#include <dirent.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <fcntl.h>
#include "robotiq_force_torque_sensor/rq_sensor_com.h"

Include dependency graph for rq_sensor_com.cpp:

Defines
#define	REGISTER_FIRMWARE_VERSION 500
#define	REGISTER_PRODUCTION_YEAR 514
#define	REGISTER_SELECT_OUTPUT 410
#define	REGISTER_SERIAL_NUMBER 510
#define	RQ_COM_JAM_SIGNAL_CHAR 0xff
#define	RQ_COM_JAM_SIGNAL_LENGTH 50
#define	RQ_COM_MAX_STR_LENGTH 20
#define	RQ_COM_TIMER_FOR_STREAM_DETECTION_MAX_VALUE 20
#define	RQ_COM_TIMER_FOR_VALID_STREAM_MAX_VALUE 40
Functions
static UINT_16	rq_com_compute_crc (UINT_8 const *adr, INT_32 length)
void	rq_com_do_zero_force_flag ()
	Set the "zero sensor" flag to 1. When the next stream message will be decoded, the effort values will be stored as offsets a substracted from the next values.
float	rq_com_get_received_data (UINT_8 i)
	Return an effort component.
void	rq_com_get_str_firmware_version (INT_8 *firmware_version)
	Retrieves the sensor firmware version.
void	rq_com_get_str_production_year (INT_8 *production_year)
	Retrieves the sensor firmware version.
void	rq_com_get_str_serial_number (INT_8 *serial_number)
	Retrieves the sensor serial number.
bool	rq_com_get_stream_detected ()
	retrieves the sensor firmware version
bool	rq_com_get_valid_stream ()
	returns if the stream message is valid
bool	rq_com_got_new_message ()
	Returns true if a new valid stream message has been decoded and is available.
static UINT_8	rq_com_identify_device (INT_8 const *const d_name)
	try to discover a com port by polling each serial port
void	rq_com_listen_stream (void)
	Listens and decode a valid stream input.
static INT_32	rq_com_read_port (UINT_8 *const buf, UINT_32 buf_len)
	Reads incomming data on the com port.
static INT_8	rq_com_send_fc_03 (UINT_16 base, UINT_16 n, UINT_16 *const data)
	Sends a read request.
static void	rq_com_send_fc_03_request (UINT_16 base, UINT_16 n)
	Compute and send the fc03 request on the com port.
static INT_8	rq_com_send_fc_16 (INT_32 base, INT_32 n, UINT_16 const *const data)
static void	rq_com_send_fc_16_request (INT_32 base, INT_32 n, UINT_8 const *const data)
static void	rq_com_send_jam_signal (void)
	Send a signal that interrupts the streaming.
INT_8	rq_com_start_stream (void)
	Starts the sensor streaming mode.
static void	rq_com_stop_stream_after_boot (void)
	Send a jam signal to stop the sensor stream and retry until the stream stops.
static INT_8	rq_com_tentative_connexion (void)
	Tries connecting to the sensor.
static INT_32	rq_com_wait_for_fc_03_echo (UINT_8 *const data)
static INT_32	rq_com_wait_for_fc_16_echo (void)
	Reads the response to a fc16 write query.
static INT_32	rq_com_write_port (UINT_8 const *const buf, UINT_32 buf_len)
INT_8	rq_sensor_com ()
	Discovers and initialize the communication with the sensor.
void	rq_sensor_com_read_info_high_lvl (void)
	Reads and stores high level information from the sensor. These include the firmware version, the serial number and the production year.
void	stop_connection ()
	close the serial port.
Variables
static UINT_16	rq_com_computed_crc = 0
static UINT_16	rq_com_crc = 0
static UINT_32	rq_com_msg_received = 0
static bool	rq_com_new_message = false
static UINT_8	rq_com_rcv_buff [MP_BUFF_SIZE]
static UINT_8	rq_com_rcv_buff2 [MP_BUFF_SIZE]
static INT_32	rq_com_rcv_len
static INT_32	rq_com_rcv_len2 = 0
static float	rq_com_received_data [6] = {0.0}
static float	rq_com_received_data_offset [6] = {0.0}
static UINT_8	rq_com_snd_buff [MP_BUFF_SIZE]
static INT_8	rq_com_str_sensor_firmware_version [RQ_COM_MAX_STR_LENGTH]
static INT_8	rq_com_str_sensor_production_year [RQ_COM_MAX_STR_LENGTH]
static INT_8	rq_com_str_sensor_serial_number [RQ_COM_MAX_STR_LENGTH]
static bool	rq_com_stream_detected = false
static INT_32	rq_com_timer_for_stream_detection = 0
static INT_32	rq_com_timer_for_valid_stream = 0
static bool	rq_com_valid_stream = false
static INT_32	rq_com_zero_force_flag = 0
static INT_32	rq_state_sensor_watchdog = 0

Define Documentation

#define REGISTER_FIRMWARE_VERSION 500

Definition at line 68 of file rq_sensor_com.cpp.

