sas::RobotDriverExample Class Reference

Simple in-memory RobotDriver implementation for testing. More...

#include <sas_robot_driver_example.hpp>

Inheritance diagram for sas::RobotDriverExample:

Public Member Functions
	RobotDriverExample (RobotDriverExample &)=delete
	RobotDriverExample (const RobotDriverExampleConfiguration &configuration, const std::shared_ptr< ShutdownSignaler > &shutdown_signaler_)
	Construct a RobotDriverExample with configuration.
	RobotDriverExample (const RobotDriverExampleConfiguration &configuration, std::atomic_bool *break_loops)
virtual VectorXd	get_joint_positions () override
	Get the current joint positions.
virtual void	set_target_joint_positions (const VectorXd &set_target_joint_positions_rad) override
	Set target joint positions.
virtual void	connect () override
	Connect the example driver (establish resources).
virtual void	disconnect () override
	Disconnect the example driver (release resources).
virtual void	initialize () override
	Initialize the example driver.
virtual void	deinitialize () override
	Deinitialize the example driver.
Public Member Functions inherited from sas::RobotDriver
	~RobotDriver ()
	Virtual destructor for RobotDriver.
virtual VectorXd	get_joint_velocities ()
	Get current joint velocities.
virtual void	set_target_joint_velocities (const VectorXd &set_target_joint_velocities)
	Set target joint velocities.
virtual VectorXd	get_joint_torques ()
	Get current joint torques.
virtual void	set_target_joint_torques (const VectorXd &set_target_joint_torques)
	Set target joint torques.
virtual std::tuple< VectorXd, VectorXd >	get_joint_limits ()
	Get joint limits (min, max).
virtual void	set_joint_limits (const std::tuple< VectorXd, VectorXd > &joint_limits)
	Set joint limits (min, max).
void	watchdog_start (const std::chrono::nanoseconds &period)
	Start the watchdog thread with the given period.
void	watchdog_trigger (const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_client, const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_server, const bool &status)
	Trigger the watchdog with timestamps from client/server and the current status.
void	watchdog_set_maximum_acceptable_delay (const double &max_acceptable_delay)
	Set the maximum acceptable delay for the watchdog (seconds).
void	check_for_watchdog_exceptions ()
	Check for exceptions thrown by the watchdog thread and rethrow if present.
void	set_control_loop_callback (std::function< void()> callback)
	Set the control loop callback function.
void	execute_control_loop_callback ()
	Execute the control loop callback if it has been set.
bool	control_loop_callback_is_set ()
	Check if a control loop callback has been set.

Protected Attributes
const RobotDriverExampleConfiguration	configuration_
VectorXd	joint_positions_
Protected Attributes inherited from sas::RobotDriver
std::atomic_bool *	break_loops_
std::shared_ptr< ShutdownSignaler >	shutdown_signaler_
std::tuple< VectorXd, VectorXd >	joint_limits_
VectorXd	joint_velocities_
VectorXd	joint_torques_
std::unique_ptr< sas::Clock >	clock_
std::unique_ptr< std::thread >	watchdog_thread_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_client_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_server_
bool	watchdog_status_
std::mutex	mutex_watchdog_
double	max_acceptable_delay_ = 0.1
double	watchdog_period_
std::exception_ptr	watchdog_exception_ {nullptr}
std::mutex	watchdog_exception_mutex_
std::function< void()>	control_loop_callback_

Additional Inherited Members
Public Types inherited from sas::RobotDriver
enum class	Functionality {   None =0 , PositionControl , VelocityControl , ForceControl ,   Homing , ClearPositions , Watchdog }
	Enumeration of optional driver functionalities.
Protected Member Functions inherited from sas::RobotDriver
void	_watchdog_thread_function ()
	RobotDriver::_watchdog_thread_function throws an exception if the elapsed time since the last trigger exceeds the specified period.
	RobotDriver (const std::shared_ptr< ShutdownSignaler > &shutdown_signaler_)
	RobotDriver (std::atomic_bool *break_loops)
	RobotDriver (const RobotDriver &)=delete

Detailed Description

Simple in-memory RobotDriver implementation for testing.

RobotDriverExample is a lightweight, non-hardware driver that implements the RobotDriver interface. It is intended for unit tests and examples and simulates joint state updates using the provided configuration.

Constructor & Destructor Documentation

RobotDriverExample()

sas::RobotDriverExample::RobotDriverExample	(	const RobotDriverExampleConfiguration &	configuration,
		const std::shared_ptr< ShutdownSignaler > &	shutdown_signaler_ )

Construct a RobotDriverExample with configuration.

Parameters

configuration	Example configuration (name, initial positions, joint limits)
break_loops	Optional pointer to an atomic_bool used to break loops

Member Function Documentation

connect()

void sas::RobotDriverExample::connect ( )

overridevirtual

Connect the example driver (establish resources).

Implements sas::RobotDriver.

deinitialize()

void sas::RobotDriverExample::deinitialize ( )

overridevirtual

Deinitialize the example driver.

Implements sas::RobotDriver.

disconnect()

void sas::RobotDriverExample::disconnect ( )

overridevirtual

Disconnect the example driver (release resources).

Implements sas::RobotDriver.

get_joint_positions()

VectorXd sas::RobotDriverExample::get_joint_positions ( )

overridevirtual

Get the current joint positions.

Returns

Vector of joint positions (radians)

Implements sas::RobotDriver.

initialize()

void sas::RobotDriverExample::initialize ( )

overridevirtual

Initialize the example driver.

Implements sas::RobotDriver.

set_target_joint_positions()

void sas::RobotDriverExample::set_target_joint_positions ( const VectorXd & set_target_joint_positions_rad )

overridevirtual

Set target joint positions.

Parameters

set_target_joint_positions_rad

Target joint positions in radians

Exceptions

std::runtime_error

if the input vector has incorrect size

Implements sas::RobotDriver.

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

• src/sas_core/include/sas_core/examples/sas_robot_driver_example.hpp
• src/sas_core/src/examples/sas_robot_driver_example.cpp