Class DriverData

• Defined in File roboteq_data_converters.hpp

Class Documentation

class DriverData

Class that combines all the data that the one Roboteq driver provides.

Public Functions

inline DriverData(const DrivetrainSettings &drivetrain_settings)

void SetMotorsStates(const MotorDriverState &channel_1_state, const MotorDriverState &channel_2_state, const bool data_timed_out)

void SetDriverState(const DriverState &state, const bool data_timed_out)

inline void SetCANError(const bool can_error)

inline void SetHeartbeatTimeout(const bool heartbeat_timeout)

inline bool IsFlagError() const

inline bool IsError() const

const MotorState &GetMotorState(const std::uint8_t channel) const

Returns motor state data for the given channel.

Parameters:

channel – 1 or 2

Throws:

std::runtime_error – if invalid channel number

Returns:

motor state data

inline const RoboteqDriverState &GetDriverState() const

inline bool IsMotorStatesDataTimedOut() const

inline bool IsDriverStateDataTimedOut() const

inline bool IsCANError() const

inline bool IsHeartbeatTimeout() const

inline const FaultFlag &GetFaultFlag() const

inline const ScriptFlag &GetScriptFlag() const

const RuntimeError &GetRuntimeError(const std::uint8_t channel) const

Returns runtime error flags for the given channel.

Parameters:

channel – 1 or 2

Throws:

std::runtime_error – if invalid channel number

Returns:

runtime error flags

std::string GetFlagErrorLog() const

std::map<std::string, bool> GetFlagErrorMap() const

std::map<std::string, bool> GetErrorMap() const