#define REGISTER_PRODUCTION_YEAR 514

Definition at line 67 of file rq_sensor_com.cpp.

#define REGISTER_SELECT_OUTPUT 410

Definition at line 65 of file rq_sensor_com.cpp.

#define REGISTER_SERIAL_NUMBER 510

Definition at line 66 of file rq_sensor_com.cpp.

#define RQ_COM_JAM_SIGNAL_CHAR 0xff

Definition at line 70 of file rq_sensor_com.cpp.

#define RQ_COM_JAM_SIGNAL_LENGTH 50

Definition at line 71 of file rq_sensor_com.cpp.

#define RQ_COM_MAX_STR_LENGTH 20

Definition at line 69 of file rq_sensor_com.cpp.

#define RQ_COM_TIMER_FOR_STREAM_DETECTION_MAX_VALUE 20

Definition at line 72 of file rq_sensor_com.cpp.

#define RQ_COM_TIMER_FOR_VALID_STREAM_MAX_VALUE 40

Definition at line 73 of file rq_sensor_com.cpp.

Function Documentation

static UINT_16 rq_com_compute_crc	(	UINT_8 const *	adr,
		INT_32	length
	)		`[static]`

Definition at line 719 of file rq_sensor_com.cpp.

void rq_com_do_zero_force_flag ( void )

Set the "zero sensor" flag to 1. When the next stream message will be decoded, the effort values will be stored as offsets a substracted from the next values.

Definition at line 1139 of file rq_sensor_com.cpp.

float rq_com_get_received_data ( UINT_8 i )

Return an effort component.

Parameters:

i	Index of the component. 0 to 2 for Fx, Fy and Fz. 3 to 5 for Mx, My and Mz.

Definition at line 1110 of file rq_sensor_com.cpp.

void rq_com_get_str_firmware_version ( INT_8 * firmware_version )

Retrieves the sensor firmware version.

Parameters:

firmware_version Address of the return buffer

Definition at line 1074 of file rq_sensor_com.cpp.

void rq_com_get_str_production_year ( INT_8 * production_year )

Retrieves the sensor firmware version.

Parameters:

production_year Address of the return buffer

Definition at line 1083 of file rq_sensor_com.cpp.

void rq_com_get_str_serial_number ( INT_8 * serial_number )

Retrieves the sensor serial number.

Parameters:

serial_number address of the return buffer

Definition at line 1065 of file rq_sensor_com.cpp.

bool rq_com_get_stream_detected ( void )

retrieves the sensor firmware version

Parameters:

production_year Address of the return buffer

Definition at line 1092 of file rq_sensor_com.cpp.

bool rq_com_get_valid_stream ( void )

returns if the stream message is valid

Definition at line 1100 of file rq_sensor_com.cpp.

bool rq_com_got_new_message ( void )

Returns true if a new valid stream message has been decoded and is available.

When this function is called, the variable that indicates if a new message is available is set to false even if the message hasn't beed read.

Definition at line 1127 of file rq_sensor_com.cpp.

static UINT_8 rq_com_identify_device ( INT_8 const *const d_name ) [static]

try to discover a com port by polling each serial port

Author:: Pierre-Olivier Proulx

Returns:: 1 if a device is found, 0 otherwise

Definition at line 1162 of file rq_sensor_com.cpp.

void rq_com_listen_stream ( void )

Listens and decode a valid stream input.

Definition at line 319 of file rq_sensor_com.cpp.

static INT_32 rq_com_read_port	(	UINT_8 *const	buf,
		UINT_32	buf_len
	)		`[static]`

Reads incomming data on the com port.

Parameters:

buf,contains	the incomming data
buf_len	maximum number of data to read

Returns:: The number of character read

Definition at line 679 of file rq_sensor_com.cpp.

static INT_8 rq_com_send_fc_03	(	UINT_16	base,
		UINT_16	n,
		UINT_16 *const	data
	)		`[static]`

Sends a read request.

Parameters:

base	Address of the first register to read
n	Number of bytes to read
data	table into which data will be written

Definition at line 533 of file rq_sensor_com.cpp.

static void rq_com_send_fc_03_request	(	UINT_16	base,
		UINT_16	n
	)		`[static]`

Compute and send the fc03 request on the com port.

Parameters:

base	Address of the first register to read
n	Number of bytes to read

Definition at line 777 of file rq_sensor_com.cpp.

static INT_8 rq_com_send_fc_16	(	INT_32	base,
		INT_32	n,
		UINT_16 const *const	data
	)		`[static]`

Definition at line 579 of file rq_sensor_com.cpp.

static void rq_com_send_fc_16_request	(	INT_32	base,
		INT_32	n,
		UINT_8 const *const	data
	)		`[static]`

Definition at line 917 of file rq_sensor_com.cpp.

static void rq_com_send_jam_signal ( void ) [static]

Send a signal that interrupts the streaming.

