SerRelayBoard Class Reference

#include <SerRelayBoard.h>

List of all members.

Public Types
enum	RelBoardReturns {   NO_ERROR = 0, NOT_INITIALIZED = 1, GENERAL_SENDING_ERROR = 2, TOO_LESS_BYTES_IN_QUEUE = 3,   NO_MESSAGES = 4, CHECKSUM_ERROR = 5 }
Public Member Functions
int	evalRxBuffer ()
int	getAnalogIn (int *piAnalogIn)
int	getBatteryVoltage ()
int	getChargeCurrent ()
int	getDigIn ()
bool	init ()
bool	isEMStop ()
bool	isScannerStop ()
bool	reset ()
int	sendRequest ()
	SerRelayBoard (std::string ComPort, int ProtocolVersion=1)
int	setDigOut (int iChannel, bool bOn)
bool	shutdown ()
	~SerRelayBoard ()
Protected Types
enum	RelBoardCmd {   CMD_SET_CHARGE_RELAY = 1, CMD_RESET_POS_CNT = 2, CMD_QUICK_STOP = 4, CMD_SET_RELAY1 = 8,   CMD_SET_RELAY2 = 16, CMD_SET_RELAY3 = 32, CMD_SET_RELAY4 = 64, CMD_SET_RELAY5 = 128,   CMD_SET_RELAY6 = 256, CMD_ZERO_GYRO = 512 }
enum	RelBoardConfig {   CONFIG_HAS_IOBOARD = 1, CONFIG_HAS_USBOARD = 2, CONFIG_HAS_GYROBOARD = 4, CONFIG_HAS_RADARBOARD1 = 8,   CONFIG_HAS_RADARBOARD2 = 16, CONFIG_HAS_DRIVES = 32 }
Protected Member Functions
void	convDataToSendMsg (unsigned char cMsg[])
bool	convRecMsgToData (unsigned char cMsg[])
void	rxCharArray ()
void	txCharArray ()
Protected Attributes
bool	m_bComInit
int	m_iChargeCurrent
int	m_iCmdRelayBoard
int	m_iConfigRelayBoard
int	m_iDigIn
int	m_iProtocolVersion
int	m_iRelBoardAnalogIn [4]
int	m_iRelBoardBattVoltage
int	m_iRelBoardKeyPad
int	m_iRelBoardStatus
int	m_iRelBoardTempSensor
Mutex	m_Mutex
int	m_NUM_BYTE_SEND
SerialIO	m_SerIO
std::string	m_sNumComPort

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Detailed Description

Driver class for communication with a Neobotix RelayBoard. Uses RS422 with 420 kBaud.

Definition at line 67 of file SerRelayBoard.h.

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Member Enumeration Documentation

enum SerRelayBoard::RelBoardCmd [protected]

Enumerator:

CMD_SET_CHARGE_RELAY
CMD_RESET_POS_CNT
CMD_QUICK_STOP
CMD_SET_RELAY1
CMD_SET_RELAY2
CMD_SET_RELAY3
CMD_SET_RELAY4
CMD_SET_RELAY5
CMD_SET_RELAY6
CMD_ZERO_GYRO

Definition at line 110 of file SerRelayBoard.h.

enum SerRelayBoard::RelBoardConfig [protected]

Enumerator:

CONFIG_HAS_IOBOARD
CONFIG_HAS_USBOARD
CONFIG_HAS_GYROBOARD
CONFIG_HAS_RADARBOARD1
CONFIG_HAS_RADARBOARD2
CONFIG_HAS_DRIVES

Definition at line 124 of file SerRelayBoard.h.

enum SerRelayBoard::RelBoardReturns

Enumerator:

NO_ERROR
NOT_INITIALIZED
GENERAL_SENDING_ERROR
TOO_LESS_BYTES_IN_QUEUE
NO_MESSAGES
CHECKSUM_ERROR

Definition at line 99 of file SerRelayBoard.h.

