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CanBusControlboard

This device offers a custom way of interfacing with wrapped raw subdevices through yarp::dev::IRemoteVariables. The exact output of the following command examples depends on the implementation of the subdevice. Variables linInterp and csv presented in the examples below are provided by the TechnosoftIpos device and parsed in the corresponding implementation of the yarp::dev::IRemoteVariablesRaw interface. Here, linInterp expects a dictionary (a list of lists), and csv parses a single-key-value-paired list.

getRemoteVariablesList

Lists all CAN node IDs prepended with "id", e.g. (id15 id16 ...).

  • RPC sample usage: [get] [ivar] [lvar]
  • Response: (id15 id16 id17 id18 id19 id20)

getRemoteVariable

Retrieves all available key-value pairs for the selected node. Calls getRemoteVariablesListRaw to get raw keys and then iterates on getRemoteVariableRaw.

  • RPC sample usage: [get] [ivar] [mvar] id15
  • Response: (id15 (linInterp ((enable 0))) (csv (enable 0)))

If key equals all, it returns remote vars for all available CAN nodes.

  • RPC sample usage: [get] [ivar] [mvar] all
  • Response: ((id15 (linInterp ((enable 0))) (csv (enable 0))) (id16 (linInterp ((enable 0))) (csv (enable 0))) (id17 (linInterp ((enable 0))) (csv (enable 0))) (id18 (linInterp ((enable 0))) (csv (enable 0))) (id19 (linInterp ((enable 0))) (csv (enable 0))) (id20 (linInterp ((enable 0))) (csv (enable 0))))

setRemoteVariable

Requires a key-value two-element bottle, value is a nested list.

  • RPC sample usage: [set] [ivar] [mvar] id15 (linInterp ((enable 1) (mode pt) (periodMs 50)))

Multiple keys can be bound per call, just nest them within an additional layer of bottles.

  • RPC sample usage: [set] [ivar] [mvar] id15 ((linInterp ((enable 1) (mode pt) (periodMs 50))) (csv (enable 1)))

Same strategy works if you want to set the exact same remote variable (or variables) for all available nodes, just use all as key.

  • RPC sample usage: [set] [ivar] [mvar] all (linInterp ((enable 1) (mode pt) (periodMs 50)))
  • RPC sample usage: [set] [ivar] [mvar] all ((linInterp ((enable 1) (mode pt) (periodMs 50))) (csv (enable 1)))

It is also possible to target multiple nodes in a single call, and set one or more remote variables at once. Use multi as key.

  • RPC sample usage: [set] [ivar] [mvar] multi ((id15 (csv (enable 1))) (id17 (csv (enable 0))))
  • RPC sample usage: [set] [ivar] [mvar] multi ((id16 ((linInterp ((enable 0))) (csv (enable 1)))) (id20 (csv (enable 1))))