DynamixelHandler Class Reference

HAL handler wrapping one Dynamixel servo on a BaseUart. More...

#include <DynamixelHandler.h>

Public Member Functions
	DynamixelHandler (BaseUart &uart, const DynamixelHandlerConfig &config=DynamixelHandlerConfig{}, RtosMutex *bus_mutex=nullptr) noexcept
	DynamixelHandler (const DynamixelHandler &)=delete
DynamixelHandler &	operator= (const DynamixelHandler &)=delete
	DynamixelHandler (DynamixelHandler &&)=delete
DynamixelHandler &	operator= (DynamixelHandler &&)=delete
bool	EnsureInitialized () noexcept
bool	IsPresent () const noexcept
const dynamixel::PingInfo &	Identity () const noexcept
const dynamixel::ModelDescriptor *	Model () const noexcept
void	BindModel (const dynamixel::ModelDescriptor &desc) noexcept
void	BindXSeriesFallback () noexcept
dynamixel::DriverResult< dynamixel::PingInfo >	Ping () noexcept
dynamixel::DriverResult< uint8_t >	Scan (uint8_t *out_ids, uint8_t max_ids, uint8_t first_id=dynamixel::kMinDeviceId, uint8_t last_id=dynamixel::kMaxDeviceId) noexcept
	Ping first_id..last_id; the default covers every Protocol 2.0 ID, 0 to 252.
dynamixel::DriverResult< void >	Reboot () noexcept
	Reboot the servo (Protocol 2.0 Reboot, 0x08): clears a latched Hardware Error Status.
dynamixel::DriverResult< void >	SetTorqueEnabled (bool enabled) noexcept
dynamixel::DriverResult< void >	SetOperatingMode (dynamixel::OperatingMode mode) noexcept
dynamixel::DriverResult< void >	SetMotionProfile (uint32_t profile_acceleration, uint32_t profile_velocity) noexcept
dynamixel::DriverResult< void >	SetGoalPosition (int32_t ticks) noexcept
dynamixel::DriverResult< void >	SetGoalVelocity (int32_t ticks_per_sec) noexcept
dynamixel::DriverResult< int32_t >	ReadPosition () noexcept
dynamixel::DriverResult< dynamixel::Telemetry >	ReadTelemetry () noexcept
dynamixel::Bus &	bus () noexcept
dynamixel::Device &	device () noexcept
template<typename Fn >
auto	visitDevice (Fn &&fn) noexcept

Private Member Functions
bool	EnsureInitializedLocked () noexcept

Private Attributes
DynamixelHandlerConfig	config_
HalUartDynamixelComm	comm_
dynamixel::Bus	bus_
dynamixel::Device	device_
dynamixel::PingInfo	identity_ {}
std::atomic< bool >	initialized_ {false}
RtosMutex	private_mutex_
RtosMutex *	bus_mutex_

Detailed Description

HAL handler wrapping one Dynamixel servo on a BaseUart.

Ownership: the host owns the UART. The handler owns the CRTP adapter, Bus, and Device. Share bus_mutex when another protocol uses the same UART (unusual for Dynamixel half-duplex).

Constructor & Destructor Documentation

DynamixelHandler() [1/3]

DynamixelHandler::DynamixelHandler ( BaseUart &  uart, const DynamixelHandlerConfig &  config = DynamixelHandlerConfig{}, RtosMutex *  bus_mutex = nullptr  )

explicitnoexcept

DynamixelHandler() [2/3]

DynamixelHandler::DynamixelHandler ( const DynamixelHandler &  )

delete

DynamixelHandler() [3/3]

DynamixelHandler::DynamixelHandler ( DynamixelHandler &&  )

delete

Member Function Documentation

BindModel()

void DynamixelHandler::BindModel ( const dynamixel::ModelDescriptor &  desc )

noexcept

BindXSeriesFallback()

void DynamixelHandler::BindXSeriesFallback ( )

noexcept

bus()

dynamixel::Bus & DynamixelHandler::bus ( )

inlinenoexcept

device()

dynamixel::Device & DynamixelHandler::device ( )

inlinenoexcept

EnsureInitialized()

bool DynamixelHandler::EnsureInitialized ( )

noexcept

EnsureInitializedLocked()

bool DynamixelHandler::EnsureInitializedLocked ( )

privatenoexcept

Identity()

const dynamixel::PingInfo & DynamixelHandler::Identity ( ) const

inlinenoexcept

IsPresent()

bool DynamixelHandler::IsPresent ( ) const

inlinenoexcept

Model()

const dynamixel::ModelDescriptor * DynamixelHandler::Model ( ) const

inlinenoexcept

operator=() [1/2]

DynamixelHandler & DynamixelHandler::operator= ( const DynamixelHandler &  )

delete

operator=() [2/2]

DynamixelHandler & DynamixelHandler::operator= ( DynamixelHandler &&  )

delete

Ping()

dynamixel::DriverResult< dynamixel::PingInfo > DynamixelHandler::Ping ( )

noexcept

ReadPosition()

dynamixel::DriverResult< int32_t > DynamixelHandler::ReadPosition ( )

noexcept

ReadTelemetry()

dynamixel::DriverResult< dynamixel::Telemetry > DynamixelHandler::ReadTelemetry ( )

noexcept

Reboot()

dynamixel::DriverResult< void > DynamixelHandler::Reboot ( )

noexcept

Reboot the servo (Protocol 2.0 Reboot, 0x08): clears a latched Hardware Error Status.

Scan()

dynamixel::DriverResult< uint8_t > DynamixelHandler::Scan ( uint8_t *  out_ids, uint8_t  max_ids, uint8_t  first_id = dynamixel::kMinDeviceId, uint8_t  last_id = dynamixel::kMaxDeviceId  )

noexcept

Ping first_id..last_id; the default covers every Protocol 2.0 ID, 0 to 252.

SetGoalPosition()

dynamixel::DriverResult< void > DynamixelHandler::SetGoalPosition ( int32_t  ticks )

noexcept

SetGoalVelocity()

dynamixel::DriverResult< void > DynamixelHandler::SetGoalVelocity ( int32_t  ticks_per_sec )

noexcept

SetMotionProfile()

dynamixel::DriverResult< void > DynamixelHandler::SetMotionProfile ( uint32_t  profile_acceleration, uint32_t  profile_velocity  )

noexcept

SetOperatingMode()

dynamixel::DriverResult< void > DynamixelHandler::SetOperatingMode ( dynamixel::OperatingMode  mode )

noexcept

SetTorqueEnabled()

dynamixel::DriverResult< void > DynamixelHandler::SetTorqueEnabled ( bool  enabled )

noexcept

visitDevice()

template<typename Fn >

auto DynamixelHandler::visitDevice ( Fn &&  fn )

inlinenoexcept

Member Data Documentation

bus_

dynamixel::Bus DynamixelHandler::bus_

private

bus_mutex_

RtosMutex* DynamixelHandler::bus_mutex_

private

comm_

HalUartDynamixelComm DynamixelHandler::comm_

private

config_

DynamixelHandlerConfig DynamixelHandler::config_

private

device_

dynamixel::Device DynamixelHandler::device_

private

identity_

dynamixel::PingInfo DynamixelHandler::identity_ {}

private

initialized_

std::atomic<bool> DynamixelHandler::initialized_ {false}

private

private_mutex_

RtosMutex DynamixelHandler::private_mutex_

private

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

• DynamixelHandler.h
• DynamixelHandler.cpp