A class for serial communication. More...

#include <serial_communication.h>

Public Types
enum	ControlMode { position = 1 , velocity = 2 , torque = 3 }
	Control mode enumerator. More...

Public Member Functions
	SerialCommunication ()
	Default Constructor. More...

	SerialCommunication (const std::string &_port)
	Custom Constructor, defaults number of motors to 6. More...

	SerialCommunication (const std::string &_port, const int &_num_motors)
	Custom Constructor. More...

virtual	~SerialCommunication ()
	Destructor. More...

Eigen::Matrix< Eigen::VectorXd, 3, 1 >	ReceiveMessage ()
	The ReceiveMessage function listens for serial messages of incoming joint state data from the motors and assign corresponding values to a joint state vector of vectors. More...

void	SendMessage (const ControlMode &_control_mode, const std::vector< double > &_state)
	The SendMessage function handles the sending of joint state command messages to the motors. More...

bool	IsNewDataAvailable ()
	The IsNewDataAvailable function checks if there is available data on the serial port. More...

void	SetPort (const std::string &_port)
	Set the port for the Teensy communication after creating the constructor. More...

void	SetNumberOfMotors (const int &_number_of_motors)
	Set the number of motors for the port after creating the constructor. More...

void	InitLibSerial ()
	The InitLibSerial function initializes the serial port to the correct input and sets baud rate, character size, flow control, and stop bits. It also sets buffer sizes for transmit (TX) and receive (RX). More...

Private Member Functions
Eigen::Matrix< Eigen::VectorXd, 3, 1 >	UnpackageBuffer (unsigned char *_data)
	The UnpackageBuffer function unpacks the read buffer data into joint state data vectors. More...

void	PackageBuffer (const ControlMode &_control_mode, const double *_data)
	The PackageBuffer function fills the transmit buffer with control mode and control command data to be transmitted on the serial port. More...

void	PackageBufferControlMode (const double *_data)
	The PackageBufferControlMode function fills the transmit buffer with control mode data. More...

void	PackageBufferControlCommand (const double *_data)
	The PackageBufferControlCommand function fills the transmit buffer with control command data. More...

Private Attributes
int	num_motors
	Number of motors. More...

std::string	port
	Serial Port. More...

LibSerial::SerialPort	serial_port
	LibSerial object instance. More...

int	TX_BUFFER_SIZE
	Serial transmit buffer size. More...

int	RX_BUFFER_SIZE
	Serial read buffer size. More...

std::vector< unsigned char >	tx_buffer
	Serial transmit buffer. More...

std::vector< unsigned char >	rx_buffer
	Serial read buffer. More...

Static Private Attributes
static constexpr double	rx_timeout = 0.00001
	Read buffer timeout. More...

Detailed Description

A class for serial communication.

Definition at line 40 of file serial_communication.h.

Member Enumeration Documentation

◆ ControlMode

enum SerialCommunication::ControlMode

Control mode enumerator.

Enumerator
position
velocity
torque

Definition at line 46 of file serial_communication.h.

Constructor & Destructor Documentation

◆ SerialCommunication() [1/3]

SerialCommunication::SerialCommunication ( )

Default Constructor.

Definition at line 3 of file serial_communication.cpp.

◆ SerialCommunication() [2/3]

SerialCommunication::SerialCommunication ( const std::string & _port )

Custom Constructor, defaults number of motors to 6.

Parameters

[in] _port Serial port name for teensy communication.

Definition at line 5 of file serial_communication.cpp.

◆ SerialCommunication() [3/3]

SerialCommunication::SerialCommunication	(	const std::string &	_port,
		const int &	_num_motors
	)

Custom Constructor.

Parameters

[in]	_port	Serial port name for teensy communication.
[in]	_num_motors	Number of motors in use.

Definition at line 12 of file serial_communication.cpp.

◆ ~SerialCommunication()

SerialCommunication::~SerialCommunication ( )

virtual

Destructor.

Definition at line 19 of file serial_communication.cpp.

Member Function Documentation

◆ ReceiveMessage()

Eigen::Matrix< Eigen::VectorXd, 3, 1 > SerialCommunication::ReceiveMessage ( )

The ReceiveMessage function listens for serial messages of incoming joint state data from the motors and assign corresponding values to a joint state vector of vectors.

Returns: Returns joint positions, velocities, and torques in the form of a vector containing the 3 respective vectors.

Definition at line 24 of file serial_communication.cpp.

◆ SendMessage()

void SerialCommunication::SendMessage	(	const ControlMode &	_control_mode,
		const std::vector< double > &	_state
	)

The SendMessage function handles the sending of joint state command messages to the motors.

Parameters

[in]	_control_mode	Desired motor control mode.
[in]	_state	Desired motor commands.

Definition at line 45 of file serial_communication.cpp.

