Utilities for interacting with CAN devices. More...

Namespaces
namespace	motor
	Utilities for interacting with motor boards over a CAN interface.

Classes
struct	packettype_t
	The types of CAN packets that we recognize. More...

Typedefs
using	callbackid_t = std::tuple<deviceid_t, telemtype_t, uint32_t>
	An ID for a telemetry callback.

using	deviceserial_t = uint8_t
	The type of the device serial number.

using	telemetry_t = int32_t
	The type of telemetry data.

using	deviceid_t = std::pair<devicegroup_t, deviceserial_t>
	A unique identifier for a CAN device.

Enumerations
enum class	devicegroup_t { broadcast = DEVICE_GROUP_BROADCAST , reserved = DEVICE_GROUP_RESERVED , master = DEVICE_GROUP_MASTER , power = DEVICE_GROUP_POWER , motor = DEVICE_GROUP_MOTOR_CONTROL , telemetry = DEVICE_GROUP_TELEMETRY , gpio = DEVICE_GROUP_GPIO_BOARDS , science = DEVICE_GROUP_SCIENCE }
	The possible device group codes. More...

enum class	telemtype_t { voltage = PACKET_TELEMETRY_VOLTAGE , current = PACKET_TELEMETRY_CURRENT , pwr_rail = PACKET_TELEMETRY_PWR_RAIL_STATE , temp = PACKET_TELEMETRY_TEMPERATURE , angle = PACKET_TELEMETRY_ANG_POSITION , gps_lat = PACKET_TELEMETRY_GPS_LAT , gps_lon = PACKET_TELEMETRY_GPS_LON , mag_dir = PACKET_TELEMETRY_MAG_DIR , accel_x = PACKET_TELEMETRY_ACCEL_X , accel_y = PACKET_TELEMETRY_ACCEL_Y , accel_z = PACKET_TELEMETRY_ACCEL_Z , gyro_x = PACKET_TELEMETRY_GYRO_X , gyro_y = PACKET_TELEMETRY_GYRO_Y , gyro_z = PACKET_TELEMETRY_GYRO_Z , limit_switch = PACKET_TELEMETRY_LIM_SW_STATE , adc_raw = PACKET_TELEMETRY_ADC_RAW }
	The type of telemetries that devices can report. More...

Functions
void	initCAN ()
	Initialize the CAN interface.

void	sendCANPacket (const CANPacket &packet)
	Send a CAN packet.

robot::types::DataPoint< telemetry_t >	getDeviceTelemetry (deviceid_t id, telemtype_t telemType)
	Get the latest telemetry from a CAN device.

void	pullDeviceTelemetry (deviceid_t id, telemtype_t telemType)
	Ping the given CAN device to send the given telemetry data.

void	scheduleTelemetryPull (deviceid_t id, telemtype_t telemType, std::chrono::milliseconds period)
	Periodically pull the latest telemetry data from the specified CAN device asychronously.

void	unscheduleTelemetryPull (deviceid_t id, telemtype_t telemType)
	Stop pulling the latest telemetry data from the given device.

void	unscheduleAllTelemetryPulls ()
	Stop pulling the latest telemetry data from all currently scheduled devices.

callbackid_t	addDeviceTelemetryCallback (deviceid_t id, telemtype_t telemType, const std::function< void(deviceid_t, telemtype_t, robot::types::DataPoint< telemetry_t >)> &callback)

void	removeDeviceTelemetryCallback (callbackid_t id)
	Remove a previously registered telemetry callback.

callbackid_t	addDeviceTelemetryCallback (deviceid_t id, telemtype_t telemType, const std::function< void(deviceid_t, telemtype_t, robot::types::DataPoint< telemetry_t >)> &callback)
	Add a callback which is invoked when data is recieved.

devicegroup_t	getDeviceGroup (const CANPacket &packet)
	Get the device group from the id of the given packet.

deviceserial_t	getDeviceSerial (const CANPacket &packet)
	Get the serial number from the id of the given packet.

deviceid_t	getDeviceGroupAndSerial (const CANPacket &packet)
	Get the unique identifier from the id of the given packet.

deviceserial_t	getSenderDeviceSerial (const CANPacket &packet)
	Get the device serial code of the sender of the given packet.

devicegroup_t	getSenderDeviceGroup (const CANPacket &packet)
	Get the device group of the sender of the given packet.

deviceid_t	getSenderDeviceGroupAndSerial (const CANPacket &packet)
	Get the device group and serial code of the sender of the given packet.

std::string	packetToString (const CANPacket &packet)
	Get a string representation of the given CAN packet.

Detailed Description

Utilities for interacting with CAN devices.

Typedef Documentation

◆ callbackid_t

using can::callbackid_t = std::tuple<deviceid_t, telemtype_t, uint32_t>

An ID for a telemetry callback.

Users should not construct these themselves.

◆ deviceid_t

using can::deviceid_t = std::pair<devicegroup_t, deviceserial_t>

A unique identifier for a CAN device.

A CAN device is uniquely identified by its group code and its serial number.

Enumeration Type Documentation

◆ devicegroup_t

enum class can::devicegroup_t

strong

The possible device group codes.

Every can device is in a group. These are the possible groups.

◆ telemtype_t

enum class can::telemtype_t

strong

The type of telemetries that devices can report.

A device may offer some or none of these telemetry types.

Function Documentation

◆ addDeviceTelemetryCallback()

callbackid_t can::addDeviceTelemetryCallback	(	deviceid_t	id,
		telemtype_t	telemType,
		const std::function< void(deviceid_t, telemtype_t, robot::types::DataPoint< telemetry_t >)> &	callback )

Add a callback which is invoked when data is recieved.

