Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
SerRelayBoard Class Reference

#include <SerRelayBoard.h>

Public Types

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  RelBoardReturns {
  NO_ERROR = 0, NOT_INITIALIZED = 1, GENERAL_SENDING_ERROR = 2, TOO_LESS_BYTES_IN_QUEUE = 3,
  NO_MESSAGES = 4, CHECKSUM_ERROR = 5
}
 
enum  TypeLCD { LCD_20CHAR_TEXT, LCD_60CHAR_TEXT, RELAY_BOARD_1_4 }
 

Public Member Functions

int evalRxBuffer ()
 
int getAnalogIn (int *piAnalogIn)
 
int getBatteryVoltage ()
 
int getChargeCurrent ()
 
int getDigIn ()
 
bool init ()
 
bool isEMStop ()
 
bool isScannerStop ()
 
bool reset ()
 
int sendRequest ()
 
 SerRelayBoard (std::string ComPort, int ProtocolVersion=1)
 
int setDigOut (int iChannel, bool bOn)
 
bool shutdown ()
 
 ~SerRelayBoard ()
 

Protected Member Functions

void convDataToSendMsg (unsigned char cMsg[])
 
bool convRecMsgToData (unsigned char cMsg[])
 
void rxCharArray ()
 
void txCharArray ()
 

Protected Attributes

bool m_bComInit
 
char m_cDebugRearLeft [4]
 
char m_cDebugRearRight [4]
 
char m_cSoftEMStop
 
unsigned char m_cTextDisplay [60]
 
double m_dLastPosRearLeft
 
double m_dLastPosRearRight
 
int m_iChargeCurrent
 
int m_iCmdRelayBoard
 
int m_iConfigRelayBoard
 
int m_iDigIn
 
int m_iIOBoardDigOut
 
int m_iMotRearLeftStatus
 
int m_iMotRearRightStatus
 
int m_iNumBytesSend
 
int m_iPosMeasMotRearLeftEnc
 
int m_iPosMeasMotRearRightEnc
 
int m_iProtocolVersion
 
int m_iRelBoardAnalogIn [4]
 
int m_iRelBoardBattVoltage
 
int m_iRelBoardKeyPad
 
int m_iRelBoardStatus
 
int m_iRelBoardTempSensor
 
int m_iTypeLCD
 
int m_iUSBoardSensorActive
 
int m_iVelCmdMotLeftEncS
 
int m_iVelCmdMotRearLeftEncS
 
int m_iVelCmdMotRearRightEncS
 
int m_iVelCmdMotRightEncS
 
int m_iVelMeasMotRearLeftEncS
 
int m_iVelMeasMotRearRightEncS
 
Mutex m_Mutex
 
int m_NUM_BYTE_SEND
 
SerialIO m_SerIO
 
std::string m_sNumComPort
 

Detailed Description

Driver class for communication with a Neobotix RelayBoard. Uses RS422 with 420 kBaud.

Definition at line 32 of file SerRelayBoard.h.

Member Enumeration Documentation

◆ RelBoardCmd

enum SerRelayBoard::RelBoardCmd
Enumerator
CMD_SET_CHARGE_RELAY 
CMD_RESET_POS_CNT 
CMD_QUICK_STOP 
CMD_SET_RELAY1 
CMD_SET_RELAY2 
CMD_SET_RELAY3 
CMD_SET_RELAY4 
CMD_SET_RELAY5 
CMD_SET_RELAY6 
CMD_ZERO_GYRO 

Definition at line 74 of file SerRelayBoard.h.

◆ RelBoardConfig

enum SerRelayBoard::RelBoardConfig
Enumerator
CONFIG_HAS_IOBOARD 
CONFIG_HAS_USBOARD 
CONFIG_HAS_GYROBOARD 
CONFIG_HAS_RADARBOARD1 
CONFIG_HAS_RADARBOARD2 
CONFIG_HAS_DRIVES 

Definition at line 88 of file SerRelayBoard.h.

◆ RelBoardReturns

enum SerRelayBoard::RelBoardReturns
Enumerator
NO_ERROR 
NOT_INITIALIZED 
GENERAL_SENDING_ERROR 
TOO_LESS_BYTES_IN_QUEUE 
NO_MESSAGES 
CHECKSUM_ERROR 

Definition at line 64 of file SerRelayBoard.h.

