#include <MockInterface.h>

Public Member Functions
	MockInterface (const ServoLayout &layout, const double dt)
	Create mock actuator interface. More...

	~MockInterface ()=default
	Default destructor. More...

void	reset (const Dictionary &config) override
	Reset interface. More...

void	observe (Dictionary &observation) const override
	Write actuation-interface observations to dictionary. More...

void	cycle (const moteus::Data &data, std::function< void(const moteus::Output &)> callback) final
	Simulate a new communication cycle. More...

Public Member Functions inherited from vulp::actuation::Interface
	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...

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

Definition at line 20 of file MockInterface.h.

Constructor & Destructor Documentation

◆ MockInterface()

vulp::actuation::MockInterface::MockInterface	(	const ServoLayout &	layout,
		const double	dt
	)

Create mock actuator interface.

Parameters

[in] params Interface parameters.

Definition at line 11 of file MockInterface.cpp.

◆ ~MockInterface()

vulp::actuation::MockInterface::~MockInterface ( )

default

Default destructor.

Member Function Documentation

◆ cycle()

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

finalvirtual

Simulate a new communication cycle.

Parameters

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.

Implements vulp::actuation::Interface.

Definition at line 39 of file MockInterface.cpp.

◆ observe()

void vulp::actuation::MockInterface::observe ( Dictionary & observation ) const

overridevirtual

Write actuation-interface observations to dictionary.

Parameters

[out] observation Dictionary to write ot.

Implements vulp::actuation::Interface.

Definition at line 29 of file MockInterface.cpp.

◆ reset()

void vulp::actuation::MockInterface::reset ( const Dictionary & config )

overridevirtual

Reset interface.

Parameters

[in] config Additional configuration dictionary.

Implements vulp::actuation::Interface.

Definition at line 27 of file MockInterface.cpp.

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

vulp/actuation/MockInterface.h
vulp/actuation/MockInterface.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MockInterface()

◆ ~MockInterface()

Member Function Documentation

◆ cycle()

◆ observe()

◆ reset()