ioadr.cc File Reference

NCD IOADR8x multipurpose I/O board driver. More...

#include <ros/ros.h>
#include <art_msgs/ArtHertz.h>
#include <art/conversions.h>
#include <art_msgs/Shifter.h>
#include <art_msgs/IOadrCommand.h>
#include <art_msgs/IOadrState.h>
#include "dev8x.h"

Include dependency graph for ioadr.cc:

Go to the source code of this file.

Classes
class	IOadr
struct	IOadr::poll_parms_t
Functions
IOadr::poll_parms_t *	LookupInput (const char *name)
int	main (int argc, char **argv)
Variables
static IOadr::poll_parms_t	poll_parms_table []
static const uint8_t	relay_value_ [5] = {0x00, 0x02, 0x04, 0x08, 0x10}

---

Detailed Description

NCD IOADR8x multipurpose I/O board driver.

This driver provides an interface to a National Control Devices IOADR8x hybrid relay and A/D controller board. This hybrid device provides eight relays and five analog to digital converters. The driver publishes their current values and handles commands to set the relays.

Our vehicle currently has two IOADR8x boards. Each is controlled by a separate ROS node. The node name determines the input and output messages:

• "ioadr" provides steering sensor voltage and relays to interface with the DARPA E-stop unit and the vehicle warning devices (flasher and audible alarm).

• "shifter" reads and sets the transmission control relays.

Commands

• PLAYER_AIO_CMD_STATE

Sets the state of a relay. The "id" is a bit number (0 to 7) for the relay. If the "voltage" is close to 0.0, the corresponding relay will be set off, otherwise it is set on.

ROS Parameters

• ~/port (string)
  • tty port name for IOADR8x board
  • default: "/dev/null"

Author:

Jack O'Quin

Definition in file ioadr.cc.

---

Function Documentation

IOadr::poll_parms_t* LookupInput

(

const char *

name

)

Definition at line 133 of file ioadr.cc.

int main	(	int	argc,
		char **	argv
	)

Definition at line 446 of file ioadr.cc.

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Variable Documentation

IOadr::poll_parms_t poll_parms_table[] [static]

Initial value:

{
  
  {"AnalogA",        &IOadr::poll_Analog_8bit,   3,      0},
  {"AnalogA(10bit)", &IOadr::poll_Analog_10bit,  3,      0},
  {"AnalogB",        &IOadr::poll_Analog_8bit,   4,      1},
  {"AnalogB(10bit)", &IOadr::poll_Analog_10bit,  4,      1},
  {"AnalogC",        &IOadr::poll_Analog_8bit,   5,      2},
  {"AnalogC(10bit)", &IOadr::poll_Analog_10bit,  5,      2},
  {"DigitalB",       &IOadr::poll_Digital,       1,     -1},
  {"ShifterInd",     &IOadr::poll_ShifterInd,    1,     -1},
  {"",               NULL,                      -1,     -1},
  {NULL,             NULL,                      -1,     -1},
}

Definition at line 118 of file ioadr.cc.

const uint8_t relay_value_[5] = {0x00, 0x02, 0x04, 0x08, 0x10} [static]

Definition at line 146 of file ioadr.cc.