◆ TypeLCD

enum SerRelayBoard::TypeLCD
Enumerator
LCD_20CHAR_TEXT 
LCD_60CHAR_TEXT 
RELAY_BOARD_1_4 

Definition at line 98 of file SerRelayBoard.h.

Constructor & Destructor Documentation

◆ SerRelayBoard()

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

Definition at line 43 of file SerRelayBoard.cpp.

◆ ~SerRelayBoard()

SerRelayBoard::~SerRelayBoard ( )

Definition at line 70 of file SerRelayBoard.cpp.

Member Function Documentation

◆ convDataToSendMsg()

void SerRelayBoard::convDataToSendMsg ( unsigned char  cMsg[])
protected

Definition at line 312 of file SerRelayBoard.cpp.

◆ convRecMsgToData()

bool SerRelayBoard::convRecMsgToData ( unsigned char  cMsg[])
protected

Definition at line 447 of file SerRelayBoard.cpp.

◆ evalRxBuffer()

int SerRelayBoard::evalRxBuffer ( )

Definition at line 76 of file SerRelayBoard.cpp.

◆ getAnalogIn()

int SerRelayBoard::getAnalogIn ( int *  piAnalogIn)

Definition at line 292 of file SerRelayBoard.cpp.

◆ getBatteryVoltage()

int SerRelayBoard::getBatteryVoltage ( )
inline

Definition at line 54 of file SerRelayBoard.h.

◆ getChargeCurrent()

int SerRelayBoard::getChargeCurrent ( )
inline

Definition at line 58 of file SerRelayBoard.h.

◆ getDigIn()

int SerRelayBoard::getDigIn ( )

Definition at line 307 of file SerRelayBoard.cpp.

◆ init()

bool SerRelayBoard::init ( )

Definition at line 144 of file SerRelayBoard.cpp.

◆ isEMStop()

bool SerRelayBoard::isEMStop ( )

Definition at line 181 of file SerRelayBoard.cpp.

◆ isScannerStop()

bool SerRelayBoard::isScannerStop ( )

Definition at line 194 of file SerRelayBoard.cpp.

◆ reset()

bool SerRelayBoard::reset ( )

Definition at line 159 of file SerRelayBoard.cpp.

◆ rxCharArray()

void SerRelayBoard::rxCharArray ( )
protected

◆ sendRequest()

int SerRelayBoard::sendRequest ( )

Definition at line 207 of file SerRelayBoard.cpp.

◆ setDigOut()

int SerRelayBoard::setDigOut ( int  iChannel,
bool  bOn 
)

Definition at line 231 of file SerRelayBoard.cpp.

◆ shutdown()

bool SerRelayBoard::shutdown ( )

Definition at line 170 of file SerRelayBoard.cpp.

◆ txCharArray()

void SerRelayBoard::txCharArray ( )
protected

Member Data Documentation

◆ m_bComInit

bool SerRelayBoard::m_bComInit
protected

Definition at line 170 of file SerRelayBoard.h.

◆ m_cDebugRearLeft

char SerRelayBoard::m_cDebugRearLeft[4]
protected

Definition at line 131 of file SerRelayBoard.h.

◆ m_cDebugRearRight

char SerRelayBoard::m_cDebugRearRight[4]
protected

Definition at line 127 of file SerRelayBoard.h.

◆ m_cSoftEMStop

char SerRelayBoard::m_cSoftEMStop
protected

Definition at line 126 of file SerRelayBoard.h.

◆ m_cTextDisplay

unsigned char SerRelayBoard::m_cTextDisplay[60]
protected

Definition at line 121 of file SerRelayBoard.h.

◆ m_dLastPosRearLeft

double SerRelayBoard::m_dLastPosRearLeft
protected

Definition at line 136 of file SerRelayBoard.h.

◆ m_dLastPosRearRight

double SerRelayBoard::m_dLastPosRearRight
protected

Definition at line 135 of file SerRelayBoard.h.

◆ m_iChargeCurrent

int SerRelayBoard::m_iChargeCurrent
protected

Definition at line 158 of file SerRelayBoard.h.

◆ m_iCmdRelayBoard

int SerRelayBoard::m_iCmdRelayBoard
protected

Definition at line 143 of file SerRelayBoard.h.

◆ m_iConfigRelayBoard

int SerRelayBoard::m_iConfigRelayBoard
protected

Definition at line 142 of file SerRelayBoard.h.

