vulp::actuation::Interface Class Reference

Base class for actuation interfaces. More...

#include <Interface.h>

Public Member Functions
	Interface (const ServoLayout &servo_layout)
	Initialize actuation interface for a given servo layout. More...
virtual	~Interface ()=default
	Virtual destructor so that derived destructors are called properly. More...
virtual void	cycle (const moteus::Data &data, std::function< void(const moteus::Output &)> callback)=0
	Spin a new communication cycle. More...
virtual void	reset (const Dictionary &config)=0
	Reset interface using a new servo layout. More...
virtual void	observe (Dictionary &observation) const =0
	Write servo and IMU observations to dictionary. More...
const ServoLayout &	servo_layout () const noexcept
	Get servo layout. More...
const std::map< int, int > &	servo_bus_map () const noexcept
	Map from servo ID to the CAN bus the servo is connected to. More...
const std::map< int, std::string > &	servo_joint_map () const noexcept
	Map from servo ID to joint name. More...
std::vector< moteus::ServoCommand > &	commands ()
	Get servo commands. More...
const std::vector< moteus::ServoReply > &	replies () const
	Get servo replies. More...
moteus::Data &	data ()
	Get joint command-reply data. More...
void	initialize_action (Dictionary &action)
	Initialize action dictionary with keys corresponding to the servo layout. More...
void	write_position_commands (const Dictionary &action)
	Write position commands from an action dictionary. More...
void	write_stop_commands () noexcept
	Stop all servos. More...

Detailed Description

Base class for actuation interfaces.

Definition at line 24 of file Interface.h.

Constructor & Destructor Documentation

Interface()

vulp::actuation::Interface::Interface ( const ServoLayout &  servo_layout )

inlineexplicit

Initialize actuation interface for a given servo layout.

Parameters

[in]

servo_layout

Servo layout.

Definition at line 30 of file Interface.h.

~Interface()

virtual vulp::actuation::Interface::~Interface ( )

virtualdefault

Virtual destructor so that derived destructors are called properly.

Member Function Documentation

commands()

std::vector<moteus::ServoCommand>& vulp::actuation::Interface::commands ( )

inline

Get servo commands.

Definition at line 87 of file Interface.h.

cycle()

virtual void vulp::actuation::Interface::cycle ( const moteus::Data &  data, std::function< void(const moteus::Output &)>  callback  )

pure virtual

Spin a new communication cycle.

Parameters

[in,out]	data	Buffer to read commands from and write replies to.
	callback	Function to call when the cycle is over.

The callback will be invoked from an arbitrary thread when the communication cycle has completed. All memory pointed to by data must remain valid until the callback is invoked.

Implemented in vulp::actuation::Pi3HatInterface, vulp::actuation::MockInterface, and vulp::actuation::BulletInterface.

data()

moteus::Data& vulp::actuation::Interface::data ( )

inline

Get joint command-reply data.

This field is meant to become internal when we refactor spine servo observations into actuation interfaces.

Definition at line 97 of file Interface.h.

initialize_action()

void vulp::actuation::Interface::initialize_action

(

Dictionary &

action

)

Initialize action dictionary with keys corresponding to the servo layout.

Parameters

[out]

action

Action dictionary.

Definition at line 27 of file Interface.cpp.

observe()

virtual void vulp::actuation::Interface::observe ( Dictionary &  observation ) const

pure virtual

Write servo and IMU observations to dictionary.

Parameters

[out]

observation

Dictionary to write ot.

Implemented in vulp::actuation::Pi3HatInterface, vulp::actuation::MockInterface, and vulp::actuation::BulletInterface.

replies()

const std::vector<moteus::ServoReply>& vulp::actuation::Interface::replies ( ) const

inline

Get servo replies.

Definition at line 90 of file Interface.h.

reset()

virtual void vulp::actuation::Interface::reset ( const Dictionary &  config )

pure virtual

Reset interface using a new servo layout.

Parameters

[in]

config

Additional configuration dictionary.

Implemented in vulp::actuation::Pi3HatInterface, vulp::actuation::MockInterface, and vulp::actuation::BulletInterface.

servo_bus_map()

const std::map<int, int>& vulp::actuation::Interface::servo_bus_map ( ) const

inlinenoexcept

Map from servo ID to the CAN bus the servo is connected to.

Definition at line 77 of file Interface.h.

servo_joint_map()

const std::map<int, std::string>& vulp::actuation::Interface::servo_joint_map ( ) const

inlinenoexcept

Map from servo ID to joint name.

Definition at line 82 of file Interface.h.

servo_layout()

const ServoLayout& vulp::actuation::Interface::servo_layout ( ) const

inlinenoexcept

Get servo layout.

Definition at line 74 of file Interface.h.

write_position_commands()

void vulp::actuation::Interface::write_position_commands

(

const Dictionary &

action

)

Write position commands from an action dictionary.

Parameters

[in]

action

Action to read commands from.

Definition at line 40 of file Interface.cpp.

write_stop_commands()

void vulp::actuation::Interface::write_stop_commands ( )

inlinenoexcept

Stop all servos.

Parameters

[out]

commands

Servo commands to set to stop.

This function does not and should not throw, as it will be called by default if any exception is caught from the spine control loop.

Definition at line 118 of file Interface.h.

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

• vulp/actuation/Interface.h
• vulp/actuation/Interface.cpp