feat: Add setting CAN bus Baud rate to driver

bindings/myactuator_rmd.cpp

@@ -59,6 +59,7 @@ PYBIND11_MODULE(myactuator_rmd, m) {
     .def("sendTorqueSetpoint", &myactuator_rmd::Driver::sendTorqueSetpoint)
     .def("sendVelocitySetpoint", &myactuator_rmd::Driver::sendVelocitySetpoint)
     .def("setAcceleration", &myactuator_rmd::Driver::setAcceleration)
+    .def("setBaudRate", &myactuator_rmd::Driver::setBaudRate)
     .def("setCanId", &myactuator_rmd::Driver::setCanId)
     .def("setControllerGains", &myactuator_rmd::Driver::setControllerGains)
     .def("shutdownMotor", &myactuator_rmd::Driver::shutdownMotor)
@@ -73,6 +74,9 @@ PYBIND11_MODULE(myactuator_rmd, m) {
     .value("POSITION_PLANNING_DECELERATION", myactuator_rmd::AccelerationFunctionIndex::POSITION_PLANNING_DECELERATION)
     .value("VELOCITY_PLANNING_ACCELERATION", myactuator_rmd::AccelerationFunctionIndex::VELOCITY_PLANNING_ACCELERATION)
     .value("VELOCITY_PLANNING_DECELERATION", myactuator_rmd::AccelerationFunctionIndex::VELOCITY_PLANNING_DECELERATION);
+  pybind11::enum_<myactuator_rmd::BaudRate>(m_actuator_state, "BaudRate")
+    .value("KBPS500", myactuator_rmd::BaudRate::KBPS500)
+    .value("MBPS1", myactuator_rmd::BaudRate::MBPS1);
   pybind11::enum_<myactuator_rmd::ControlMode>(m_actuator_state, "ControlMode")
     .value("NONE", myactuator_rmd::ControlMode::NONE)
     .value("CURRENT", myactuator_rmd::ControlMode::CURRENT)

include/myactuator_rmd/actuator_state/baud_rate.hpp

@@ -0,0 +1,29 @@
+/**
+ * \file baud_rate.hpp
+ * \mainpage
+ *    Communication Baud rate of the CAN bus
+ * \author
+ *    Tobit Flatscher (github.com/2b-t)
+*/
+
+#ifndef MYACTUATOR_RMD__BAUD_RATE
+#define MYACTUATOR_RMD__BAUD_RATE
+#pragma once
+
+#include <cstdint>
+
+
+namespace myactuator_rmd {
+
+  /**\enum BaudRate
+   * \brief
+   *    Communication Baud rate of the CAN bus
+  */
+  enum class BaudRate: std::uint8_t {
+    KBPS500 = 0,
+    MBPS1 = 1,
+  };
+
+}
+
+#endif // MYACTUATOR_RMD__BAUD_RATE

include/myactuator_rmd/driver.hpp

@@ -15,6 +15,7 @@
 #include <string>
 
 #include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
+#include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/control_mode.hpp"
 #include "myactuator_rmd/actuator_state/feedback.hpp"
 #include "myactuator_rmd/actuator_state/gains.hpp"
@@ -295,6 +296,15 @@ namespace myactuator_rmd {
       */
       void setAcceleration(std::uint32_t const acceleration, AccelerationFunctionIndex const mode);
 
+      /**\fn setBaudRate
+       * \brief
+       *    Set the communication Baud rate
+       * 
+       * \param[in] baud_rate
+       *    Communication Baud rate that the actuator should operator with
+      */
+      void setBaudRate(BaudRate const baud_rate);
+
       /**\fn setCanId
        * \brief
        *    Set the CAN ID of the device

include/myactuator_rmd/protocol/command_type.hpp

@@ -51,7 +51,7 @@ namespace myactuator_rmd {
     READ_SYSTEM_RUNTIME = 0xB1,
     READ_SYSTEM_SOFTWARE_VERSION_DATE = 0xB2,
     // COMMUNICATION_INTERRUPTION_PROTECTION_TIME_SETTING = 0xB3,
-    // COMMUNICATION_BAUD_RATE_SETTING = 0xB4,
+    COMMUNICATION_BAUD_RATE_SETTING = 0xB4,
     READ_MOTOR_MODEL = 0xB5,
     // FUNCTION_CONTROL = 0x20,
     CAN_ID_SETTING = 0x79

include/myactuator_rmd/protocol/requests.hpp

@@ -12,6 +12,7 @@
 
 #include <cstdint>
 
+#include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
 #include "myactuator_rmd/actuator_state/gains.hpp"
 #include "myactuator_rmd/protocol/command_type.hpp"
@@ -148,6 +149,30 @@ namespace myactuator_rmd {
       AccelerationFunctionIndex getMode() const noexcept;
   };
 