The callback is invoked when telemetry data of the given type is received from the given device.

Parameters

id	The ID of the device the callback is listening for.
telemType	The type of telemetry the callback is listening for.
callback	The callback that will be invoked with the device ID, telemetry type, and the telemetry data.

Returns: callbackid_t A callback ID, which can be used with removeDeviceTelemetryCallback() to remove a callback.

◆ getDeviceGroup()

devicegroup_t can::getDeviceGroup ( const CANPacket & packet )

Get the device group from the id of the given packet.

Parameters

packet The packet to extract the group from.

Returns: devicegroup_t The extracted device group.

◆ getDeviceGroupAndSerial()

deviceid_t can::getDeviceGroupAndSerial ( const CANPacket & packet )

Get the unique identifier from the id of the given packet.

Parameters

packet The packet ot extract the identifier from.

Returns: deviceid_t The extracted device identifier.

◆ getDeviceSerial()

deviceserial_t can::getDeviceSerial ( const CANPacket & packet )

Get the serial number from the id of the given packet.

Parameters

packet The packet to extract the serial number from.

Returns: deviceserial_t The extracted serial number.

◆ getDeviceTelemetry()

robot::types::DataPoint< telemetry_t > can::getDeviceTelemetry	(	deviceid_t	id,
		telemtype_t	telemType )

Get the latest telemetry from a CAN device.

This method does NOT query for new data, it just returns the last reported value.

Parameters

id	The device group and serial number of the device.
telemType	The type of telemetry to get, as dictated by the specific device specs.

Returns: robot::types::DataPoint<telemetry_t> The telemetry value, with the timestamp of when it was received. If no data is available for the given telemetry type, an empty data point is returned.

◆ getSenderDeviceGroup()

devicegroup_t can::getSenderDeviceGroup ( const CANPacket & packet )

Get the device group of the sender of the given packet.

Parameters

packet The packet to extract the device group from.

Returns: devicegroup_t The device group of the sender.

◆ getSenderDeviceGroupAndSerial()

deviceid_t can::getSenderDeviceGroupAndSerial ( const CANPacket & packet )

Get the device group and serial code of the sender of the given packet.

Parameters

packet The packet to extract the information from.

Returns: deviceid_t The device group and serial code of the sender.

◆ getSenderDeviceSerial()

deviceserial_t can::getSenderDeviceSerial ( const CANPacket & packet )

Get the device serial code of the sender of the given packet.

Parameters

packet The packet to extract the sender code from.

Returns: deviceserial_t The serial code of the sender.

◆ initCAN()

void can::initCAN ( )

Initialize the CAN interface.

This should only be called once.

Note: If CAN initialization fails, the program will exit.

◆ packetToString()

std::string can::packetToString ( const CANPacket & packet )

Get a string representation of the given CAN packet.

The returned string representation is in the format specified by cansend, which allows easy copy-pasting.

See also: http://manpages.ubuntu.com/manpages/focal/man1/cansend.1.html

Parameters

packet The packet to convert to a string.

Returns: std::string The string representation of the given packet.

◆ pullDeviceTelemetry()

void can::pullDeviceTelemetry	(	deviceid_t	id,
		telemtype_t	telemType )

Ping the given CAN device to send the given telemetry data.

The CAN device will asynchronously send the new data in an unspecified amount of time. Not all CAN devices may support pulling telemetry.

Parameters

id	The device group and serial number of the device.
telemType	The type of telemetry to get, as dictated by the specific device specs.

◆ removeDeviceTelemetryCallback()

void can::removeDeviceTelemetryCallback ( callbackid_t id )

Remove a previously registered telemetry callback.

The callback associated with the given callback ID is removed.

Parameters

id	A callback ID which was previously returned by addDeviceTelemetryCallback().

◆ scheduleTelemetryPull()

void can::scheduleTelemetryPull	(	deviceid_t	id,
		telemtype_t	telemType,
		std::chrono::milliseconds	period )

Periodically pull the latest telemetry data from the specified CAN device asychronously.

This method is NOT thread safe.

Parameters

id	The device group and serial number of the device.
telemType	The type of telemetry to get, as dictated by the specific device specs.
period	The period to wait in between sending pull requests.

◆ sendCANPacket()

void can::sendCANPacket ( const CANPacket & packet )

Send a CAN packet.

No further formatting is done on the packet. This method is thread-safe.

Parameters

packet The CAN packet to send.

◆ unscheduleAllTelemetryPulls()

void can::unscheduleAllTelemetryPulls ( )

Stop pulling the latest telemetry data from all currently scheduled devices.

This method is NOT thread safe.

◆ unscheduleTelemetryPull()

void can::unscheduleTelemetryPull	(	deviceid_t	id,
		telemtype_t	telemType )

Stop pulling the latest telemetry data from the given device.

This method is NOT thread safe.

Parameters

id	The device group and serial number of the device.
telemType	The type of telemetry to get, as dictated by the specific device specs.

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ callbackid_t

◆ deviceid_t

Enumeration Type Documentation

◆ devicegroup_t

◆ telemtype_t

Function Documentation

◆ addDeviceTelemetryCallback()

◆ getDeviceGroup()

◆ getDeviceGroupAndSerial()

◆ getDeviceSerial()

◆ getDeviceTelemetry()

◆ getSenderDeviceGroup()

◆ getSenderDeviceGroupAndSerial()

◆ getSenderDeviceSerial()

◆ initCAN()

◆ packetToString()

◆ pullDeviceTelemetry()

◆ removeDeviceTelemetryCallback()

◆ scheduleTelemetryPull()

◆ sendCANPacket()

◆ unscheduleAllTelemetryPulls()

◆ unscheduleTelemetryPull()