56f98bd226
We are standardizing our software under Apache License 2.0. This PR
replaces existing BSD 3-Clause License with Apache 2.0 in this
repository.
## About Copyright
All commits in this repository are made by Reazon Holdings, Inc.
members, so the copyright has been added as follows.
- `Copyright 2025 Reazon Holdings, Inc.`
```console
$ git shortlog -sn
55 Thomason Zhou
14 thomason
5 takuya kodama
1 Fujimoto Seiji
1 edwin-giang
1 toki
```
## How it was done
We added the new license header directory by directory, with each commit
covering a single directory to make review easier.
To ensure there are no missing files, we ran the following commands.
```
$ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" .
./openarm_bringup/README.md
./openarm_bimanual_moveit_config/README.md
./openarm_bimanual_description/urdf/openarm_bimanual.urdf
./.gitignore
./README.md
./openarm_description/urdf/openarm.urdf
./openarm_description/resource/openarm_description
```
The following files are auto-generated.
- openarm_bimanual_description/urdf/openarm_bimanual.urdf
- openarm_description/urdf/openarm.urdf
49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
// Copyright 2025 Reazon Holdings, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <fcntl.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <net/if.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <array>
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#include <cstdint>
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#include <cstring>
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#include <iostream>
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#include <string>
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enum CANMode { CAN_MODE_CLASSIC = 0, CAN_MODE_FD = 1 };
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class CANBus {
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public:
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explicit CANBus(const std::string& interface, int mode);
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~CANBus();
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int whichCAN();
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bool send(uint16_t motor_id, const std::array<uint8_t, 8>& data);
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std::array<uint8_t, 64> recv(uint16_t& out_id, uint8_t& out_len);
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private:
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bool sendClassic(uint16_t motor_id, const std::array<uint8_t, 8>& data);
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bool sendFD(uint16_t motor_id, const std::array<uint8_t, 8>& data);
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struct can_frame recvClassic();
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struct canfd_frame recvFD();
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int sock_;
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int mode_;
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};
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