+  /**\class SetBaudRateRequest
+   * \brief
+   *    Request for setting the Baud rate of the actuator
+  */
+  class SetBaudRateRequest: public SingleMotorRequest<CommandType::COMMUNICATION_BAUD_RATE_SETTING> {
+    public:
+      SetBaudRateRequest(BaudRate const baud_rate);
+      SetBaudRateRequest(SetBaudRateRequest const&) = default;
+      SetBaudRateRequest& operator = (SetBaudRateRequest const&) = default;
+      SetBaudRateRequest(SetBaudRateRequest&&) = default;
+      SetBaudRateRequest& operator = (SetBaudRateRequest&&) = default;
+      using SingleMotorRequest::SingleMotorRequest;
+
+      /**\fn getBaudRate
+       * \brief
+       *    Get the Baud rate that should be set to the actuator
+       * 
+       * \return
+       *    The Baud rate that the actuator should be using
+      */
+      [[nodiscard]]
+      BaudRate getBaudRate() const noexcept;
+  };
+
   /**\class SetGainsRequest
    * \brief
    *    Base class for all requests for setting controller gains

src/driver.cpp

@@ -4,6 +4,7 @@
 #include <cstdint>
 #include <string>
 
+#include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/control_mode.hpp"
 #include "myactuator_rmd/actuator_state/feedback.hpp"
 #include "myactuator_rmd/actuator_state/gains.hpp"
@@ -178,6 +179,12 @@ namespace myactuator_rmd {
     return;
   }
 
+  void Driver::setBaudRate(BaudRate const baud_rate) {
+    SetBaudRateRequest const request {baud_rate};
+    send(request);
+    return;
+  }
+
   Gains Driver::setControllerGains(Gains const& gains, bool const is_persistent) {
     if (is_persistent) {
       SetControllerGainsPersistentlyRequest const request {gains};

src/protocol/requests.cpp

@@ -4,6 +4,7 @@
 #include <cstring>
 #include <string>
 
+#include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
 #include "myactuator_rmd/protocol/single_motor_message.hpp"
 #include "myactuator_rmd/exceptions.hpp"
@@ -51,6 +52,16 @@ namespace myactuator_rmd {
     return static_cast<AccelerationFunctionIndex>(getAs<std::uint8_t>(1));
   }
 
+  SetBaudRateRequest::SetBaudRateRequest(BaudRate const baud_rate)
+  : SingleMotorRequest{} {
+    setAt(static_cast<std::uint8_t>(baud_rate), 7);
+    return;
+  }
+
+  BaudRate SetBaudRateRequest::getBaudRate() const noexcept {
+    return static_cast<BaudRate>(getAs<std::uint8_t>(7));
+  }
+
   SetPositionAbsoluteRequest::SetPositionAbsoluteRequest(float const position, float const max_speed)
   : SingleMotorRequest{} {
     if ((position < -360.0f) || (position > 360.0f)) {

test/protocol/requests_test.cpp

@@ -11,6 +11,7 @@
 #include <gtest/gtest.h>
 
 #include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
+#include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/gains.hpp"
 #include "myactuator_rmd/protocol/requests.hpp"
 
@@ -24,12 +25,16 @@ namespace myactuator_rmd {
       EXPECT_EQ(is_write, false);
     }
 
-    TEST(SetCanIdRequestTest, parsing) {
-      myactuator_rmd::SetCanIdRequest const request {{0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}};
-      bool const is_write {request.isWrite()};
-      std::uint16_t const can_id {request.getCanId()};
-      EXPECT_EQ(is_write, true);
-      EXPECT_EQ(can_id, 0x02);
+    TEST(SetBaudRate0RequestTest, parsing) {
+      myactuator_rmd::SetBaudRateRequest const request {{0xB4, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00}};
+      BaudRate const baud_rate {request.getBaudRate()};
+      EXPECT_EQ(baud_rate, BaudRate::KBPS500);
+    }
+
+    TEST(SetBaudRate1RequestTest, parsing) {
+      myactuator_rmd::SetBaudRateRequest const request {{0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01}};
+      BaudRate const baud_rate {request.getBaudRate()};
+      EXPECT_EQ(baud_rate, BaudRate::MBPS1);
     }
 
     TEST(SetPositionPlanningAccelerationRequestTest, parsing) {