upkie::cpp::actuation::Interface Class Reference

Base class for actuation interfaces. More...

#include <Interface.h>

Public Member Functions
	Interface ()
	Initialize actuation interface for a given servo layout.
virtual	~Interface ()=default
	Virtual destructor so that derived destructors are called properly.
virtual void	cycle (std::function< void(const moteus::Output &)> callback)=0
	Spin a new communication cycle. More...
virtual void	reset (const Dictionary &config)=0
	Reset interface. 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.
const std::map< int, int > &	servo_bus_map () const noexcept
	Map from servo ID to the CAN bus the servo is connected to.
const std::map< int, std::string > &	servo_name_map () const noexcept
	Map from servo ID to joint name.
std::vector< moteus::ServoCommand > &	commands ()
	Get servo commands.
const std::vector< moteus::ServoReply > &	replies () const
	Get servo replies.
moteus::Data &	data ()
	Get joint command-reply data. More...
void	reset_action (Dictionary &action)
	Reset action dictionary to the default action. More...
virtual void	process_action (const Dictionary &action)=0
	Process a new action dictionary. 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...
void	observe_imu (Dictionary &observation) const
	Observe IMU measurements. More...

Protected Attributes
moteus::Data	data_
	Pointers to the memory shared with the CAN thread. More...
ImuData	imu_data_
	IMU data.

Detailed Description

Base class for actuation interfaces.

Member Function Documentation

cycle()

virtual void upkie::cpp::actuation::Interface::cycle ( std::function< void(const moteus::Output &)>  callback )

pure virtual

Spin a new communication cycle.

Parameters

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 upkie::cpp::actuation::BulletInterface, upkie::cpp::actuation::MockInterface, and upkie::cpp::actuation::Pi3HatInterface.

data()

moteus::Data & upkie::cpp::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.

observe()

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

pure virtual

Write servo and IMU observations to dictionary.

Parameters

[out]

observation

Dictionary to write to.

Implemented in upkie::cpp::actuation::BulletInterface, upkie::cpp::actuation::MockInterface, and upkie::cpp::actuation::Pi3HatInterface.

observe_imu()

void upkie::cpp::actuation::Interface::observe_imu ( Dictionary &  observation ) const

inline

Observe IMU measurements.

Parameters

[out]

observation

Dictionary to write observations to.

process_action()

virtual void upkie::cpp::actuation::Interface::process_action ( const Dictionary &  action )

pure virtual

Process a new action dictionary.

Parameters

[in]

action

Action to read commands from.

Implemented in upkie::cpp::actuation::BulletInterface, upkie::cpp::actuation::MockInterface, and upkie::cpp::actuation::Pi3HatInterface.

reset()

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

pure virtual

Reset interface.

Parameters

[in]

config

New configuration dictionary.

Implemented in upkie::cpp::actuation::BulletInterface, upkie::cpp::actuation::MockInterface, and upkie::cpp::actuation::Pi3HatInterface.

reset_action()

void upkie::cpp::actuation::Interface::reset_action

(

Dictionary &

action

)

Reset action dictionary to the default action.

Parameters

[out]

action

Action dictionary.

write_position_commands()

void upkie::cpp::actuation::Interface::write_position_commands

(

const Dictionary &

action

)

Write position commands from an action dictionary.

Parameters

[in]

action

Action to read commands from.

Exceptions

PositionCommandError

If any position command is incorrect.

write_stop_commands()

void upkie::cpp::actuation::Interface::write_stop_commands ( )

inlinenoexcept

Stop all servos.

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.

Member Data Documentation

data_

moteus::Data upkie::cpp::actuation::Interface::data_

protected

Pointers to the memory shared with the CAN thread.

This memory consists of commands and replies. It is, by definition, not thread-safe.

---

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

• upkie/cpp/actuation/Interface.h
• upkie/cpp/actuation/Interface.cpp