SerRelayBoard Class Reference

#include <SerRelayBoard.h>

List of all members.

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 68 of file SerRelayBoard.h.

---

Member Enumeration Documentation

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 110 of file SerRelayBoard.h.

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 124 of file SerRelayBoard.h.

enum SerRelayBoard::RelBoardReturns

Enumerator:

NO_ERROR
NOT_INITIALIZED
GENERAL_SENDING_ERROR
TOO_LESS_BYTES_IN_QUEUE
NO_MESSAGES
CHECKSUM_ERROR

Definition at line 100 of file SerRelayBoard.h.

enum SerRelayBoard::TypeLCD

Enumerator:

LCD_20CHAR_TEXT
LCD_60CHAR_TEXT
RELAY_BOARD_1_4

Definition at line 134 of file SerRelayBoard.h.

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Constructor & Destructor Documentation

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

Definition at line 80 of file SerRelayBoard.cpp.

SerRelayBoard::~SerRelayBoard

(

)

Definition at line 107 of file SerRelayBoard.cpp.

---

Member Function Documentation

void SerRelayBoard::convDataToSendMsg

(

unsigned char

cMsg[]

)

[protected]

Definition at line 349 of file SerRelayBoard.cpp.

bool SerRelayBoard::convRecMsgToData

(

unsigned char

cMsg[]

)

[protected]

Definition at line 484 of file SerRelayBoard.cpp.

int SerRelayBoard::evalRxBuffer

(

)

Definition at line 113 of file SerRelayBoard.cpp.

int SerRelayBoard::getAnalogIn

(

int *

piAnalogIn

)

Definition at line 329 of file SerRelayBoard.cpp.

int SerRelayBoard::getBatteryVoltage

(

)

[inline]

Definition at line 90 of file SerRelayBoard.h.

int SerRelayBoard::getChargeCurrent

(

)

[inline]

Definition at line 94 of file SerRelayBoard.h.

int SerRelayBoard::getDigIn

(

)

Definition at line 344 of file SerRelayBoard.cpp.

bool SerRelayBoard::init

(

)

Definition at line 181 of file SerRelayBoard.cpp.

bool SerRelayBoard::isEMStop

(

)

Definition at line 218 of file SerRelayBoard.cpp.

bool SerRelayBoard::isScannerStop

(

)

Definition at line 231 of file SerRelayBoard.cpp.

bool SerRelayBoard::reset

(

)

Definition at line 196 of file SerRelayBoard.cpp.

void SerRelayBoard::rxCharArray

(

)

[protected]

int SerRelayBoard::sendRequest

(

)

Definition at line 244 of file SerRelayBoard.cpp.

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

Definition at line 268 of file SerRelayBoard.cpp.

bool SerRelayBoard::shutdown

(

)

Definition at line 207 of file SerRelayBoard.cpp.

void SerRelayBoard::txCharArray

(

)

[protected]

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Member Data Documentation

bool SerRelayBoard::m_bComInit [protected]

Definition at line 206 of file SerRelayBoard.h.

char SerRelayBoard::m_cDebugRearLeft[4] [protected]

Definition at line 167 of file SerRelayBoard.h.

char SerRelayBoard::m_cDebugRearRight[4] [protected]

Definition at line 163 of file SerRelayBoard.h.

char SerRelayBoard::m_cSoftEMStop [protected]

Definition at line 162 of file SerRelayBoard.h.

unsigned char SerRelayBoard::m_cTextDisplay[60] [protected]

Definition at line 157 of file SerRelayBoard.h.

double SerRelayBoard::m_dLastPosRearLeft [protected]

Definition at line 172 of file SerRelayBoard.h.

double SerRelayBoard::m_dLastPosRearRight [protected]

Definition at line 171 of file SerRelayBoard.h.

int SerRelayBoard::m_iChargeCurrent [protected]

Definition at line 194 of file SerRelayBoard.h.

int SerRelayBoard::m_iCmdRelayBoard [protected]

Definition at line 179 of file SerRelayBoard.h.

int SerRelayBoard::m_iConfigRelayBoard [protected]

Definition at line 178 of file SerRelayBoard.h.

int SerRelayBoard::m_iDigIn [protected]

Definition at line 200 of file SerRelayBoard.h.

int SerRelayBoard::m_iIOBoardDigOut [protected]

Definition at line 182 of file SerRelayBoard.h.

int SerRelayBoard::m_iMotRearLeftStatus [protected]

Definition at line 170 of file SerRelayBoard.h.

int SerRelayBoard::m_iMotRearRightStatus [protected]

Definition at line 169 of file SerRelayBoard.h.

int SerRelayBoard::m_iNumBytesSend [protected]

Definition at line 154 of file SerRelayBoard.h.

int SerRelayBoard::m_iPosMeasMotRearLeftEnc [protected]

Definition at line 166 of file SerRelayBoard.h.

int SerRelayBoard::m_iPosMeasMotRearRightEnc [protected]

Definition at line 164 of file SerRelayBoard.h.

int SerRelayBoard::m_iProtocolVersion [protected]

Definition at line 201 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardAnalogIn[4] [protected]

Definition at line 197 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardBattVoltage [protected]

Definition at line 195 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardKeyPad [protected]

Definition at line 196 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardStatus [protected]

Definition at line 193 of file SerRelayBoard.h.

int SerRelayBoard::m_iRelBoardTempSensor [protected]

Definition at line 198 of file SerRelayBoard.h.

int SerRelayBoard::m_iTypeLCD [protected]

Definition at line 155 of file SerRelayBoard.h.

int SerRelayBoard::m_iUSBoardSensorActive [protected]

Definition at line 189 of file SerRelayBoard.h.

int SerRelayBoard::m_iVelCmdMotLeftEncS [protected]

Definition at line 186 of file SerRelayBoard.h.

int SerRelayBoard::m_iVelCmdMotRearLeftEncS [protected]

Definition at line 161 of file SerRelayBoard.h.

int SerRelayBoard::m_iVelCmdMotRearRightEncS [protected]

Definition at line 160 of file SerRelayBoard.h.

int SerRelayBoard::m_iVelCmdMotRightEncS [protected]

Definition at line 185 of file SerRelayBoard.h.

int SerRelayBoard::m_iVelMeasMotRearLeftEncS [protected]

Definition at line 168 of file SerRelayBoard.h.

int SerRelayBoard::m_iVelMeasMotRearRightEncS [protected]

Definition at line 165 of file SerRelayBoard.h.

Mutex SerRelayBoard::m_Mutex [protected]

Definition at line 152 of file SerRelayBoard.h.

int SerRelayBoard::m_NUM_BYTE_SEND [protected]

Definition at line 202 of file SerRelayBoard.h.

SerialIO SerRelayBoard::m_SerIO [protected]

Definition at line 204 of file SerRelayBoard.h.

std::string SerRelayBoard::m_sNumComPort [protected]

Definition at line 144 of file SerRelayBoard.h.

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

• SerRelayBoard.h
• SerRelayBoard.cpp