HEBI C++ API
3.12.0
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Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints. More...
#include <command.hpp>
Classes | |
class | Actuator |
Actuator-specific commands. More... | |
class | BoolField |
A message field representable by a bool value. More... | |
class | EnumField |
A message field representable by an enum of a given type. More... | |
class | FlagField |
A two-state message field (either set/true or cleared/false). More... | |
class | FloatField |
A message field representable by a single-precision floating point value. More... | |
class | HighResAngleField |
A message field for an angle measurement which does not lose precision at very high angles. More... | |
class | Io |
Any available digital or analog output pins on the device. More... | |
class | IoBank |
A message field for interfacing with a bank of I/O pins. More... | |
class | IpAddressField |
A message field representable by an unsigned 64 bit integer value. More... | |
class | LedField |
A message field for interfacing with an LED. More... | |
class | NumberedFloatField |
A message field containing a numbered set of single-precision floating point values. More... | |
class | Settings |
Module settings that are typically changed at a slower rate. More... | |
class | StringField |
A message field representable by a std::string. More... | |
Public Member Functions | |
Command (Command &&other) | |
Move constructor (necessary for containment in STL template classes) More... | |
Io & | io () |
Any available digital or analog output pins on the device. More... | |
const Io & | io () const |
Any available digital or analog output pins on the device. More... | |
Settings & | settings () |
Module settings that are typically changed at a slower rate. More... | |
const Settings & | settings () const |
Module settings that are typically changed at a slower rate. More... | |
Actuator & | actuator () |
Actuator-specific commands. More... | |
const Actuator & | actuator () const |
Actuator-specific commands. More... | |
StringField & | appendLog () |
Appends to the current log message on the module. More... | |
const StringField & | appendLog () const |
Appends to the current log message on the module. More... | |
FlagField & | reset () |
Restart the module. More... | |
const FlagField & | reset () const |
Restart the module. More... | |
FlagField & | boot () |
Boot the module from bootloader into application. More... | |
const FlagField & | boot () const |
Boot the module from bootloader into application. More... | |
FlagField & | stopBoot () |
Stop the module from automatically booting into application. More... | |
const FlagField & | stopBoot () const |
Stop the module from automatically booting into application. More... | |
FlagField & | clearLog () |
Clears the log message on the module. More... | |
const FlagField & | clearLog () const |
Clears the log message on the module. More... | |
LedField & | led () |
The module's LED. More... | |
const LedField & | led () const |
The module's LED. More... | |
Command & | operator= (Command &&other)=delete |
Protected Types | |
using | CommandGains = Gains< HebiCommandRef, FloatField, BoolField, HebiCommandFloatField, HebiCommandBoolField > |
Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints.
This object has a hierarchical structure – there are some direct general-purpose fields at the top level, and many more specific fields contained in different nested subobjects.
The subobjects contain references to the parent command object, and so should not be used after the parent object has been destroyed.
The fields in the command object are typed; generally, these are optional-style read/write fields (i.e., have the concept of get/set/has/clear), although the return types and exact interface vary slightly between fields. Where appropriate, the explicit bool operator has been overridden so that you can shortcut if
(field.has()) by calling if(field)
.
Although this header file can be used to look at the hierarchy of the messages, in general the online documentation at apidocs.hebi.us presents this information. in a more readable form.
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hebi::Command::Command | ( | Command && | other | ) |
Move constructor (necessary for containment in STL template classes)
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Any available digital or analog output pins on the device.
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Any available digital or analog output pins on the device.
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inline |
Module settings that are typically changed at a slower rate.
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inline |
Module settings that are typically changed at a slower rate.
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inline |
Actuator-specific commands.
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Actuator-specific commands.
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Appends to the current log message on the module.
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Appends to the current log message on the module.
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Restart the module.
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Restart the module.
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Boot the module from bootloader into application.
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Boot the module from bootloader into application.
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Stop the module from automatically booting into application.
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Stop the module from automatically booting into application.
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Clears the log message on the module.
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Clears the log message on the module.
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The module's LED.
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The module's LED.
Disable copy constructor/assignment operators