refactor: Separate CAN from protocol-independent classes and add driv…

…er as abstraction

CMakeLists.txt

@@ -32,7 +32,7 @@ add_library(myactuator_rmd SHARED
   src/can/utilities.cpp
   src/protocol/requests.cpp
   src/protocol/responses.cpp
-  src/actuator.cpp
+  src/actuator_interface.cpp
 )
 target_include_directories(myactuator_rmd PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

ReadMe.md

@@ -96,7 +96,8 @@ A minimal example for the `main.cpp` can be found below:
 
 
 int main() {
-  myactuator_rmd::Actuator actuator {"can0", 1};
+  myactuator_rmd::CanDriver driver {"can0"};
+  myactuator_rmd::Actuator actuator {driver, 1};
   std::cout << actuator.getVersionDate() << std::endl;
   return EXIT_SUCCESS;
 }
@@ -113,7 +114,8 @@ $ python3
 Python 3.10.6 (main, Mar 10 2023, 10:55:28) [GCC 11.3.0] on linux
 Type "help", "copyright", "credits" or "license" for more information.
 >>> import myactuator_rmd_py as rmd
->>> actuator = rmd.Actuator("can0", 1)
+>>> driver = rmd.CanDriver("can0")
+>>> actuator = rmd.Actuator(driver, 1)
 >>> actuator.getVersionDate()
 2023020601
 >>> actuator.sendPositionAbsoluteSetpoint(180.0, 500.0)

bindings/myactuator_rmd.cpp

@@ -16,7 +16,7 @@
 #include <pybind11/stl.h>
 
 #include "myactuator_rmd/actuator_state/acceleration_type.hpp"
-#include "myactuator_rmd/actuator_state/baud_rate.hpp"
+#include "myactuator_rmd/actuator_state/can_baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/control_mode.hpp"
 #include "myactuator_rmd/actuator_state/error_code.hpp"
 #include "myactuator_rmd/actuator_state/feedback.hpp"
@@ -27,8 +27,10 @@
 #include "myactuator_rmd/can/exceptions.hpp"
 #include "myactuator_rmd/can/frame.hpp"
 #include "myactuator_rmd/can/node.hpp"
+#include "myactuator_rmd/driver/can_driver.hpp"
+#include "myactuator_rmd/driver/driver.hpp"
 #include "myactuator_rmd/actuator_constants.hpp"
-#include "myactuator_rmd/actuator.hpp"
+#include "myactuator_rmd/actuator_interface.hpp"
 #include "myactuator_rmd/exceptions.hpp"
 #include "myactuator_rmd/io.hpp"
 
@@ -63,41 +65,43 @@ namespace myactuator_rmd {
 PYBIND11_MODULE(myactuator_rmd_py, m) {
 
