rm_hw::CanBus Class Reference

#include <can_bus.h>

Public Member Functions
	CanBus (const std::string &bus_name, CanDataPtr data_ptr, int thread_priority)
	Initialize device at can_device, retry if fail. Set up header of CAN frame.
void	read (ros::Time time)
	Read active data from read_buffer_ to data_ptr_, such as position, velocity, torque and so on. Clear read_buffer_ after reading.
void	write ()
	Write commands to can bus.
void	write (can_frame *frame)

Public Attributes
const std::string	bus_name_

Constructor & Destructor Documentation

CanBus()

rm_hw::CanBus::CanBus	(	const std::string &	bus_name,
		CanDataPtr	data_ptr,
		int	thread_priority )

Initialize device at can_device, retry if fail. Set up header of CAN frame.

Parameters

bus_name	Bus's name(example: can0).
data_ptr	Pointer which point to CAN data.

Member Function Documentation

read()

void rm_hw::CanBus::read

(

ros::Time

time

)

Read active data from read_buffer_ to data_ptr_, such as position, velocity, torque and so on. Clear read_buffer_ after reading.

Parameters

time	ROS time, but it doesn't be used.

write() [1/2]

void rm_hw::CanBus::write

(

)

Write commands to can bus.

write() [2/2]

void rm_hw::CanBus::write

(

can_frame *

frame

)

Member Data Documentation

bus_name_

const std::string rm_hw::CanBus::bus_name_

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

• rm_hw/include/rm_hw/hardware_interface/can_bus.h
• rm_hw/src/hardware_interface/can_bus.cpp