upkie::cpp::actuation::MockInterface Class Reference

Interface whose internal state perfectly tracks commands. More...

#include <MockInterface.h>

Public Member Functions
	MockInterface (const double dt)
	Create mock actuator interface. More...
	~MockInterface ()=default
	Default destructor.
void	reset (const Dictionary &config) override
	Reset interface. More...
void	observe (Dictionary &observation) const override
	Write actuation-interface observations to dictionary. More...
void	process_action (const Dictionary &action) override
	Process a new action dictionary. More...
void	cycle (std::function< void(const moteus::Output &)> callback) final
	Simulate a new communication cycle. More...
Public Member Functions inherited from upkie::cpp::actuation::Interface
	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...

Additional Inherited Members
Protected Attributes inherited from upkie::cpp::actuation::Interface
moteus::Data	data_
	Pointers to the memory shared with the CAN thread. More...
ImuData	imu_data_
	IMU data.

Detailed Description

Interface whose internal state perfectly tracks commands.

Constructor & Destructor Documentation

MockInterface()

upkie::cpp::actuation::MockInterface::MockInterface ( const double  dt )

explicit

Create mock actuator interface.

Parameters

[in]

dt

Simultation timestep in [s].

Member Function Documentation

cycle()

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

finalvirtual

Simulate 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.

Implements upkie::cpp::actuation::Interface.

observe()

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

overridevirtual

Write actuation-interface observations to dictionary.

Parameters

[out]

observation

Dictionary to write to.

Implements upkie::cpp::actuation::Interface.

process_action()

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

overridevirtual

Process a new action dictionary.

Parameters

[in]

action

Action to read commands from.

Implements upkie::cpp::actuation::Interface.

reset()

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

overridevirtual

Reset interface.

Parameters

[in]

config

Additional configuration dictionary.

Implements upkie::cpp::actuation::Interface.

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

• upkie/cpp/actuation/MockInterface.h
• upkie/cpp/actuation/MockInterface.cpp