RFLEX Driver to handle input and output to RFlex devices. More...

#include <rflex_driver.h>

Inheritance diagram for RFLEX:

Public Member Functions
void	configureSonar (const unsigned long echoDelay, const unsigned long pingDelay, const unsigned long setDelay, const unsigned long val)
bool	getBrakePower () const
int	getIrCount () const
int	initialize (const char *devname)
void	motionSetDefaults ()
	RFLEX ()
void	sendSystemStatusCommand ()
void	setBrakePower (const bool power)
void	setDigitalIoPeriod (const long period)
void	setIrPower (const bool power)
void	setOdometryPeriod (const long period)
void	setVelocity (const long transVelocity, const long rotVelocity, const long acceleration)
virtual	~RFLEX ()
Protected Member Functions
virtual void	processDioEvent (unsigned char address, unsigned short data)
Protected Attributes
int	bearing
	Raw rotational odometry.
bool	brake
	Brake Status.
unsigned short	dioData [24]
	Storage for digital IO values.
int	distance
	Raw translational odometry.
int	home_bearing_found
unsigned char *	irRanges
	Raw values from IR sensors.
unsigned char *	lcdData
int	lcdX
int	lcdY
int	numIr
	Number of IR sensors.
int	odomReady
int	rotVelocity
	Raw rotational velocity.
int	sonar_ranges [SONAR_MAX_COUNT]
	Raw Sonar readings (including unconnected ports)
int	transVelocity
	Raw translational velocity.
long	voltage
	Raw voltage reading.
Private Member Functions
unsigned char	computeCRC (const unsigned char *buffer, const int n)
	Calculates error checking code for specified buffer.
RFLEX &	operator= (const RFLEX &rflex)
	Private constructor - Don't use.
void	parseDioReport (const unsigned char *buffer)
void	parseIrReport (const unsigned char *buffer)
void	parseJoyReport (const unsigned char *buffer)
void	parseMotReport (const unsigned char *buffer)
void	parsePacket (const unsigned char *buffer)
void	parseSonarReport (const unsigned char *buffer)
void	parseSysReport (const unsigned char *buffer)
int	readData ()
	Reads in a packet until it finds and end of packet signal.
void	readPacket ()
	After reading the data, it checks for errors and then parses.
	RFLEX (const RFLEX &rflex)
	Private constructor - Don't use.
bool	sendCommand (const unsigned char port, const unsigned char id, const unsigned char opcode, const int length, unsigned char *data)
bool	writePacket (const int length) const
	Writes packet currently in write buffer to device.
Static Private Member Functions
static void *	readThread (void *ptr)
	Read Thread.
Private Attributes
int	fd
	File descriptor for serial port.
bool	found
int	offset
unsigned char	readBuffer [BUFFER_SIZE]
pthread_t	thread
	Thread which reads input upon arrival.
unsigned char	writeBuffer [BUFFER_SIZE]
pthread_mutex_t	writeMutex
	Mutex around writing to port.

Detailed Description

RFLEX Driver to handle input and output to RFlex devices.

RFLEX Driver - 2/2010 Modified from Player code by David Lu!! Original Input Output code by Bill Smart

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

Definition at line 34 of file rflex_driver.h.

Constructor & Destructor Documentation

RFLEX::RFLEX ( )

Definition at line 70 of file rflex_driver.cc.

RFLEX::~RFLEX ( ) [virtual]

Definition at line 134 of file rflex_driver.cc.

RFLEX::RFLEX ( const RFLEX & rflex ) [private]

Private constructor - Don't use.

Member Function Documentation

unsigned char RFLEX::computeCRC	(	const unsigned char *	buffer,
		const int	n
	)		`[private]`

Calculates error checking code for specified buffer.

Definition at line 693 of file rflex_driver.cc.

void RFLEX::configureSonar	(	const unsigned long	echoDelay,
		const unsigned long	pingDelay,
		const unsigned long	setDelay,
		const unsigned long	val
	)

Configure the sonar parameters and send message to RFlex.

Parameters:

echoDelay	Echo Delay
pingDelay	Ping Delay
setDelay	Set Delay
val	Unknown

Todo:: Figure out unknown value's purpose.

Definition at line 138 of file rflex_driver.cc.

bool RFLEX::getBrakePower ( ) const [inline]

Gets brake power

Returns:: True if brake is engaged

Definition at line 78 of file rflex_driver.h.

int RFLEX::getIrCount ( ) const [inline]

Gets the number of IR sensors

Returns:: Number of IR sensors

Definition at line 85 of file rflex_driver.h.

int RFLEX::initialize ( const char * devname )

Opens connection to serial port with specified device name

Parameters:

devname Device name assigned to serial port

Returns:: -1 on error

Definition at line 86 of file rflex_driver.cc.

void RFLEX::motionSetDefaults ( )

Sends a set motion defaults message to the device.

Definition at line 184 of file rflex_driver.cc.

RFLEX& RFLEX::operator= ( const RFLEX & rflex ) [private]

Private constructor - Don't use.

void RFLEX::parseDioReport ( const unsigned char * buffer ) [private]

Definition at line 280 of file rflex_driver.cc.

void RFLEX::parseIrReport ( const unsigned char * buffer ) [private]

Todo:: implement IR Reporting

Definition at line 308 of file rflex_driver.cc.

void RFLEX::parseJoyReport ( const unsigned char * buffer ) [private]

Todo:: implement joystick control

Definition at line 451 of file rflex_driver.cc.

void RFLEX::parseMotReport ( const unsigned char * buffer ) [private]

Definition at line 253 of file rflex_driver.cc.

void RFLEX::parsePacket ( const unsigned char * buffer ) [private]

Definition at line 491 of file rflex_driver.cc.

void RFLEX::parseSonarReport ( const unsigned char * buffer ) [private]

Definition at line 429 of file rflex_driver.cc.

void RFLEX::parseSysReport ( const unsigned char * buffer ) [private]

Definition at line 363 of file rflex_driver.cc.

void RFLEX::processDioEvent	(	unsigned char	address,
		unsigned short	data
	)		`[protected, virtual]`

Reimplemented in ATRVJR, and B21.

