Hi,
I am looking for a possibility to talk to a motor controller from
OROCOS, that has a CAN interface.
I would like to use the xenomai socket-can driver. In OROCOS 1.x I could
use the following class:
http://www.orocos.org/stable/documentation/ocl/v1.12.x/api/html/classRTT...
What is the suggest approach for OROCOS 2.x ?
Best regards:
Uwe Fechner
----------------------------------------
Uwe Fechner, M.Sc.
Delft University of Technology
Faculty of Aerospace Engineering/ASSET
Kluyverweg 1,
2629 HS Delft, The Netherlands
Phone: +31-15-27-88902
What happend to the RTCANController class in OROCOS 2.x ?
2011/4/14 Uwe Fechner <u [dot] fechner [..] ...>
> Hi,
>
> I am looking for a possibility to talk to a motor controller from
> OROCOS, that has a CAN interface.
>
> I would like to use the xenomai socket-can driver. In OROCOS 1.x I could
> use the following class:
>
> http://www.orocos.org/stable/documentation/ocl/v1.12.x/api/html/classRTT...
>
> What is the suggest approach for OROCOS 2.x ?
>
This kind of "non-orocos" stuff went out of OCL during the passage to 2.0
for the simple reason that there is no maintainer for them. The idea
underground is that such "non-orocs" stuff should be handle by "non-orocos"
developpers. An exemple of such project are rock toolchain and
orocos_ros_integration :
http://rock-robotics.org/
http://www.ros.org/wiki/orocos_toolchain_ros
What is lacking now on the Orocos project is a place to gather Orocos users.
The aim is not to handle their sources but to share the links to
"non-orocos" projects. I am trying to help in this way but I do not have
found the time yet.
What you should do, if you really want this Orocos 1.X code woring again,
is taking the sources from 1.12 repository and manage to convert them to 2.x
in local. Then it would be great to share the result.
IMO, I really think Orocos should a solid range of common industrial
hardware interfaces as the power of Orocos is in hard real time and hardware
is the first requester of hard real timenes. I am sure you will receive
support if you drive in this way.
In this way I am trying to interface CanFestival (with fits on top of
socket_can for CanOpen) and will certainly publish it a day. I can share
with you my sources but there are really not presentable.
>
> Best regards:
>
> Uwe Fechner
>
> ----------------------------------------
> Uwe Fechner, M.Sc.
> Delft University of Technology
> Faculty of Aerospace Engineering/ASSET
> Kluyverweg 1,
> 2629 HS Delft, The Netherlands
> Phone: +31-15-27-88902
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
What happend to the RTCANController class in OROCOS 2.x ?
On Thu, 14 Apr 2011, Uwe Fechner wrote:
> Hi,
>
> I am looking for a possibility to talk to a motor controller from
> OROCOS, that has a CAN interface.
>
> I would like to use the xenomai socket-can driver. In OROCOS 1.x I could
> use the following class:
> http://www.orocos.org/stable/documentation/ocl/v1.12.x/api/html/classRTT...
>
> What is the suggest approach for OROCOS 2.x ?
Hide the fieldbus behind a 'device interface library', as we currently do
with, for example, the FRI and EtherCat fieldbuses. Orocos should only
start where the concrete hardware has been "sufficiently" abstracted away;
in other words: "yes" to interoperability with device interface projects
(SOEM, CAN, RTNet,...) "no" to adding such device driver libraries to the
orocos source trees.
Herman
What happend to the RTCANController class in OROCOS 2.x ?
On 14.04.2011 11:57, Herman Bruyninckx wrote:
>
> Hide the fieldbus behind a 'device interface library', as we currently do
> with, for example, the FRI and EtherCat fieldbuses. Orocos should only
> start where the concrete hardware has been "sufficiently" abstracted away;
> in other words: "yes" to interoperability with device interface projects
> (SOEM, CAN, RTNet,...) "no" to adding such device driver libraries to the
> orocos source trees.
>
> Herman
Hello,
this is not really an answer to my question. The CAN-socket device
driver library is already
an abstraction layer. If I decide, my hardware it is "sufficiently"
abstracted away, how can
I use it from OROCOS? Could the following approach:
http://www.orocos.org/wiki/rtt/simple-examples/simple-tcp-client-using-n...
work with Orocos 2.x?
Regards:
Uwe Fechner
----------------------------------------
Uwe Fechner, M.Sc.
Delft University of Technology
Faculty of Aerospace Engineering/ASSET
Kluyverweg 1,
2629 HS Delft, The Netherlands
Phone: +31-15-27-88902
What happend to the RTCANController class in OROCOS 2.x ?
On Thu, 14 Apr 2011, Uwe Fechner wrote:
> On 14.04.2011 11:57, Herman Bruyninckx wrote:
>>
>> Hide the fieldbus behind a 'device interface library', as we currently do
>> with, for example, the FRI and EtherCat fieldbuses. Orocos should only
>> start where the concrete hardware has been "sufficiently" abstracted away;
>> in other words: "yes" to interoperability with device interface projects
>> (SOEM, CAN, RTNet,...) "no" to adding such device driver libraries to the
>> orocos source trees.
>>
>> Herman
> Hello,
>
> this is not really an answer to my question. The CAN-socket device
> driver library is already an abstraction layer.
It abstract to some extent the various CAN layers, but it is still visible
that CAN is being used.
> If I decide, my hardware it is "sufficiently" abstracted away, how can
> I use it from OROCOS? Could the following approach:
> http://www.orocos.org/wiki/rtt/simple-examples/simple-tcp-client-using-n...
>
> work with Orocos 2.x?
Yes: using a component that does the "waiting" for an asynchronous
communication is a proven generic solution ("architectural pattern").
(I do not like the name "SimpleNonPeriodicClient": one should use names
that say what something _is_, and not what it _is not_ :-) )
> Regards:
>
> Uwe Fechner
Herman
> ----------------------------------------
> Uwe Fechner, M.Sc.
> Delft University of Technology
> Faculty of Aerospace Engineering/ASSET
> Kluyverweg 1,
> 2629 HS Delft, The Netherlands
> Phone: +31-15-27-88902
>
>