#include <mrp2_serial.h>

Public Types
enum	serial_t { setSPEEDS = 1, setSPEED_L = 2, setSPEED_R = 3, setPARAM_KP_L = 4, setPARAM_KP_R = 5, setPARAM_KI_L = 6, setPARAM_KI_R = 7, setPARAM_KD_L = 8, setPARAM_KD_R = 9, setPARAM_IMAX_L = 10, setPARAM_IMAX_R = 11, setMAXSPEED_FWD = 12, setMAXSPEED_REV = 13, setMAXACCEL = 14, setBATT_CELL_V = 15, setBATT_PARALLEL_COUNT = 16, setBATT_SERIES_COUNT = 17, setBATT_CELL_NOMINAL_V = 18, setESTOP = 19, clearDIAG = 20, getSPEEDS = 21, getSPEED_L = 22, getSPEED_R = 23, getPARAM_KP_L = 24, getPARAM_KP_R = 25, getPARAM_KI_L = 26, getPARAM_KI_R = 27, getPARAM_KD_L = 28, getPARAM_KD_R = 29, getPARAM_IMAX_L = 30, getPARAM_IMAX_R = 31, getMAXSPEED_FWD = 32, getMAXSPEED_REV = 33, getMAXACCEL = 34, getBATT_CELL_V = 35, getBATT_PARALLEL_COUNT = 37, getBATT_SERIES_COUNT = 38, getBATT_CELL_NOMINAL_V = 39, getBATT_VOLT = 40, getBATT_CURRENT = 41, getBATT_SOC = 42, getPOSITIONS = 43, getPOSITION_L = 44, getPOSITION_R = 45, getBUMPERS = 46, resetPOSITIONS = 47, resetPOSITION_L = 48, resetPOSITION_R = 49, getESTOP = 50, getDIAG = 51, ACK = 52, getBATT_CELL_CAPACITY = 53, setBUMPER_ESTOP = 54, getBUMPER_ESTOP = 55, getESTOP_BTN = 56, getSONARS = 83 }
Public Member Functions
void	clear_diag (int diag)
int	get_batt_cell_capacity (bool update=false)
int	get_batt_current (bool update=false)
int	get_batt_soc (bool update=false)
int	get_batt_volt (bool update=false)
bool	get_bumper_estop (bool update=false)
std::vector< int >	get_bumpers (bool update=false)
bool	get_diag (int diag)
bool	get_estop (bool update=false)
bool	get_estop_button (bool update=false)
int	get_maxaccel (bool update=false)
int	get_maxspeed_fwd (bool update=false)
int	get_maxspeed_rev (bool update=false)
std::vector< int >	get_param_imax (char side, bool update=false)
float	get_param_pid (char side, char param, bool update=false)
int	get_position_l (bool update=false)
int	get_position_r (bool update=false)
std::vector< int >	get_positions (bool update=false)
double	get_read_timeout (void)
std::vector< int >	get_sonars (bool update=false)
int	get_speed_l (bool update=false)
int	get_speed_r (bool update=false)
std::vector< int >	get_speeds (bool update=false)
bool	is_available ()
	MRP2_Serial (std::string port_name, uint32_t baudrate=38400, std::string mode="8N1", bool simple=true)
	MRP2_Serial (uint16_t vendor_id, uint16_t product_id, int ep_in_addr, int ep_out_addr, bool simple=true)
void	reset_position_l ()
void	reset_position_r ()
void	reset_positions ()
void	set_bumper_estop (bool value)
void	set_estop (bool value)
void	set_max_accel (uint32_t value)
void	set_maxspeed_fwd (uint32_t value)
void	set_maxspeed_rev (uint32_t value)
void	set_param_imax (char side, uint32_t value)
void	set_param_pid (char side, char param, float value)
void	set_read_timeout (double timeout)
void	set_speed_l (int32_t left_speed)
void	set_speed_r (int32_t right_speed)
void	set_speeds (int32_t left_speed, int32_t right_speed)
void	update ()
void	update_diag ()
virtual	~MRP2_Serial ()
Private Member Functions
bool	_get_ack (serial_t command)
void	array_chopper (uint8_t *buf, int start, int end)
unsigned char	checksum (int size)
unsigned char	checksum_check_array (uint8_t *arr, int size)
bool	checksum_match (uint8_t *buf, int size)
int	execute_command (uint8_t *buf)
int	find_message_start (uint8_t *buf, int lastIndex)
int	first_validator (uint8_t *buf)
void	print_array (uint8_t *buf, int length)
int	process (uint8_t *inData, int recievedData, uint8_t _command_to_read)
int	process_simple (uint8_t *inData, int recievedData, uint8_t _command_to_read)
int	read_serial (uint8_t _command_to_read)
int	second_validator (uint8_t *buf, int data_len)
int	send_and_get_reply (uint8_t _command, uint8_t *send_array, int send_size, bool is_ack)
Private Attributes
uint8_t	_ack_data
int	_batt_cell_capacity
int	_batt_current
int	_batt_soc
int	_batt_volt
int	_baudrate
int	_bumper_estop
std::vector< int >	_bumpers
bool	_diag_aux_lights_err
bool	_diag_batt_high
bool	_diag_batt_low
bool	_diag_motor_drvr_err
bool	_diag_motor_stall_l
bool	_diag_motor_stall_r
bool	_estop
int	_estop_btn
std::vector< int >	_imax
int	_imax_l
int	_imax_r
double	_Kd_l
double	_Kd_r
double	_Ki_l
double	_Ki_r
double	_Kp_l
double	_Kp_r
int	_maxaccel
int	_maxspeed_fwd
int	_maxspeed_rev
std::string	_mode
std::string	_port_name
int	_port_nr
int	_position_l
int	_position_r
std::vector< int >	_positions
std::vector< int >	_sonars
int	_speed_l
int	_speed_r
std::vector< int >	_speeds
bool	dir_left
bool	dir_right
bool	e_stop
int	ep_in_addr_
int	ep_out_addr_
double	Kd
double	Ki
double	Kol
double	Kp
bool	line_ok_
uint16_t	product_id_
double	read_timeout_
bool	seekForChar
char	sendArray [20]
milvus::SerialComm	serial_port
bool	simple_
int	speeds [2]
char	startChar
uint8_t	tempData [10000]
uint8_t	tempDataIndex
milvus::UsbComm	usb_port
bool	use_usb_
uint16_t	vendor_id_

