upkie::cpp::actuation::Pi3HatInterface Class Reference

Interface to moteus controllers. More...

#include <Pi3HatInterface.h>

Public Member Functions
	Pi3HatInterface (const int can_cpu, const ::mjbots::pi3hat::Pi3Hat::Configuration &pi3hat_config)
	Configure interface and spawn CAN thread. More...
	~Pi3HatInterface ()
	Stop CAN thread.
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
	Spin 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 to moteus controllers.

Internally it uses a background thread to operate the pi3hat, enabling the main thread to perform work while servo communication is taking place.

Constructor & Destructor Documentation

Pi3HatInterface()

upkie::cpp::actuation::Pi3HatInterface::Pi3HatInterface	(	const int	can_cpu,
		const ::mjbots::pi3hat::Pi3Hat::Configuration &	pi3hat_config
	)

Configure interface and spawn CAN thread.

Parameters

[in]	can_cpu	CPUID of the core to run the CAN thread on.
[in]	pi3hat_config	Configuration for the pi3hat.

Member Function Documentation

cycle()

void upkie::cpp::actuation::Pi3HatInterface::cycle ( std::function< void(const moteus::Output &)>  callback )

finalvirtual

Spin a new communication cycle.

Parameters

[in]

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::Pi3HatInterface::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::Pi3HatInterface::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::Pi3HatInterface::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/Pi3HatInterface.h
• upkie/cpp/actuation/Pi3HatInterface.cpp