◆ UnpackageBuffer()

Eigen::Matrix< Eigen::VectorXd, 3, 1 > SerialCommunication::UnpackageBuffer ( unsigned char * _data )

private

The UnpackageBuffer function unpacks the read buffer data into joint state data vectors.

Parameters

[in] _data Read buffer data.

Returns: Returns joint positions, velocities, and torques in the form of a vector containing the 3 respective vectors.

Definition at line 65 of file serial_communication.cpp.

◆ PackageBuffer()

void SerialCommunication::PackageBuffer	(	const ControlMode &	_control_mode,
		const double *	_data
	)

private

The PackageBuffer function fills the transmit buffer with control mode and control command data to be transmitted on the serial port.

Parameters

[in]	_control_mode	Motor control mode.
[in]	_data	Motor command data.

Definition at line 88 of file serial_communication.cpp.

◆ PackageBufferControlMode()

void SerialCommunication::PackageBufferControlMode ( const double * _data )

private

The PackageBufferControlMode function fills the transmit buffer with control mode data.

Parameters

[in] _data Control mode data.

Definition at line 97 of file serial_communication.cpp.

◆ PackageBufferControlCommand()

void SerialCommunication::PackageBufferControlCommand ( const double * _data )

private

The PackageBufferControlCommand function fills the transmit buffer with control command data.

Parameters

[in] _data Control command data.

Definition at line 105 of file serial_communication.cpp.

◆ IsNewDataAvailable()

bool SerialCommunication::IsNewDataAvailable ( )

The IsNewDataAvailable function checks if there is available data on the serial port.

Returns: Returns true if data is available, false if not.

Definition at line 113 of file serial_communication.cpp.

◆ SetPort()

void SerialCommunication::SetPort ( const std::string & _port )

Set the port for the Teensy communication after creating the constructor.

Parameters

[in] _port Serial port name for the Teensy communication

Definition at line 125 of file serial_communication.cpp.

◆ SetNumberOfMotors()

void SerialCommunication::SetNumberOfMotors ( const int & _number_of_motors )

Set the number of motors for the port after creating the constructor.

Parameters

[in] _number_of_motors Number of motors to use

Definition at line 130 of file serial_communication.cpp.

◆ InitLibSerial()

void SerialCommunication::InitLibSerial ( )

The InitLibSerial function initializes the serial port to the correct input and sets baud rate, character size, flow control, and stop bits. It also sets buffer sizes for transmit (TX) and receive (RX).

Definition at line 135 of file serial_communication.cpp.

Member Data Documentation

◆ rx_timeout

constexpr double SerialCommunication::rx_timeout = 0.00001

staticconstexprprivate

Read buffer timeout.

Definition at line 43 of file serial_communication.h.

◆ num_motors

int SerialCommunication::num_motors

private

Number of motors.

Definition at line 121 of file serial_communication.h.

◆ port

std::string SerialCommunication::port

private

Serial Port.

Definition at line 124 of file serial_communication.h.

◆ serial_port

LibSerial::SerialPort SerialCommunication::serial_port

private

LibSerial object instance.

Definition at line 127 of file serial_communication.h.

◆ TX_BUFFER_SIZE

int SerialCommunication::TX_BUFFER_SIZE

private

Serial transmit buffer size.

Definition at line 130 of file serial_communication.h.

◆ RX_BUFFER_SIZE

int SerialCommunication::RX_BUFFER_SIZE

private

Serial read buffer size.

Definition at line 133 of file serial_communication.h.

◆ tx_buffer

std::vector<unsigned char> SerialCommunication::tx_buffer

private

Serial transmit buffer.

Definition at line 136 of file serial_communication.h.

◆ rx_buffer

std::vector<unsigned char> SerialCommunication::rx_buffer

private

Serial read buffer.

Definition at line 139 of file serial_communication.h.

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

catkin_ws/src/hardware/serial_communication/include/serial_communication/serial_communication.h
catkin_ws/src/hardware/serial_communication/src/serial_communication.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ ControlMode

Constructor & Destructor Documentation

◆ SerialCommunication() [1/3]

◆ SerialCommunication() [2/3]

◆ SerialCommunication() [3/3]

◆ ~SerialCommunication()

Member Function Documentation

◆ ReceiveMessage()

◆ SendMessage()

◆ UnpackageBuffer()

◆ PackageBuffer()

◆ PackageBufferControlMode()

◆ PackageBufferControlCommand()

◆ IsNewDataAvailable()

◆ SetPort()

◆ SetNumberOfMotors()

◆ InitLibSerial()

Member Data Documentation

◆ rx_timeout

◆ num_motors

◆ port

◆ serial_port

◆ TX_BUFFER_SIZE

◆ RX_BUFFER_SIZE

◆ tx_buffer

◆ rx_buffer