Detailed Description

Definition at line 25 of file mrp2_serial.h.

Member Enumeration Documentation

enum MRP2_Serial::serial_t

Enumerator:

setSPEEDS
setSPEED_L
setSPEED_R
setPARAM_KP_L
setPARAM_KP_R
setPARAM_KI_L
setPARAM_KI_R
setPARAM_KD_L
setPARAM_KD_R
setPARAM_IMAX_L
setPARAM_IMAX_R
setMAXSPEED_FWD
setMAXSPEED_REV
setMAXACCEL
setBATT_CELL_V
setBATT_PARALLEL_COUNT
setBATT_SERIES_COUNT
setBATT_CELL_NOMINAL_V
setESTOP
clearDIAG
getSPEEDS
getSPEED_L
getSPEED_R
getPARAM_KP_L
getPARAM_KP_R
getPARAM_KI_L
getPARAM_KI_R
getPARAM_KD_L
getPARAM_KD_R
getPARAM_IMAX_L
getPARAM_IMAX_R
getMAXSPEED_FWD
getMAXSPEED_REV
getMAXACCEL
getBATT_CELL_V
getBATT_PARALLEL_COUNT
getBATT_SERIES_COUNT
getBATT_CELL_NOMINAL_V
getBATT_VOLT
getBATT_CURRENT
getBATT_SOC
getPOSITIONS
getPOSITION_L
getPOSITION_R
getBUMPERS
resetPOSITIONS
resetPOSITION_L
resetPOSITION_R
getESTOP
getDIAG
ACK
getBATT_CELL_CAPACITY
setBUMPER_ESTOP
getBUMPER_ESTOP
getESTOP_BTN
getSONARS

Definition at line 75 of file mrp2_serial.h.

Constructor & Destructor Documentation

MRP2_Serial::MRP2_Serial	(	std::string	port_name,
		uint32_t	baudrate = `38400`,
		std::string	mode = `"8N1"`,
		bool	simple = `true`
	)

Definition at line 6 of file mrp2_serial.cpp.

MRP2_Serial::MRP2_Serial	(	uint16_t	vendor_id,
		uint16_t	product_id,
		int	ep_in_addr,
		int	ep_out_addr,
		bool	simple = `true`
	)

Definition at line 23 of file mrp2_serial.cpp.

MRP2_Serial::~MRP2_Serial ( ) [virtual]

Definition at line 40 of file mrp2_serial.cpp.