   m.doc() = "MyActuator RMD  main module";
-  pybind11::class_<myactuator_rmd::Actuator>(m, "Actuator")
-    .def(pybind11::init<std::string const&, std::uint32_t>())
-    .def("getAcceleration", &myactuator_rmd::Actuator::getAcceleration)
-    .def("getCanId", &myactuator_rmd::Actuator::getCanId)
-    .def("getControllerGains", &myactuator_rmd::Actuator::getControllerGains)
-    .def("getControlMode", &myactuator_rmd::Actuator::getControlMode)
-    .def("getMotorModel", &myactuator_rmd::Actuator::getMotorModel)
-    .def("getMotorPower", &myactuator_rmd::Actuator::getMotorPower)
-    .def("getMotorStatus1", &myactuator_rmd::Actuator::getMotorStatus1)
-    .def("getMotorStatus2", &myactuator_rmd::Actuator::getMotorStatus2)
-    .def("getMotorStatus3", &myactuator_rmd::Actuator::getMotorStatus3)
-    .def("getMultiTurnAngle", &myactuator_rmd::Actuator::getMultiTurnAngle)
-    .def("getMultiTurnEncoderPosition", &myactuator_rmd::Actuator::getMultiTurnEncoderPosition)
-    .def("getMultiTurnEncoderOriginalPosition", &myactuator_rmd::Actuator::getMultiTurnEncoderOriginalPosition)
-    .def("getMultiTurnEncoderZeroOffset", &myactuator_rmd::Actuator::getMultiTurnEncoderZeroOffset)
-    .def("getRuntime", &myactuator_rmd::Actuator::getRuntime)
-    .def("getSingleTurnAngle", &myactuator_rmd::Actuator::getSingleTurnAngle)
-    .def("getSingleTurnEncoderPosition", &myactuator_rmd::Actuator::getSingleTurnEncoderPosition)
-    .def("getVersionDate", &myactuator_rmd::Actuator::getVersionDate)
-    .def("lockBrake", &myactuator_rmd::Actuator::lockBrake)
-    .def("releaseBrake", &myactuator_rmd::Actuator::releaseBrake)
-    .def("reset", &myactuator_rmd::Actuator::reset)
-    .def("sendCurrentSetpoint", &myactuator_rmd::Actuator::sendCurrentSetpoint)
-    .def("sendPositionAbsoluteSetpoint", &myactuator_rmd::Actuator::sendPositionAbsoluteSetpoint)
-    .def("sendTorqueSetpoint", &myactuator_rmd::Actuator::sendTorqueSetpoint)
-    .def("sendVelocitySetpoint", &myactuator_rmd::Actuator::sendVelocitySetpoint)
-    .def("setAcceleration", &myactuator_rmd::Actuator::setAcceleration)
-    .def("setBaudRate", &myactuator_rmd::Actuator::setBaudRate)
-    .def("setCanId", &myactuator_rmd::Actuator::setCanId)
-    .def("setControllerGains", &myactuator_rmd::Actuator::setControllerGains)
-    .def("setCurrentPositionAsEncoderZero", &myactuator_rmd::Actuator::setCurrentPositionAsEncoderZero)
-    .def("setEncoderZero", &myactuator_rmd::Actuator::setEncoderZero)
-    .def("setTimeout", &myactuator_rmd::Actuator::setTimeout)
-    .def("shutdownMotor", &myactuator_rmd::Actuator::shutdownMotor)
-    .def("stopMotor", &myactuator_rmd::Actuator::stopMotor);
+  pybind11::class_<myactuator_rmd::CanDriver>(m, "CanDriver")
+    .def(pybind11::init<std::string const&>());
+  pybind11::class_<myactuator_rmd::ActuatorInterface>(m, "ActuatorInterface")
+    .def(pybind11::init<myactuator_rmd::Driver&, std::uint32_t>())
+    .def("getAcceleration", &myactuator_rmd::ActuatorInterface::getAcceleration)
+    .def("getCanId", &myactuator_rmd::ActuatorInterface::getCanId)
+    .def("getControllerGains", &myactuator_rmd::ActuatorInterface::getControllerGains)
+    .def("getControlMode", &myactuator_rmd::ActuatorInterface::getControlMode)
+    .def("getMotorModel", &myactuator_rmd::ActuatorInterface::getMotorModel)
+    .def("getMotorPower", &myactuator_rmd::ActuatorInterface::getMotorPower)
+    .def("getMotorStatus1", &myactuator_rmd::ActuatorInterface::getMotorStatus1)
+    .def("getMotorStatus2", &myactuator_rmd::ActuatorInterface::getMotorStatus2)
+    .def("getMotorStatus3", &myactuator_rmd::ActuatorInterface::getMotorStatus3)
+    .def("getMultiTurnAngle", &myactuator_rmd::ActuatorInterface::getMultiTurnAngle)
+    .def("getMultiTurnEncoderPosition", &myactuator_rmd::ActuatorInterface::getMultiTurnEncoderPosition)
+    .def("getMultiTurnEncoderOriginalPosition", &myactuator_rmd::ActuatorInterface::getMultiTurnEncoderOriginalPosition)
+    .def("getMultiTurnEncoderZeroOffset", &myactuator_rmd::ActuatorInterface::getMultiTurnEncoderZeroOffset)
+    .def("getRuntime", &myactuator_rmd::ActuatorInterface::getRuntime)
+    .def("getSingleTurnAngle", &myactuator_rmd::ActuatorInterface::getSingleTurnAngle)
+    .def("getSingleTurnEncoderPosition", &myactuator_rmd::ActuatorInterface::getSingleTurnEncoderPosition)
+    .def("getVersionDate", &myactuator_rmd::ActuatorInterface::getVersionDate)
+    .def("lockBrake", &myactuator_rmd::ActuatorInterface::lockBrake)
+    .def("releaseBrake", &myactuator_rmd::ActuatorInterface::releaseBrake)
+    .def("reset", &myactuator_rmd::ActuatorInterface::reset)
+    .def("sendCurrentSetpoint", &myactuator_rmd::ActuatorInterface::sendCurrentSetpoint)
+    .def("sendPositionAbsoluteSetpoint", &myactuator_rmd::ActuatorInterface::sendPositionAbsoluteSetpoint)
+    .def("sendTorqueSetpoint", &myactuator_rmd::ActuatorInterface::sendTorqueSetpoint)
+    .def("sendVelocitySetpoint", &myactuator_rmd::ActuatorInterface::sendVelocitySetpoint)
+    .def("setAcceleration", &myactuator_rmd::ActuatorInterface::setAcceleration)
+    .def("setCanBaudRate", &myactuator_rmd::ActuatorInterface::setCanBaudRate)
+    .def("setCanId", &myactuator_rmd::ActuatorInterface::setCanId)
+    .def("setControllerGains", &myactuator_rmd::ActuatorInterface::setControllerGains)
+    .def("setCurrentPositionAsEncoderZero", &myactuator_rmd::ActuatorInterface::setCurrentPositionAsEncoderZero)
+    .def("setEncoderZero", &myactuator_rmd::ActuatorInterface::setEncoderZero)
+    .def("setTimeout", &myactuator_rmd::ActuatorInterface::setTimeout)
+    .def("shutdownMotor", &myactuator_rmd::ActuatorInterface::shutdownMotor)
+    .def("stopMotor", &myactuator_rmd::ActuatorInterface::stopMotor);
   pybind11::register_exception<myactuator_rmd::Exception>(m, "ActuatorException");
   pybind11::register_exception<myactuator_rmd::ProtocolException>(m, "ProtocolException");
   pybind11::register_exception<myactuator_rmd::ValueRangeException>(m, "ValueRangeException");
@@ -108,9 +112,9 @@ PYBIND11_MODULE(myactuator_rmd_py, m) {
     .value("POSITION_PLANNING_DECELERATION", myactuator_rmd::AccelerationType::POSITION_PLANNING_DECELERATION)
     .value("VELOCITY_PLANNING_ACCELERATION", myactuator_rmd::AccelerationType::VELOCITY_PLANNING_ACCELERATION)
     .value("VELOCITY_PLANNING_DECELERATION", myactuator_rmd::AccelerationType::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::CanBaudRate>(m_actuator_state, "CanBaudRate")
+    .value("KBPS500", myactuator_rmd::CanBaudRate::KBPS500)
+    .value("MBPS1", myactuator_rmd::CanBaudRate::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.hpp → include/myactuator_rmd/actuator_interface.hpp