◆ m_iDigIn

int SerRelayBoard::m_iDigIn
protected

Definition at line 164 of file SerRelayBoard.h.

◆ m_iIOBoardDigOut

int SerRelayBoard::m_iIOBoardDigOut
protected

Definition at line 146 of file SerRelayBoard.h.

◆ m_iMotRearLeftStatus

int SerRelayBoard::m_iMotRearLeftStatus
protected

Definition at line 134 of file SerRelayBoard.h.

◆ m_iMotRearRightStatus

int SerRelayBoard::m_iMotRearRightStatus
protected

Definition at line 133 of file SerRelayBoard.h.

◆ m_iNumBytesSend

int SerRelayBoard::m_iNumBytesSend
protected

Definition at line 118 of file SerRelayBoard.h.

◆ m_iPosMeasMotRearLeftEnc

int SerRelayBoard::m_iPosMeasMotRearLeftEnc
protected

Definition at line 130 of file SerRelayBoard.h.

◆ m_iPosMeasMotRearRightEnc

int SerRelayBoard::m_iPosMeasMotRearRightEnc
protected

Definition at line 128 of file SerRelayBoard.h.

◆ m_iProtocolVersion

int SerRelayBoard::m_iProtocolVersion
protected

Definition at line 165 of file SerRelayBoard.h.

◆ m_iRelBoardAnalogIn

int SerRelayBoard::m_iRelBoardAnalogIn[4]
protected

Definition at line 161 of file SerRelayBoard.h.

◆ m_iRelBoardBattVoltage

int SerRelayBoard::m_iRelBoardBattVoltage
protected

Definition at line 159 of file SerRelayBoard.h.

◆ m_iRelBoardKeyPad

int SerRelayBoard::m_iRelBoardKeyPad
protected

Definition at line 160 of file SerRelayBoard.h.

◆ m_iRelBoardStatus

int SerRelayBoard::m_iRelBoardStatus
protected

Definition at line 157 of file SerRelayBoard.h.

◆ m_iRelBoardTempSensor

int SerRelayBoard::m_iRelBoardTempSensor
protected

Definition at line 162 of file SerRelayBoard.h.

◆ m_iTypeLCD

int SerRelayBoard::m_iTypeLCD
protected

Definition at line 119 of file SerRelayBoard.h.

◆ m_iUSBoardSensorActive

int SerRelayBoard::m_iUSBoardSensorActive
protected

Definition at line 153 of file SerRelayBoard.h.

◆ m_iVelCmdMotLeftEncS

int SerRelayBoard::m_iVelCmdMotLeftEncS
protected

Definition at line 150 of file SerRelayBoard.h.

◆ m_iVelCmdMotRearLeftEncS

int SerRelayBoard::m_iVelCmdMotRearLeftEncS
protected

Definition at line 125 of file SerRelayBoard.h.

◆ m_iVelCmdMotRearRightEncS

int SerRelayBoard::m_iVelCmdMotRearRightEncS
protected

Definition at line 124 of file SerRelayBoard.h.

◆ m_iVelCmdMotRightEncS

int SerRelayBoard::m_iVelCmdMotRightEncS
protected

Definition at line 149 of file SerRelayBoard.h.

◆ m_iVelMeasMotRearLeftEncS

int SerRelayBoard::m_iVelMeasMotRearLeftEncS
protected

Definition at line 132 of file SerRelayBoard.h.

◆ m_iVelMeasMotRearRightEncS

int SerRelayBoard::m_iVelMeasMotRearRightEncS
protected

Definition at line 129 of file SerRelayBoard.h.

◆ m_Mutex

Mutex SerRelayBoard::m_Mutex
protected

Definition at line 116 of file SerRelayBoard.h.

◆ m_NUM_BYTE_SEND

int SerRelayBoard::m_NUM_BYTE_SEND
protected

Definition at line 166 of file SerRelayBoard.h.

◆ m_SerIO

SerialIO SerRelayBoard::m_SerIO
protected

Definition at line 168 of file SerRelayBoard.h.

◆ m_sNumComPort

std::string SerRelayBoard::m_sNumComPort
protected

Definition at line 108 of file SerRelayBoard.h.

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

cob_relayboard
Author(s): Christian Connette
autogenerated on Thu Nov 17 2022 03:17:36