Member Function Documentation

bool MRP2_Serial::_get_ack ( serial_t command ) [private]

void MRP2_Serial::array_chopper	(	uint8_t *	buf,
		int	start,
		int	end
	)		`[private]`

Definition at line 890 of file mrp2_serial.cpp.

unsigned char MRP2_Serial::checksum ( int size ) [private]

Definition at line 900 of file mrp2_serial.cpp.

unsigned char MRP2_Serial::checksum_check_array	(	uint8_t *	arr,
		int	size
	)		`[private]`

Definition at line 915 of file mrp2_serial.cpp.

bool MRP2_Serial::checksum_match	(	uint8_t *	buf,
		int	size
	)		`[private]`

Definition at line 933 of file mrp2_serial.cpp.

void MRP2_Serial::clear_diag ( int diag )

Definition at line 301 of file mrp2_serial.cpp.

int MRP2_Serial::execute_command ( uint8_t * buf ) [private]

Definition at line 993 of file mrp2_serial.cpp.

int MRP2_Serial::find_message_start	(	uint8_t *	buf,
		int	lastIndex
	)		`[private]`

Definition at line 975 of file mrp2_serial.cpp.

int MRP2_Serial::first_validator ( uint8_t * buf ) [private]

Definition at line 956 of file mrp2_serial.cpp.

int MRP2_Serial::get_batt_cell_capacity ( bool update = false )

Definition at line 630 of file mrp2_serial.cpp.

int MRP2_Serial::get_batt_current ( bool update = false )

Definition at line 473 of file mrp2_serial.cpp.

int MRP2_Serial::get_batt_soc ( bool update = false )

Definition at line 485 of file mrp2_serial.cpp.

int MRP2_Serial::get_batt_volt ( bool update = false )

Definition at line 461 of file mrp2_serial.cpp.

bool MRP2_Serial::get_bumper_estop ( bool update = false )

Definition at line 657 of file mrp2_serial.cpp.

std::vector< int > MRP2_Serial::get_bumpers ( bool update = false )

Definition at line 533 of file mrp2_serial.cpp.

bool MRP2_Serial::get_diag ( int diag )

Definition at line 605 of file mrp2_serial.cpp.

bool MRP2_Serial::get_estop ( bool update = false )

Definition at line 584 of file mrp2_serial.cpp.

bool MRP2_Serial::get_estop_button ( bool update = false )

Definition at line 669 of file mrp2_serial.cpp.

int MRP2_Serial::get_maxaccel ( bool update = false )

Definition at line 449 of file mrp2_serial.cpp.

int MRP2_Serial::get_maxspeed_fwd ( bool update = false )

Definition at line 425 of file mrp2_serial.cpp.

int MRP2_Serial::get_maxspeed_rev ( bool update = false )

Definition at line 437 of file mrp2_serial.cpp.

std::vector< int > MRP2_Serial::get_param_imax	(	char	side,
		bool	update = `false`
	)

Definition at line 404 of file mrp2_serial.cpp.

float MRP2_Serial::get_param_pid	(	char	side,
		char	param,
		bool	update = `false`
	)

Definition at line 351 of file mrp2_serial.cpp.

int MRP2_Serial::get_position_l ( bool update = false )

Definition at line 509 of file mrp2_serial.cpp.

int MRP2_Serial::get_position_r ( bool update = false )

Definition at line 521 of file mrp2_serial.cpp.

std::vector< int > MRP2_Serial::get_positions ( bool update = false )

Definition at line 497 of file mrp2_serial.cpp.

double MRP2_Serial::get_read_timeout ( void )

Definition at line 1255 of file mrp2_serial.cpp.

std::vector< int > MRP2_Serial::get_sonars ( bool update = false )

Definition at line 681 of file mrp2_serial.cpp.

int MRP2_Serial::get_speed_l ( bool update = false )

Definition at line 327 of file mrp2_serial.cpp.

int MRP2_Serial::get_speed_r ( bool update = false )

Definition at line 339 of file mrp2_serial.cpp.

std::vector< int > MRP2_Serial::get_speeds ( bool update = false )

Definition at line 315 of file mrp2_serial.cpp.

bool MRP2_Serial::is_available ( )

Definition at line 772 of file mrp2_serial.cpp.

void MRP2_Serial::print_array	(	uint8_t *	buf,
		int	length
	)		`[private]`

Definition at line 1238 of file mrp2_serial.cpp.