Definition at line 303 of file rflex_driver.cc.

int RFLEX::readData ( ) [private]

Reads in a packet until it finds and end of packet signal.

Definition at line 581 of file rflex_driver.cc.

void RFLEX::readPacket ( ) [private]

After reading the data, it checks for errors and then parses.

Definition at line 542 of file rflex_driver.cc.

void * RFLEX::readThread ( void * ptr ) [static, private]

Read Thread.

Definition at line 522 of file rflex_driver.cc.

bool RFLEX::sendCommand	(	const unsigned char	port,
		const unsigned char	id,
		const unsigned char	opcode,
		const int	length,
		unsigned char *	data
	)		`[private]`

Send a command to the serial port

Parameters:

port	Should be one of these: SYS_PORT, MOT_PORT, JSTK_PORT, SONAR_PORT, DIO_PORT, IR_PORT
id
opcode	See opcodes in rflex_info.h
length	length of the data
data	actual data

Definition at line 649 of file rflex_driver.cc.

void RFLEX::sendSystemStatusCommand ( )

Sends a system status command to the device. Updates the brake and battery status.

Definition at line 249 of file rflex_driver.cc.

void RFLEX::setBrakePower ( const bool power )

Turn Brake on or off Note: Brake on means the controller cannot move the robot and external forces CAN move it.

Parameters:

power true for on, false for off

Definition at line 174 of file rflex_driver.cc.

void RFLEX::setDigitalIoPeriod ( const long period )

Set the frequency that the Digital IO devices are checked.

Parameters:

period Period in milliseconds

Definition at line 188 of file rflex_driver.cc.

void RFLEX::setIrPower ( const bool power )

Turn IR on or off

Parameters:

power true for on, false for off

Definition at line 149 of file rflex_driver.cc.

void RFLEX::setOdometryPeriod ( const long period )

Set the frequency that the odometry is checked.

Parameters:

period Period in milliseconds

Definition at line 194 of file rflex_driver.cc.

void RFLEX::setVelocity	(	const long	transVelocity,
		const long	rotVelocity,
		const long	acceleration
	)

Sets the velocity

Parameters:

transVelocity	Translational velocity in arbitrary units
rotVelocity	Rotational velocity in arbitrary units
acceleration	Acceleration (also in arbitrary units)

Definition at line 207 of file rflex_driver.cc.

bool RFLEX::writePacket ( const int length ) const [private]

Writes packet currently in write buffer to device.

Definition at line 673 of file rflex_driver.cc.

Member Data Documentation

int RFLEX::bearing [protected]

Raw rotational odometry.

Definition at line 105 of file rflex_driver.h.

bool RFLEX::brake [protected]

Brake Status.

Definition at line 111 of file rflex_driver.h.

unsigned short RFLEX::dioData[24] [protected]

Storage for digital IO values.

Definition at line 113 of file rflex_driver.h.

int RFLEX::distance [protected]

Raw translational odometry.

Definition at line 104 of file rflex_driver.h.

int RFLEX::fd [private]

File descriptor for serial port.

Definition at line 133 of file rflex_driver.h.

bool RFLEX::found [private]

Definition at line 140 of file rflex_driver.h.

int RFLEX::home_bearing_found [protected]

Definition at line 120 of file rflex_driver.h.

unsigned char* RFLEX::irRanges [protected]

Raw values from IR sensors.

Definition at line 119 of file rflex_driver.h.

unsigned char* RFLEX::lcdData [protected]

Definition at line 116 of file rflex_driver.h.

int RFLEX::lcdX [protected]

Definition at line 115 of file rflex_driver.h.

int RFLEX::lcdY [protected]

Definition at line 115 of file rflex_driver.h.

int RFLEX::numIr [protected]

Number of IR sensors.

Definition at line 118 of file rflex_driver.h.

int RFLEX::odomReady [protected]

Definition at line 121 of file rflex_driver.h.

int RFLEX::offset [private]

Definition at line 141 of file rflex_driver.h.

unsigned char RFLEX::readBuffer[BUFFER_SIZE] [private]

Definition at line 137 of file rflex_driver.h.

int RFLEX::rotVelocity [protected]

Raw rotational velocity.

Definition at line 107 of file rflex_driver.h.

int RFLEX::sonar_ranges[SONAR_MAX_COUNT] [protected]

Raw Sonar readings (including unconnected ports)

Definition at line 109 of file rflex_driver.h.

pthread_t RFLEX::thread [private]

Thread which reads input upon arrival.

Definition at line 134 of file rflex_driver.h.

int RFLEX::transVelocity [protected]

Raw translational velocity.

Definition at line 106 of file rflex_driver.h.

long RFLEX::voltage [protected]

Raw voltage reading.

Definition at line 110 of file rflex_driver.h.

unsigned char RFLEX::writeBuffer[BUFFER_SIZE] [private]

Definition at line 138 of file rflex_driver.h.

pthread_mutex_t RFLEX::writeMutex [private]

Mutex around writing to port.

Definition at line 135 of file rflex_driver.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation