RelayBoard_v2.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016, Neobotix GmbH
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Neobotix nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/


#ifndef SerRelayBoard_INCLUDEDEF_H
#define SerRelayBoard_INCLUDEDEF_H

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


#include <SerialIO.h>
#include <Mutex.h>
#include <StrUtil.h>
#include <DriveParam.h>


#include <vector>
#include <boost/array.hpp>

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

class RelayBoardV2
{
public:
        //Constructor
        RelayBoardV2();
        //Deconstructor
        ~RelayBoardV2();

//------------------------------Initialisation-------------------------------------------------------------------------
        int openSerial(const char* device,int baudrate); //TODO
        int init(const char* device_name, int iactive_motors, int ihoming_motors, int iext_hardware, long lModulo0, long lModulo1, long lModulo2, long lModulo3, long lModulo4, long lModulo5, long lModulo6, long lModulo7);

        bool shutdownPltf();
//-------------------------------Msg Handling--------------------------------------------------------------------------
        int evalRxBuffer();

        int sendDataToRelayBoard();

        int convDataToSendMsg(unsigned char cMsg[]);

        void convRecMsgToData(unsigned char cMsg[]);
//------------------------------Set Data for next Message--------------------------------------------------------------

        //RelayBoard
        void startCharging();
        void stopCharging();
        void setRelayBoardDigOut(int iChannel, bool bOn);       

        //Motors
        void setMotorDesiredEncS(int motor_nr, long dVel);
        
        //EM-Stop
        void setEMStop();       
        void resetEMStop();

        //LCD
        void writeLCD(const std::string& sText);

        //USBoard
        void startUSBoard(int iChannelActive);
        void stopUSBoard();

        //IOBoard
        void setIOBoardDigOut(int iChannel, bool bVal);
//------------------------------Get Data for Topics--------------------------------------------------------------------
        //EM-Stop
        bool isEMStop();
        bool isScannerStop();

        //RelayBoard Data
        void getRelayBoardState(int* State);
        void getTemperature(int* temp);
        void getBattVoltage(int* battvolt);
        void getChargingCurrent(int* current);
        void getChargingState(int* state);
        void getRelayBoardDigOut(int* DigOut);
        void getKeyPad(int* keypad);

        //Motors
        void getMotorEnc(int imotor_nr,long* lmotorEnc);
        void getMotorEncS(int imotor_nr,long* lmotorEncS);
        void getMotorState(int imotor_nr,int* lmotorStatus);
        
        //USBoard
        void getUSBoardData1To8(int* piUSDistMM);
        void getUSBoardData9To16(int* piUSDistMM);
        void getUSBoardAnalogIn(int* piAnalogIn);
        
        //IOBoard
        void getIOBoardDigIn(int* DigIn);
        void getIOBoardDigOut(int* DigOut);
        void getIOBoardAnalogIn(int* iAnalogIn);
//------------------------------Logging--------------------------------------------------------------------------------
        void enable_logging();
        void disable_logging();
        void log_to_file(int direction, unsigned char cMsg[]);  

        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,
                MSG_CONFIG = 6,
                MSG_DATA = 7
        };
private:

        SerialIO m_SerIO;

        Mutex m_Mutex;

        //Config Bits
        int m_iFoundMotors;
        int m_iHomedMotors;
        int m_iFoundExtHardware;
        int m_iConfigured;
        int m_iNumBytesRec;
        int m_iNumBytesSend;

        //data indicators
        int m_ihasRelayData;
        int m_ihas_LCD_DATA;
        int m_iHasIOBoard;
        int m_iHasUSBoard;
        int m_iHasSpeakerData; 
        int m_iChargeState;

        struct Motor
        {
                int iMotorActive;
                long lEnc;
                long lEncS;
                int iStatus;
                long ldesiredEncS;
        };
        Motor m_Motor[8];

        struct Send_MSG
        {
                int iSoftEM;
                int iCmdRelayBoard;
                char LCD_Txt[20];
                int IOBoard_Cmd;
                int USBoard_Cmd;
                int Speaker;
                int SpeakerLoud;
        };
        Send_MSG m_S_MSG;       

        struct Recived_MSG
        {
                //normal
                int iRelayBoard_Status;
                int iCharging_Current;
                int iCharging_State;
                int iBattery_Voltage;
                int iKey_Pad;
                int iTemp_Sensor;
                
                //IOBoard 
                int iIODig_In;
                int iIOAnalog_In[8];
                int iIOBoard_State;

                //USBoard
                int iUSSensor_Dist[16];
                int iUSAnalog_In[4];
                int iUSBoard_State;     
        };

        Recived_MSG m_REC_MSG;

        bool m_blogging;
};


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