int MRP2_Serial::process	(	uint8_t *	inData,
		int	recievedData,
		uint8_t	_command_to_read
	)		`[private]`

Definition at line 817 of file mrp2_serial.cpp.

int MRP2_Serial::process_simple	(	uint8_t *	inData,
		int	recievedData,
		uint8_t	_command_to_read
	)		`[private]`

Definition at line 801 of file mrp2_serial.cpp.

int MRP2_Serial::read_serial ( uint8_t _command_to_read ) [private]

Definition at line 778 of file mrp2_serial.cpp.

void MRP2_Serial::reset_position_l ( )

Definition at line 558 of file mrp2_serial.cpp.

void MRP2_Serial::reset_position_r ( )

Definition at line 571 of file mrp2_serial.cpp.

void MRP2_Serial::reset_positions ( )

Definition at line 545 of file mrp2_serial.cpp.

int MRP2_Serial::second_validator	(	uint8_t *	buf,
		int	data_len
	)		`[private]`

Definition at line 965 of file mrp2_serial.cpp.

int MRP2_Serial::send_and_get_reply	(	uint8_t	_command,
		uint8_t *	send_array,
		int	send_size,
		bool	is_ack
	)		`[private]`

Definition at line 693 of file mrp2_serial.cpp.

void MRP2_Serial::set_bumper_estop ( bool value )

Definition at line 642 of file mrp2_serial.cpp.

void MRP2_Serial::set_estop ( bool value )

Definition at line 286 of file mrp2_serial.cpp.

void MRP2_Serial::set_max_accel ( uint32_t value )

Definition at line 267 of file mrp2_serial.cpp.

void MRP2_Serial::set_maxspeed_fwd ( uint32_t value )

Definition at line 231 of file mrp2_serial.cpp.

void MRP2_Serial::set_maxspeed_rev ( uint32_t value )

Definition at line 249 of file mrp2_serial.cpp.

void MRP2_Serial::set_param_imax	(	char	side,
		uint32_t	value
	)

Definition at line 207 of file mrp2_serial.cpp.

void MRP2_Serial::set_param_pid	(	char	side,
		char	param,
		float	value
	)

Definition at line 139 of file mrp2_serial.cpp.

void MRP2_Serial::set_read_timeout ( double timeout )

Definition at line 1250 of file mrp2_serial.cpp.

void MRP2_Serial::set_speed_l ( int32_t left_speed )

Definition at line 87 of file mrp2_serial.cpp.

void MRP2_Serial::set_speed_r ( int32_t right_speed )

Definition at line 113 of file mrp2_serial.cpp.

void MRP2_Serial::set_speeds	(	int32_t	left_speed,
		int32_t	right_speed
	)

Definition at line 51 of file mrp2_serial.cpp.

void MRP2_Serial::update ( )

Definition at line 46 of file mrp2_serial.cpp.

void MRP2_Serial::update_diag ( )

Definition at line 596 of file mrp2_serial.cpp.

Member Data Documentation

uint8_t MRP2_Serial::_ack_data [private]

Definition at line 172 of file mrp2_serial.h.

int MRP2_Serial::_batt_cell_capacity [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_batt_current [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_batt_soc [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_batt_volt [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_baudrate [private]

Definition at line 163 of file mrp2_serial.h.

int MRP2_Serial::_bumper_estop [private]

Definition at line 150 of file mrp2_serial.h.

std::vector<int> MRP2_Serial::_bumpers [private]

Definition at line 154 of file mrp2_serial.h.

bool MRP2_Serial::_diag_aux_lights_err [private]

Definition at line 151 of file mrp2_serial.h.

bool MRP2_Serial::_diag_batt_high [private]

Definition at line 151 of file mrp2_serial.h.

bool MRP2_Serial::_diag_batt_low [private]

Definition at line 151 of file mrp2_serial.h.

bool MRP2_Serial::_diag_motor_drvr_err [private]

Definition at line 151 of file mrp2_serial.h.

bool MRP2_Serial::_diag_motor_stall_l [private]

Definition at line 151 of file mrp2_serial.h.

bool MRP2_Serial::_diag_motor_stall_r [private]

Definition at line 151 of file mrp2_serial.h.

bool MRP2_Serial::_estop [private]

Definition at line 151 of file mrp2_serial.h.

int MRP2_Serial::_estop_btn [private]

Definition at line 150 of file mrp2_serial.h.

std::vector<int> MRP2_Serial::_imax [private]