Definition at line 453 of file rq_sensor_com.cpp.

INT_8 rq_com_start_stream ( void )

Starts the sensor streaming mode.

Returns:: 0 if the stream started, -1 otherwise

Definition at line 501 of file rq_sensor_com.cpp.

static void rq_com_stop_stream_after_boot ( void ) [static]

Send a jam signal to stop the sensor stream and retry until the stream stops.

Definition at line 468 of file rq_sensor_com.cpp.

static INT_8 rq_com_tentative_connexion ( void ) [static]

Tries connecting to the sensor.

Returns:: 1 if the connection attempt succeeds, -1 otherwise

Definition at line 238 of file rq_sensor_com.cpp.

static INT_32 rq_com_wait_for_fc_03_echo ( UINT_8 *const data ) [static]

Definition at line 822 of file rq_sensor_com.cpp.

static INT_32 rq_com_wait_for_fc_16_echo ( void ) [static]

Reads the response to a fc16 write query.

Returns:: 0 for an invalid response, 1 otherwise

Definition at line 986 of file rq_sensor_com.cpp.

static INT_32 rq_com_write_port	(	UINT_8 const *const	buf,
		UINT_32	buf_len
	)		`[static]`

Definition at line 697 of file rq_sensor_com.cpp.

INT_8 rq_sensor_com ( void )

Discovers and initialize the communication with the sensor.

The functions loops through all the serial com ports and polls them to discover the sensor

Definition at line 141 of file rq_sensor_com.cpp.

void rq_sensor_com_read_info_high_lvl ( void )

Reads and stores high level information from the sensor. These include the firmware version, the serial number and the production year.

Definition at line 630 of file rq_sensor_com.cpp.

void stop_connection ( void )

close the serial port.

Warning:: Only valid under Windows.

Definition at line 1148 of file rq_sensor_com.cpp.

Variable Documentation

UINT_16 rq_com_computed_crc = 0 [static]

Definition at line 80 of file rq_sensor_com.cpp.

UINT_16 rq_com_crc = 0 [static]

Definition at line 81 of file rq_sensor_com.cpp.

UINT_32 rq_com_msg_received = 0 [static]

Definition at line 87 of file rq_sensor_com.cpp.

bool rq_com_new_message = false [static]

Definition at line 101 of file rq_sensor_com.cpp.

UINT_8 rq_com_rcv_buff[MP_BUFF_SIZE] [static]

Definition at line 89 of file rq_sensor_com.cpp.

UINT_8 rq_com_rcv_buff2[MP_BUFF_SIZE] [static]

Definition at line 91 of file rq_sensor_com.cpp.

INT_32 rq_com_rcv_len [static]

Definition at line 92 of file rq_sensor_com.cpp.

INT_32 rq_com_rcv_len2 = 0 [static]

Definition at line 93 of file rq_sensor_com.cpp.

float rq_com_received_data[6] = {0.0} [static]

Definition at line 77 of file rq_sensor_com.cpp.

float rq_com_received_data_offset[6] = {0.0} [static]

Definition at line 78 of file rq_sensor_com.cpp.

UINT_8 rq_com_snd_buff[MP_BUFF_SIZE] [static]

Definition at line 90 of file rq_sensor_com.cpp.

INT_8 rq_com_str_sensor_firmware_version[RQ_COM_MAX_STR_LENGTH] [static]

Definition at line 85 of file rq_sensor_com.cpp.

INT_8 rq_com_str_sensor_production_year[RQ_COM_MAX_STR_LENGTH] [static]

Definition at line 84 of file rq_sensor_com.cpp.

INT_8 rq_com_str_sensor_serial_number[RQ_COM_MAX_STR_LENGTH] [static]

Definition at line 83 of file rq_sensor_com.cpp.

bool rq_com_stream_detected = false [static]

Definition at line 99 of file rq_sensor_com.cpp.

INT_32 rq_com_timer_for_stream_detection = 0 [static]

Definition at line 102 of file rq_sensor_com.cpp.

INT_32 rq_com_timer_for_valid_stream = 0 [static]

Definition at line 103 of file rq_sensor_com.cpp.

bool rq_com_valid_stream = false [static]

Definition at line 100 of file rq_sensor_com.cpp.

INT_32 rq_com_zero_force_flag = 0 [static]

Definition at line 95 of file rq_sensor_com.cpp.

INT_32 rq_state_sensor_watchdog = 0 [static]

Definition at line 96 of file rq_sensor_com.cpp.

Defines

Functions

Variables

Define Documentation

Function Documentation

Variable Documentation