@@ -1,54 +1,53 @@
 /**
- * \file actuator.hpp
+ * \file actuator_interface.hpp
  * \mainpage
- *    Contains the main driver
+ *    Contains the interface to a single actuator
  * \author
  *    Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__ACTUATOR
-#define MYACTUATOR_RMD__ACTUATOR
+#ifndef MYACTUATOR_RMD__ACTUATOR_INTERFACE
+#define MYACTUATOR_RMD__ACTUATOR_INTERFACE
 #pragma once
 
 #include <chrono>
 #include <cstdint>
 #include <string>
 
 #include "myactuator_rmd/actuator_state/acceleration_type.hpp"
-#include "myactuator_rmd/actuator_state/baud_rate.hpp"
+#include "myactuator_rmd/actuator_state/can_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"
 #include "myactuator_rmd/actuator_state/motor_status_1.hpp"
 #include "myactuator_rmd/actuator_state/motor_status_2.hpp"
 #include "myactuator_rmd/actuator_state/motor_status_3.hpp"
-#include "myactuator_rmd/protocol/address_offset.hpp"
-#include "myactuator_rmd/protocol/node.hpp"
+#include "myactuator_rmd/driver/driver.hpp"
 
 
 namespace myactuator_rmd {
 
-  /**\class Actuator
+  /**\class ActuatorInterface
    * \brief
    *    Actuator for commanding the MyActuator RMD actuator series
   */
-  class Actuator: protected Node<AddressOffset::request,AddressOffset::response> {
+  class ActuatorInterface {
     public:
-      /**\fn Actuator
+      /**\fn ActuatorInterface
        * \brief
        *    Class constructor
        * 
-       * \param[in] ifname
-       *    The name of the network interface that should communicated over
+       * \param[in] driver
+       *    The driver communicating over the network interface
        * \param[in] actuator_id
        *    The actuator id [1, 32]
       */
-      Actuator(std::string const& ifname, std::uint32_t const actuator_id);
-      Actuator() = delete;
-      Actuator(Actuator const&) = delete;
-      Actuator& operator = (Actuator const&) = default;
-      Actuator(Actuator&&) = default;
-      Actuator& operator = (Actuator&&) = default;
+      ActuatorInterface(Driver& driver, std::uint32_t const actuator_id);
+      ActuatorInterface() = delete;
+      ActuatorInterface(ActuatorInterface const&) = default;
+      ActuatorInterface& operator = (ActuatorInterface const&) = default;
+      ActuatorInterface(ActuatorInterface&&) = default;
+      ActuatorInterface& operator = (ActuatorInterface&&) = default;
 