Definition at line 154 of file mrp2_serial.h.

int MRP2_Serial::_imax_l [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_imax_r [private]

Definition at line 150 of file mrp2_serial.h.

double MRP2_Serial::_Kd_l [private]

Definition at line 152 of file mrp2_serial.h.

double MRP2_Serial::_Kd_r [private]

Definition at line 152 of file mrp2_serial.h.

double MRP2_Serial::_Ki_l [private]

Definition at line 152 of file mrp2_serial.h.

double MRP2_Serial::_Ki_r [private]

Definition at line 152 of file mrp2_serial.h.

double MRP2_Serial::_Kp_l [private]

Definition at line 152 of file mrp2_serial.h.

double MRP2_Serial::_Kp_r [private]

Definition at line 152 of file mrp2_serial.h.

int MRP2_Serial::_maxaccel [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_maxspeed_fwd [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_maxspeed_rev [private]

Definition at line 150 of file mrp2_serial.h.

std::string MRP2_Serial::_mode [private]

Definition at line 164 of file mrp2_serial.h.

std::string MRP2_Serial::_port_name [private]

Definition at line 164 of file mrp2_serial.h.

int MRP2_Serial::_port_nr [private]

Definition at line 162 of file mrp2_serial.h.

int MRP2_Serial::_position_l [private]

Definition at line 153 of file mrp2_serial.h.

int MRP2_Serial::_position_r [private]

Definition at line 153 of file mrp2_serial.h.

std::vector<int> MRP2_Serial::_positions [private]

Definition at line 154 of file mrp2_serial.h.

std::vector<int> MRP2_Serial::_sonars [private]

Definition at line 154 of file mrp2_serial.h.

int MRP2_Serial::_speed_l [private]

Definition at line 150 of file mrp2_serial.h.

int MRP2_Serial::_speed_r [private]

Definition at line 150 of file mrp2_serial.h.

std::vector<int> MRP2_Serial::_speeds [private]

Definition at line 154 of file mrp2_serial.h.

bool MRP2_Serial::dir_left [private]

Definition at line 159 of file mrp2_serial.h.

bool MRP2_Serial::dir_right [private]

Definition at line 160 of file mrp2_serial.h.

bool MRP2_Serial::e_stop [private]

Definition at line 158 of file mrp2_serial.h.

int MRP2_Serial::ep_in_addr_ [private]

Definition at line 181 of file mrp2_serial.h.

int MRP2_Serial::ep_out_addr_ [private]

Definition at line 181 of file mrp2_serial.h.

double MRP2_Serial::Kd [private]

Definition at line 174 of file mrp2_serial.h.

double MRP2_Serial::Ki [private]

Definition at line 174 of file mrp2_serial.h.

double MRP2_Serial::Kol [private]

Definition at line 174 of file mrp2_serial.h.

double MRP2_Serial::Kp [private]

Definition at line 174 of file mrp2_serial.h.

bool MRP2_Serial::line_ok_ [private]

Definition at line 185 of file mrp2_serial.h.

uint16_t MRP2_Serial::product_id_ [private]

Definition at line 180 of file mrp2_serial.h.

double MRP2_Serial::read_timeout_ [private]

Definition at line 175 of file mrp2_serial.h.

bool MRP2_Serial::seekForChar [private]

Definition at line 170 of file mrp2_serial.h.

char MRP2_Serial::sendArray[20] [private]

Definition at line 157 of file mrp2_serial.h.

milvus::SerialComm MRP2_Serial::serial_port [private]

Definition at line 177 of file mrp2_serial.h.

bool MRP2_Serial::simple_ [private]

Definition at line 187 of file mrp2_serial.h.

int MRP2_Serial::speeds[2] [private]

Definition at line 156 of file mrp2_serial.h.

char MRP2_Serial::startChar [private]

Definition at line 171 of file mrp2_serial.h.

uint8_t MRP2_Serial::tempData[10000] [private]

Definition at line 167 of file mrp2_serial.h.

uint8_t MRP2_Serial::tempDataIndex [private]

Definition at line 168 of file mrp2_serial.h.

milvus::UsbComm MRP2_Serial::usb_port [private]

Definition at line 178 of file mrp2_serial.h.

bool MRP2_Serial::use_usb_ [private]

Definition at line 183 of file mrp2_serial.h.

uint16_t MRP2_Serial::vendor_id_ [private]

Definition at line 180 of file mrp2_serial.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation