SerRelayBoard.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

#ifndef SerRelayBoard_INCLUDEDEF_H
#define SerRelayBoard_INCLUDEDEF_H

//-----------------------------------------------
#include <cob_relayboard/SerialIO.h>
#include <cob_relayboard/Mutex.h>
#include <cob_relayboard/CmdRelaisBoard.h>

//-----------------------------------------------

class SerRelayBoard
{
public:

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

        ~SerRelayBoard();

        // Main control functions
        bool init();
        bool reset();
        bool shutdown();

        int evalRxBuffer(); //needs to be calles to read new data from relayboard
        int sendRequest(); //sends collected data and requests response

        //Services by relayboard
        int setDigOut(int iChannel, bool bOn);
        int getAnalogIn(int* piAnalogIn);
        int getDigIn();
        bool isEMStop();
        bool isScannerStop();
        int getBatteryVoltage()
        {
                return m_iRelBoardBattVoltage;
        }
        int getChargeCurrent()
        {
                return m_iChargeCurrent;
        }


        enum RelBoardReturns
        {
                NO_ERROR = 0,
                NOT_INITIALIZED = 1,
                GENERAL_SENDING_ERROR = 2,
                TOO_LESS_BYTES_IN_QUEUE = 3,
                NO_MESSAGES = 4, //for a long time, no message have been received, check com port!
                CHECKSUM_ERROR = 5,
        };

        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,
        };

        enum TypeLCD
        {
                LCD_20CHAR_TEXT,
                LCD_60CHAR_TEXT,
                RELAY_BOARD_1_4
        };

protected:


        std::string m_sNumComPort;

        void txCharArray();
        void rxCharArray();

        void convDataToSendMsg(unsigned char cMsg[]);
        bool convRecMsgToData(unsigned char cMsg[]);

        Mutex m_Mutex;

        int m_iNumBytesSend;
        int m_iTypeLCD;

        unsigned char m_cTextDisplay[60];

        //relayboard 1.4:
        int m_iVelCmdMotRearRightEncS;
        int m_iVelCmdMotRearLeftEncS;
        char m_cSoftEMStop;
        char m_cDebugRearRight[4];
        int m_iPosMeasMotRearRightEnc;
        int m_iVelMeasMotRearRightEncS;
        int m_iPosMeasMotRearLeftEnc;
        char m_cDebugRearLeft[4];
        int m_iVelMeasMotRearLeftEncS;
        int m_iMotRearRightStatus;
        int m_iMotRearLeftStatus;
        double m_dLastPosRearRight;
        double m_dLastPosRearLeft;

        //-----------------------
        // send data

        // RelayBoard
        int m_iConfigRelayBoard;
        int m_iCmdRelayBoard;

        // IOBoard
        int m_iIOBoardDigOut;

        // MotCtrlBoards
        int m_iVelCmdMotRightEncS;
        int m_iVelCmdMotLeftEncS;

        // USBoard
        int m_iUSBoardSensorActive;

        //-----------------------
        // rec data
        int m_iRelBoardStatus;
        int m_iChargeCurrent;
        int m_iRelBoardBattVoltage;
        int m_iRelBoardKeyPad;
        int m_iRelBoardAnalogIn[4];
        int m_iRelBoardTempSensor;

        int m_iDigIn;
        int m_iProtocolVersion;
        int m_NUM_BYTE_SEND;

        SerialIO m_SerIO;

        bool m_bComInit;
};


//-----------------------------------------------
#endif