPosition (Barrett::Value &position) |
| osaPuck::Errno | UnpackCANFrame (const osaCANBusFrame &canframe, Barrett::ID &id, Barrett::Value &value) |
| unpack a CAN frame More... | |
Protected Attributes | |
| 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 |
| mtsPuck::mtsPuck | ( | const std::string & | componentname, |
| osaPuck::ID | id, | ||
| osaCANBus * | can | ||
| ) |
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protected |
The control interface.
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protected |
The input/output interface.
1.8.6