class RobotInterface

Declaration

class RobotInterface { /* full declaration omitted */ };

Declared at: robot_interface/include/robot_interface/RobotInterface.h:31

Member Variables

private std::string name_

private mc_rtc::Configuration comm_config_

private int comm_

private PluginLoader<robot_interface::RobotDriver> driver_loader_

private std::shared_ptr<RobotDriver> driver_

private int last_cmd_

private std::chrono::steady_clock::time_point last_cmd_arrival_

private std::chrono::milliseconds connection_timeout_

private bool link_lost_ = false

private std::mutex init_mutex_

private std::condition_variable init_cv_

private bool initialized_ = false

private std::string init_error_

private std::string control_mode_ = {}

private bool latency_stats_ = false

private uint64_t last_echo_stamp_ = 0

private uint64_t last_echo_hold_ = 0

private size_t rtt_count_ = 0

private double rtt_sum_us_ = 0.

private double rtt_min_us_ = 0.

private double rtt_max_us_ = 0.

private std::chrono::steady_clock::time_point last_latency_report_

Method Overview

• public RobotInterface(const std::string & name, const mc_rtc::Configuration & comm_config)
• private int handleInitQuery(const int & payload)
• private std::string linkLossReason()
• private void loadDriver(const std::string & driver_name, const mc_rtc::Configuration & driver_config, const mc_rtc::Configuration & grippers_config)
• private int makeHoldCommand()
• public const std::string & name() const
• private void recordLatency(const robot_comm::Command & cmd, std::chrono::steady_clock::time_point arrival)
• public void run(const std::atomic<bool> & interrupt)
• private void updateControl()
• private void updateSensors()

Methods

¶RobotInterface(
    const std::string& name,
    const mc_rtc::Configuration& comm_config)

Declared at: robot_interface/include/robot_interface/RobotInterface.h:36

Parameters

const std::string& name

Robot name, used as the prefix of its topics.

const mc_rtc::Configuration& comm_config

The `network_interface` configuration.

¶int handleInitQuery(const int& payload)

Declared at: robot_interface/include/robot_interface/RobotInterface.h:50

Parameters

const int& payload

¶std::string linkLossReason()

Declared at: robot_interface/include/robot_interface/RobotInterface.h:64

¶void loadDriver(
    const std::string& driver_name,
    const mc_rtc::Configuration& driver_config,
    const mc_rtc::Configuration& grippers_config)

Declared at: robot_interface/include/robot_interface/RobotInterface.h:52

Parameters

const std::string& driver_name

const mc_rtc::Configuration& driver_config

const mc_rtc::Configuration& grippers_config

¶int makeHoldCommand()

Declared at: robot_interface/include/robot_interface/RobotInterface.h:61

¶const std::string& name() const

Description

Robot name.

Declared at: robot_interface/include/robot_interface/RobotInterface.h:42

¶void recordLatency(
    const robot_comm::Command& cmd,
    std::chrono::steady_clock::time_point arrival)

Declared at: robot_interface/include/robot_interface/RobotInterface.h:94

Parameters

const robot_comm::Command& cmd

std::chrono::steady_clock::time_point arrival

¶void run(const std::atomic<bool>& interrupt)

Description

Handle the init handshake, then run the control loop until interrupt is set.

Declared at: robot_interface/include/robot_interface/RobotInterface.h:39

Parameters

const std::atomic<bool>& interrupt

¶void updateControl()

Declared at: robot_interface/include/robot_interface/RobotInterface.h:57

¶void updateSensors()

Declared at: robot_interface/include/robot_interface/RobotInterface.h:56