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

Include dependency graph for rq_sensor_com.cpp:

Macros
#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. More...

float	rq_com_get_received_data (UINT_8 i)
	Return an effort component. More...

void	rq_com_get_str_firmware_version (INT_8 *firmware_version)
	Retrieves the sensor firmware version. More...

void	rq_com_get_str_production_year (INT_8 *production_year)
	Retrieves the sensor firmware version. More...

void	rq_com_get_str_serial_number (INT_8 *serial_number)
	Retrieves the sensor serial number. More...

bool	rq_com_get_stream_detected ()
	retrieves the sensor firmware version More...

bool	rq_com_get_valid_stream ()
	returns if the stream message is valid More...

bool	rq_com_got_new_message ()
	Returns true if a new valid stream message has been decoded and is available. More...

static UINT_8	rq_com_identify_device (INT_8 const *const d_name)
	try to discover a com port by polling each serial port More...

void	rq_com_listen_stream (void)
	Listens and decode a valid stream input. More...

static INT_32	rq_com_read_port (UINT_8 *const buf, UINT_32 buf_len)
	Reads incomming data on the com port. More...

static INT_8	rq_com_send_fc_03 (UINT_16 base, UINT_16 n, UINT_16 *const data)
	Sends a read request. More...

static void	rq_com_send_fc_03_request (UINT_16 base, UINT_16 n)
	Compute and send the fc03 request on the com port. More...

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. More...

INT_8	rq_com_start_stream (void)
	Starts the sensor streaming mode. More...

static void	rq_com_stop_stream_after_boot (void)
	Send a jam signal to stop the sensor stream and retry until the stream stops. More...

static INT_8	rq_com_tentative_connexion (void)
	Tries connecting to the sensor. More...

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. More...

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

INT_8	rq_sensor_com (const std::string &ftdi_id)

INT_8	rq_sensor_com ()
	Discovers and initialize the communication with the sensor. More...

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. More...

void	stop_connection ()
	close the serial port. More...

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

Macro Definition 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 733 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 1153 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 1124 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 1088 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 1097 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 1079 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 1106 of file rq_sensor_com.cpp.

bool rq_com_get_valid_stream ( void )

returns if the stream message is valid

Definition at line 1114 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 1141 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 1176 of file rq_sensor_com.cpp.

void rq_com_listen_stream ( void )

Listens and decode a valid stream input.

Definition at line 333 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 693 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 547 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 791 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 593 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 931 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 467 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 515 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 482 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 251 of file rq_sensor_com.cpp.

static INT_32 rq_com_wait_for_fc_03_echo ( UINT_8 *const data )

static

Definition at line 836 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 1000 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 711 of file rq_sensor_com.cpp.

INT_8 rq_sensor_com ( const std::string & ftdi_id )

Definition at line 143 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 154 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 644 of file rq_sensor_com.cpp.

void stop_connection ( void )

close the serial port.

Warning: Only valid under Windows.

Definition at line 1162 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.

Macros

Functions

Variables

Macro Definition Documentation

Function Documentation

Variable Documentation