Code

Finalize CAN rework#243

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PeterBowman merged 126 commits intodeveloproboticslab-uc3m/yarp-devices:developfrom road-to-canhallaroboticslab-uc3m/yarp-devices:road-to-canhallaCopy head branch name to clipboardJan 27, 2020

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Commits

Commits on Jan 8, 2020

• Conditionally enable CAN acceptance filters, default to false

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• Process write message queue on demand

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• Avoid UB on memcpy with nullptr argument

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• Add static assertion on param in cyclic synchronous tranmission type

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• Enable synchronization on TPDO3

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• Restore runtime-parameterizable overload of SYNCHRONOUS_CYCLIC_N()

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Commits on Jan 9, 2020

• Add missing doxy line

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• Merge branch 'sync' into road-to-canhalla

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• Skip boot-up check for unregistered devices

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• Attend to NMT state transitions

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Commits on Jan 10, 2020

• Monitor heartbeat status

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• Monitor boot-up events, enable deferred CAN node initialization

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• Fix unclear debug message

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• Avoid bogus value of event.lastDuration on first iteration

  

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Commits on Jan 11, 2020

• Implement ICanBusErrors

  

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• Implement ICanBusErrors

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• Query bus state, don't attempt to write on bus off condition

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• Merge branch 'can-errors' into heartbeat

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• Avoid constant bus-off reports, increase CUI timeout&retries

  

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• Drop --mode option in launchCanBus, configure at iPOS level instead

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• Avoid querying same static data twice, finalize absolute encoders

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• Report idle control mode before initial mode change

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Commits on Jan 12, 2020

• Add overload for std::string-based download

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• Avoid static duration variable, check initial configuration

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• Reset node on heartbeat timeout and failed boot-up events

  

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• Avoid long wait on failed state request if drive was dead

  

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• Merge branch 'heartbeat' into road-to-canhalla

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• Right-trim firmware string

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Commits on Jan 13, 2020

• Add SDO ping method, check initial iPOS drive availability

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• Drop embedded SDO calls in EMCY and NMT protocol classes

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• Retrieve static values on queries to disconnected iPOS drives

  PeterBowman

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• Fix search group for 'enableAcceptanceFilters' option

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• Add ICanBusSharer::synchronize, propagate 'syncPeriod' option

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Commits on Jan 14, 2020

• Test CSP, temporarily disable legacy PT/PVT submodes

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• Govern velocity/torque/current commands via RPDO

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• Don't register command on failed halt state exit, guard posd commands

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• Update timestamp on manual reset, too

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Commits on Jan 15, 2020

• Nuke posd thread, refurbish remote variables iface

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• Review implementation of PT/PVT buffer modes

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Commits on Jan 16, 2020

• Reset internal state on drive heartbeat failure

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• Fix Clang compile issue

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• Merge branch 'road-to-canhalla' into sync-rpdos

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• Print success message on CSP mode change

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• Increase drive state transition timeout (2 -> 3 seconds)

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• Make state observer ignore fault bit

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• Temporarily disable legacy ip mode

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• Merge branch 'sync-rpdos' into road-to-canhalla

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• Fully implement handshake on single set-point position control

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• Validate heartbeat and SYNC periods, parse as millisecond values

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Commits on Jan 17, 2020

• Clean config properties

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• Retrieve common iPOS options

  

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• Fix variable type

  

  PeterBowman

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• Retrieve common CUI options

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• Merge branch 'common-ipos' into road-to-canhalla

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• Reset TX queue on bus off condition

  

  PeterBowman

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• Fix range check

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• Implement RW as YARP periodic threads

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Commits on Jan 18, 2020

• Revert "Implement RW as YARP periodic threads"

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Commits on Jan 19, 2020

• Re-implement halt command on pos/vel modes, accept TPDO timer params

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• Assume no CAN bus defaults, throw if missing or illegal

  PeterBowman

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• Parse 'pulsesPerSample' in drive group

  PeterBowman

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• Avoid segfaults on nullptr if PolyDriver::open failed

  PeterBowman

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• Drop last dependency on YARP, use standard CAN message structure

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Commits on Jan 20, 2020

• Provide default values for POD types wrapped by std::atomic

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• Stream incoming CAN frames

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• Combine CAN threads into new CAN bus broker class

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• Dump outgoing messages, too

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Commits on Jan 21, 2020

• Open sender port, register input callback

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• Clean old stuff, print debug message on arriving command

  

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• Guard concurrent access to dump port

  

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• Rework bottle checks in incoming remote commands

  PeterBowman

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• Close ports on broker destruction to avoid race conditions

  

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  rsantos88

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• Repurpose dumpCanBus as a YARP-enabled remote CAN dumper

  PeterBowman

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• Fix integer checks and casts

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• Attach SDO responder to CAN reader thread

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Commits on Jan 22, 2020

• Split CAN-related libraries, install targets, create SDO responder

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• Merge branch 'road-to-canhalla' into can-yarp-ports

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• Rename CanOpen test fixture

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• Split SDO responder into its own class, hide CANopen implementation

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• Set C++11 usage requirements on FutureObserverLib

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• Merge branch 'road-to-canhalla' into can-yarp-ports

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• Actually instantiate pimpl

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• Fix string width in hex representation, print debug messages

  

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• Fix request size check, instantiate guard object earlier

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• Narrow down critical buffer sections, refactor CAN message dumper

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Commits on Jan 23, 2020

• Guard against SDO overruns (simultaneous requests-with-await)

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• Fix regression, avoid obscure atomic-vs-mutex usage

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• Enhance doxy

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• Parse 'name' option as CAN-via-YARP port prefix

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• Merge branch 'can-yarp-ports' into road-to-canhalla

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• Drop PolyDriverList, embrace std::vector and dynamic casts

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• Drop device parallelization, adopt it in SYNC instead

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• Rename DeviceMapperLib to YarpDeviceMapperLib

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• Split SDO expedited transfer test into upload and download sections

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Commits on Jan 24, 2020

• Implement velocity mode as CSV via remote vars, clip high speeds

  

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• Query remote vars for all joints at once

  

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• Set same remote vars for all joints at once

  

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• Allow setting selected node vars

  

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• Allow setting an arbitrary number of remote vars per node

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• Merge branch 'csv' into road-to-canhalla

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• Add 'enable' key/value pair

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• Add instructions on handling of remote variables

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• Actually set event timer (fixes typo)

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• Suppress published drive state if not configured yet

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• Reduce severity of failed homing procedure, just print warnings

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• Revert "Suppress published drive state if not configured yet"

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• Reset SYNC command target, just in case

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• Clip CSP targets according to max velocity

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• Drop 'wait' parameter to requestTransition

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• Fix title

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Commits on Jan 25, 2020

• Update previous CSP command target

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Commits on Jan 26, 2020

• Unbreak control mode transitions

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• Switch on mode of operations register instead of YARP mapping

  PeterBowman

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• Split CAN init steps, treat failed initial mode change as non-fatal

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• Reset TX queue on failed send action

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Commits on Jan 27, 2020

• Disable monitor thread if no option passed

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• Prepare BusLoadMonitor class skeleton

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• Prepare outgoing bottle

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• Compute size in bits of every CAN frame

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• Apply workaround as described by Technosoft support

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• Clear prepared bottles

  

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• Merge branch 'bus-load' into road-to-canhalla

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• Split bus load into RX and TX components

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• Avoid segfault on TechnosoftIpos::close

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• Stop threads before disabling ports to avoid deadlock

  

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• Relax restriction on implemented ifaces in full-joint mapper

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