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	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
PeriodicStatus0	GetPeriodicStatus0 () const
PeriodicStatus1	GetPeriodicStatus1 () const
PeriodicStatus2	GetPeriodicStatus2 () const
PeriodicStatus3	GetPeriodicStatus3 () const
PeriodicStatus4	GetPeriodicStatus4 () const
void	CreateSimFaultManager ()

Protected Member Functions
	ServoHubLowLevel (int deviceID)

Protected Attributes
void *	m_servoHubHandle {nullptr}

Friends
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  deviceID )

explicitprotected

Member Function Documentation

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()

ServoHubLowLevel::PeriodicStatus0 ServoHubLowLevel::GetPeriodicStatus0

(

)

const

GetPeriodicStatus1()

ServoHubLowLevel::PeriodicStatus1 ServoHubLowLevel::GetPeriodicStatus1

(

)

const

GetPeriodicStatus2()

ServoHubLowLevel::PeriodicStatus2 ServoHubLowLevel::GetPeriodicStatus2

(

)

const

GetPeriodicStatus3()

ServoHubLowLevel::PeriodicStatus3 ServoHubLowLevel::GetPeriodicStatus3

(

)

const

GetPeriodicStatus4()

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

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