d6cc80c17e
## Summary This PR updates the C++ hardware interface to support **CANFD** and confirms successful operation with **MoveIt** on the actual robot hardware. --- ## Changes Made - Migrated from classic CAN to **CANFD** in the motor control interface. - Updated the following modules: - `openarm_hardware/include/openarm_hardware/canbus.hpp` - `openarm_hardware/src/canbus.cpp` - `openarm_hardware/src/motor_control.cpp` - `openarm_hardware/include/openarm_hardware/motor_control.hpp` - `openarm_hardware/src/openarm_hardware.cpp` - Improved CAN socket handling and data frame structure. - Refactored internal motor communication logic for robustness. --- ## Verification - Confirmed joint control and motion execution with real hardware using **MoveIt**. - Controllers were properly loaded and executed planned trajectories without error. - CANFD communication is now functional and stable during runtime.
39 lines
824 B
C++
39 lines
824 B
C++
#pragma once
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#include <cstdint>
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#include <iostream>
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#include <cstring>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <net/if.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <array>
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#include <fcntl.h>
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#include <string>
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enum CANMode {
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CAN_MODE_CLASSIC = 0,
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CAN_MODE_FD = 1
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};
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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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