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add option to register callbacks for torque estimates messages #6

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Merged
samuelsadok merged 2 commits into from
Jan 23, 2025
Merged

add option to register callbacks for torque estimates messages #6

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8822d34
add option to register callbacks for torque estimates messages
maxipalay Dec 23, 2024
af34853
added torques callback as private variable, and addressed it on the o…
Jan 22, 2025
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7 changes: 7 additions & 0 deletions src/ODriveCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,13 @@ void ODriveCAN::onReceive(uint32_t id, uint8_t length, const uint8_t* data) {
feedback_callback_(estimates, feedback_user_data_);
break;
}
case Get_Torques_msg_t::cmd_id: {
Get_Torques_msg_t estimates;
estimates.decode_buf(data);
if (torques_callback_)
torques_callback_(estimates, torques_user_data_);
break;
}
case Heartbeat_msg_t::cmd_id: {
Heartbeat_msg_t status;
status.decode_buf(data);
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10 changes: 10 additions & 0 deletions src/ODriveCAN.h
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Expand Up @@ -213,6 +213,14 @@ class ODriveCAN {
axis_state_callback_ = callback;
axis_state_user_data_ = user_data;
}

/**
* @brief Registers a callback for ODrive torques feedback processing.
*/
void onTorques(void (*callback)(Get_Torques_msg_t& feedback, void* user_data), void* user_data = nullptr) {
torques_callback_ = callback;
torques_user_data_ = user_data;
}

/**
* @brief Processes received CAN messages for the ODrive.
Expand Down Expand Up @@ -322,7 +330,9 @@ class ODriveCAN {

void* axis_state_user_data_;
void* feedback_user_data_;
void* torques_user_data_;

void (*axis_state_callback_)(Heartbeat_msg_t& feedback, void* user_data) = nullptr;
void (*feedback_callback_)(Get_Encoder_Estimates_msg_t& feedback, void* user_data) = nullptr;
void (*torques_callback_)(Get_Torques_msg_t& feedback, void* user_data) = nullptr;
};
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