rev::servohub::ServoHubLowLevel Class Reference

#include <ServoHubLowLevel.h>

Inherited by rev::servohub::ServoHub.

Classes
struct	FirmwareVersion
struct	PeriodicStatus0
struct	PeriodicStatus1
struct	PeriodicStatus2
struct	PeriodicStatus3
struct	PeriodicStatus4

Public Types
enum class	CommunicationMode { kNone = 0 , kCAN = 1 , kRS_485 = 2 }

Public Member Functions
virtual	~ServoHubLowLevel ()
int	GetBusId () const
int	GetDeviceId () const
FirmwareVersion	GetFirmwareVersion () const
std::string	GetFirmwareVersionString () const
void	SetPeriodicFrameTimeout (int timeout_ms)
REVLibError	SetCANTimeout (int timeout_ms)
void	SetCANMaxRetries (int numRetries)
void	SetControlFramePeriodMs (int period_ms)
int	GetControlFramePeriodMs () const
rev::util::Signal< PeriodicStatus0 >	GetPeriodicStatus0 () const
rev::util::Signal< PeriodicStatus1 >	GetPeriodicStatus1 () const
rev::util::Signal< PeriodicStatus2 >	GetPeriodicStatus2 () const
rev::util::Signal< PeriodicStatus3 >	GetPeriodicStatus3 () const
rev::util::Signal< PeriodicStatus4 >	GetPeriodicStatus4 () const
void	CreateSimFaultManager ()

Protected Member Functions
	ServoHubLowLevel (int busID, int deviceID)

Protected Attributes
void *	m_servoHubHandle {nullptr}

Friends
class	ServoChannel
class	ServoHubSimFaultManager

Member Enumeration Documentation

CommunicationMode

enum class rev::servohub::ServoHubLowLevel::CommunicationMode

strong

Enumerator
kNone
kCAN
kRS_485

Constructor & Destructor Documentation

~ServoHubLowLevel()

ServoHubLowLevel::~ServoHubLowLevel ( )

virtual

Closes the ServoHub

ServoHubLowLevel()

ServoHubLowLevel::ServoHubLowLevel ( int  busID, int  deviceID  )

protected

Member Function Documentation

GetBusId()

int ServoHubLowLevel::GetBusId

(

)

const

Get the configured CAN Bus ID of the SPARK.

Returns

int CAN bus ID

GetDeviceId()

int ServoHubLowLevel::GetDeviceId

(

)

const

Get the configured Device ID of the ServoHub.

Returns

int device ID

GetFirmwareVersion()

ServoHubLowLevel::FirmwareVersion ServoHubLowLevel::GetFirmwareVersion

(

)

const

Get the firmware version of the ServoHub.

Returns

Firmware version represented in the struct

GetFirmwareVersionString()

std::string ServoHubLowLevel::GetFirmwareVersionString

(

)

const

Get the firmware version of the ServoHub as a string.

Returns

std::string Human readable firmware version string

SetPeriodicFrameTimeout()

void ServoHubLowLevel::SetPeriodicFrameTimeout

(

int

timeout_ms

)

Set the amount of time to wait for a periodic status frame before returning a timeout error. This timeout will apply to all periodic status frames for the ServoHub servo controller.

To prevent invalid timeout errors, the minimum timeout for a given periodic status is 2.1 times its period. To use the minimum timeout for all status frames, set timeout_ms to 0.

The default timeout is 500ms.

Parameters

timeout_ms

The timeout in milliseconds

SetCANTimeout()

REVLibError ServoHubLowLevel::SetCANTimeout

(

int

timeout_ms

)

Sets the timeout duration for waiting for CAN responses from the device.

Parameters

timeout_ms

The timeout in milliseconds.

Returns

REVLibError::kOk if successful

SetCANMaxRetries()

void ServoHubLowLevel::SetCANMaxRetries

(

int

numRetries

)

Set the maximum number of times to retry an RTR CAN frame. This applies to calls such as GetFirmwareVersion where a request is made to the ServoHub and a response is expected. Anytime sending the request or receiving the response fails, it will retry the request a number of times, no more than the value set by this method. If an attempt succeeds, it will immediately return. The minimum number of retries is 0, where only a single attempt will be made and will return regardless of success or failure.

The default maximum is 5 retries.

Parameters

numRetries

The maximum number of retries

SetControlFramePeriodMs()

void ServoHubLowLevel::SetControlFramePeriodMs

(

int

period_ms

)

Set the control frame send period for the native CAN Send thread.

Parameters

period_ms

The send period in milliseconds between 1ms and 100ms or set to 0 to disable periodic sends.

GetControlFramePeriodMs()

int ServoHubLowLevel::GetControlFramePeriodMs

(

)

const

Set the control frame send period for the native CAN Send thread.

Returns

int The send period in milliseconds.

GetPeriodicStatus0()

Signal< ServoHubLowLevel::PeriodicStatus0 > ServoHubLowLevel::GetPeriodicStatus0

(

)

const

GetPeriodicStatus1()

Signal< ServoHubLowLevel::PeriodicStatus1 > ServoHubLowLevel::GetPeriodicStatus1

(

)

const

GetPeriodicStatus2()

Signal< ServoHubLowLevel::PeriodicStatus2 > ServoHubLowLevel::GetPeriodicStatus2

(

)

const

GetPeriodicStatus3()

Signal< ServoHubLowLevel::PeriodicStatus3 > ServoHubLowLevel::GetPeriodicStatus3

(

)

const

GetPeriodicStatus4()

Signal< ServoHubLowLevel::PeriodicStatus4 > ServoHubLowLevel::GetPeriodicStatus4

(

)

const

CreateSimFaultManager()

void ServoHubLowLevel::CreateSimFaultManager

(

)

Create the sim gui Fault Manager for this Servo Hub device

Friends And Related Function Documentation

ServoChannel

friend class ServoChannel

friend

ServoHubSimFaultManager

friend class ServoHubSimFaultManager

friend

Member Data Documentation

m_servoHubHandle

void* rev::servohub::ServoHubLowLevel::m_servoHubHandle {nullptr}

protected

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

• src/main/native/include/rev/ServoHubLowLevel.h
• src/main/native/cpp/ServoHubLowLevel.cpp