       /**\fn getAcceleration
        * \brief
@@ -300,14 +299,14 @@ namespace myactuator_rmd {
       */
       void setAcceleration(std::uint32_t const acceleration, AccelerationType const mode);
 
-      /**\fn setBaudRate
+      /**\fn setCanBaudRate
        * \brief
-       *    Set the communication Baud rate
+       *    Set the communication Baud rate for CAN bus
        * 
        * \param[in] baud_rate
        *    Communication Baud rate that the actuator should operator with
       */
-      void setBaudRate(BaudRate const baud_rate);
+      void setCanBaudRate(CanBaudRate const baud_rate);
 
       /**\fn setCanId
        * \brief
@@ -374,8 +373,12 @@ namespace myactuator_rmd {
        *    Stop the motor if running closed loop command
       */
       void stopMotor();
+
+    protected:
+      Driver& driver_;
+      std::uint32_t actuator_id_;
   };
 
 }
 
-#endif // MYACTUATOR_RMD__ACTUATOR
+#endif // MYACTUATOR_RMD__ACTUATOR_INTERFACE

include/myactuator_rmd/actuator_state/acceleration_type.hpp

@@ -6,8 +6,8 @@
  *    Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__ACCELERATION_TYPE
-#define MYACTUATOR_RMD__ACCELERATION_TYPE
+#ifndef MYACTUATOR_RMD__ACTUATOR_STATE__ACCELERATION_TYPE
+#define MYACTUATOR_RMD__ACTUATOR_STATE__ACCELERATION_TYPE
 #pragma once
 
 #include <cstdint>
@@ -29,4 +29,4 @@ namespace myactuator_rmd {
 
 }
 
-#endif // MYACTUATOR_RMD__ACCELERATION_TYPE
+#endif // MYACTUATOR_RMD__ACTUATOR_STATE__ACCELERATION_TYPE

include/myactuator_rmd/actuator_state/can_baud_rate.hpp

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

include/myactuator_rmd/actuator_state/control_mode.hpp

@@ -6,8 +6,8 @@
  *    Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__CONTROL_MODE
-#define MYACTUATOR_RMD__CONTROL_MODE
+#ifndef MYACTUATOR_RMD__ACTUATOR_STATE__CONTROL_MODE
+#define MYACTUATOR_RMD__ACTUATOR_STATE__CONTROL_MODE
 #pragma once
 
 #include <cstdint>
@@ -28,4 +28,4 @@ namespace myactuator_rmd {
 
 }
 
-#endif // MYACTUATOR_RMD__CONTROL_MODE
+#endif // MYACTUATOR_RMD__ACTUATOR_STATE__CONTROL_MODE

include/myactuator_rmd/actuator_state/error_code.hpp

@@ -6,8 +6,8 @@
  *    Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__ERROR_CODE
-#define MYACTUATOR_RMD__ERROR_CODE
+#ifndef MYACTUATOR_RMD__ACTUATOR_STATE__ERROR_CODE
+#define MYACTUATOR_RMD__ACTUATOR_STATE__ERROR_CODE
 #pragma once
 
 #include <cstdint>
@@ -36,4 +36,4 @@ namespace myactuator_rmd {
 
 }
 
-#endif // MYACTUATOR_RMD__ERROR_CODE
+#endif // MYACTUATOR_RMD__ACTUATOR_STATE__ERROR_CODE

include/myactuator_rmd/actuator_state/feedback.hpp

@@ -6,8 +6,8 @@
  *    Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__FEEDBACK
-#define MYACTUATOR_RMD__FEEDBACK
+#ifndef MYACTUATOR_RMD__ACTUATOR_STATE__FEEDBACK
+#define MYACTUATOR_RMD__ACTUATOR_STATE__FEEDBACK
 #pragma once
 
 #include "myactuator_rmd/actuator_state/motor_status_2.hpp"
@@ -20,4 +20,4 @@ namespace myactuator_rmd {
 
 }
 
-#endif // MYACTUATOR_RMD__FEEDBACK
+#endif // MYACTUATOR_RMD__ACTUATOR_STATE__FEEDBACK

include/myactuator_rmd/actuator_state/gains.hpp

@@ -6,8 +6,8 @@
  *    Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__GAINS
-#define MYACTUATOR_RMD__GAINS
+#ifndef MYACTUATOR_RMD__ACTUATOR_STATE__GAINS
+#define MYACTUATOR_RMD__ACTUATOR_STATE__GAINS
 #pragma once
 
 #include <cstdint>
@@ -107,4 +107,4 @@ namespace myactuator_rmd {
 
 }
 
-#endif // MYACTUATOR_RMD__GAINS
+#endif // MYACTUATOR_RMD__ACTUATOR_STATE__GAINS