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Constructor & Destructor Documentation

SerRelayBoard::SerRelayBoard	(	std::string	ComPort,
		int	ProtocolVersion = 1
	)

Definition at line 76 of file SerRelayBoard.cpp.

SerRelayBoard::~SerRelayBoard

(

)

Definition at line 97 of file SerRelayBoard.cpp.

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Member Function Documentation

void SerRelayBoard::convDataToSendMsg

(

unsigned char

cMsg[]

)

[protected]

Definition at line 336 of file SerRelayBoard.cpp.

bool SerRelayBoard::convRecMsgToData

(

unsigned char

cMsg[]

)

[protected]

Definition at line 371 of file SerRelayBoard.cpp.

int SerRelayBoard::evalRxBuffer

(

)

Definition at line 103 of file SerRelayBoard.cpp.

int SerRelayBoard::getAnalogIn

(

int *

piAnalogIn

)

Definition at line 315 of file SerRelayBoard.cpp.

int SerRelayBoard::getBatteryVoltage

(

)

[inline]

Definition at line 89 of file SerRelayBoard.h.

int SerRelayBoard::getChargeCurrent

(

)

[inline]

Definition at line 93 of file SerRelayBoard.h.

int SerRelayBoard::getDigIn

(

)

Definition at line 330 of file SerRelayBoard.cpp.

bool SerRelayBoard::init

(

)

Definition at line 165 of file SerRelayBoard.cpp.

bool SerRelayBoard::isEMStop

(

)

Definition at line 204 of file SerRelayBoard.cpp.

bool SerRelayBoard::isScannerStop

(

)

Definition at line 217 of file SerRelayBoard.cpp.

bool SerRelayBoard::reset

(

)

Definition at line 182 of file SerRelayBoard.cpp.

void SerRelayBoard::rxCharArray

(

)

[protected]

int SerRelayBoard::sendRequest

(

)

Definition at line 230 of file SerRelayBoard.cpp.

int SerRelayBoard::setDigOut	(	int	iChannel,
		bool	bOn
	)

Definition at line 254 of file SerRelayBoard.cpp.

bool SerRelayBoard::shutdown

(

)

Definition at line 193 of file SerRelayBoard.cpp.

void SerRelayBoard::txCharArray

(

)

[protected]

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Member Data Documentation

bool SerRelayBoard::m_bComInit [protected]

Definition at line 164 of file SerRelayBoard.h.

int SerRelayBoard::m_iChargeCurrent [protected]

Definition at line 152 of file SerRelayBoard.h.

int SerRelayBoard::m_iCmdRelayBoard [protected]

Definition at line 147 of file SerRelayBoard.h.

int SerRelayBoard::m_iConfigRelayBoard [protected]

Definition at line 146 of file SerRelayBoard.h.

int SerRelayBoard::m_iDigIn [protected]

Definition at line 158 of file SerRelayBoard.h.

int SerRelayBoard::m_iProtocolVersion [protected]

Definition at line 159 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardAnalogIn[4] [protected]

Definition at line 155 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardBattVoltage [protected]

Definition at line 153 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardKeyPad [protected]

Definition at line 154 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardStatus [protected]

Definition at line 151 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardTempSensor [protected]

Definition at line 156 of file SerRelayBoard.h.

Mutex SerRelayBoard::m_Mutex [protected]

Definition at line 142 of file SerRelayBoard.h.

int SerRelayBoard::m_NUM_BYTE_SEND [protected]

Definition at line 160 of file SerRelayBoard.h.

SerialIO SerRelayBoard::m_SerIO [protected]

Definition at line 162 of file SerRelayBoard.h.

std::string SerRelayBoard::m_sNumComPort [protected]

Definition at line 134 of file SerRelayBoard.h.

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The documentation for this class was generated from the following files:

• SerRelayBoard.h
• SerRelayBoard.cpp