#include <RelayBoardV2.h>

Classes
struct	Motor
struct	Recived_MSG
struct	Send_MSG
Public Types
enum	RelBoardReturns { NO_ERROR = 0, NOT_INITIALIZED = 1, GENERAL_SENDING_ERROR = 2, TOO_LESS_BYTES_IN_QUEUE = 3, NO_MESSAGES = 4, CHECKSUM_ERROR = 5, MSG_CONFIG = 6, MSG_DATA = 7 }
Public Member Functions
int	convDataToSendMsg (unsigned char cMsg[])
void	convRecMsgToData (unsigned char cMsg[])
void	disable_logging ()
void	enable_logging ()
int	evalRxBuffer ()
void	getBattVoltage (int *battvolt)
void	getChargingCurrent (int *current)
void	getChargingState (int *state)
void	getIOBoardAnalogIn (int *iAnalogIn)
void	getIOBoardDigIn (int *DigIn)
void	getIOBoardDigOut (int *DigOut)
void	getKeyPad (int *keypad)
void	getMotorEnc (int imotor_nr, long *lmotorEnc)
void	getMotorEncS (int imotor_nr, long *lmotorEncS)
void	getMotorState (int imotor_nr, int *lmotorStatus)
void	getRelayBoardDigOut (int *DigOut)
void	getRelayBoardState (int *State)
void	getTemperature (int *temp)
void	getUSBoardAnalogIn (int *piAnalogIn)
void	getUSBoardData1To8 (int *piUSDistMM)
void	getUSBoardData9To16 (int *piUSDistMM)
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	isEMStop ()
bool	isScannerStop ()
void	log_to_file (int direction, unsigned char cMsg[])
int	openSerial (const char *device, int baudrate)
	RelayBoardV2 ()
void	resetEMStop ()
int	sendDataToRelayBoard ()
void	setEMStop ()
void	setIOBoardDigOut (int iChannel, bool bVal)
void	setMotorDesiredEncS (int motor_nr, long dVel)
void	setRelayBoardDigOut (int iChannel, bool bOn)
bool	shutdownPltf ()
void	startCharging ()
void	startUSBoard (int iChannelActive)
void	stopCharging ()
void	stopUSBoard ()
void	writeLCD (const std::string &sText)
	~RelayBoardV2 ()
Private Attributes
bool	m_blogging
int	m_iChargeState
int	m_iConfigured
int	m_iFoundExtHardware
int	m_iFoundMotors
int	m_ihas_LCD_DATA
int	m_iHasIOBoard
int	m_ihasRelayData
int	m_iHasSpeakerData
int	m_iHasUSBoard
int	m_iHomedMotors
int	m_iNumBytesRec
int	m_iNumBytesSend
Motor	m_Motor [8]
Mutex	m_Mutex
Recived_MSG	m_REC_MSG
Send_MSG	m_S_MSG
SerialIO	m_SerIO

Detailed Description

Message handler class for communication with a Neobotix RelayBoardV2.

Definition at line 57 of file RelayBoardV2.h.

Member Enumeration Documentation

enum RelayBoardV2::RelBoardReturns

Enumerator:

NO_ERROR
NOT_INITIALIZED
GENERAL_SENDING_ERROR
TOO_LESS_BYTES_IN_QUEUE
NO_MESSAGES
CHECKSUM_ERROR
MSG_CONFIG
MSG_DATA

Definition at line 134 of file RelayBoardV2.h.

Constructor & Destructor Documentation

RelayBoardV2::RelayBoardV2 ( )

Definition at line 51 of file RelayBoardV2.cpp.

RelayBoardV2::~RelayBoardV2 ( )

Definition at line 95 of file RelayBoardV2.cpp.

Member Function Documentation

int RelayBoardV2::convDataToSendMsg ( unsigned char cMsg[] )

Definition at line 957 of file RelayBoardV2.cpp.

void RelayBoardV2::convRecMsgToData ( unsigned char cMsg[] )

Definition at line 793 of file RelayBoardV2.cpp.

void RelayBoardV2::disable_logging ( )

Definition at line 755 of file RelayBoardV2.cpp.

void RelayBoardV2::enable_logging ( )

Definition at line 750 of file RelayBoardV2.cpp.

int RelayBoardV2::evalRxBuffer ( )

Definition at line 100 of file RelayBoardV2.cpp.

void RelayBoardV2::getBattVoltage ( int * battvolt )

Definition at line 569 of file RelayBoardV2.cpp.

void RelayBoardV2::getChargingCurrent ( int * current )

Definition at line 578 of file RelayBoardV2.cpp.

void RelayBoardV2::getChargingState ( int * state )

Definition at line 587 of file RelayBoardV2.cpp.

void RelayBoardV2::getIOBoardAnalogIn ( int * iAnalogIn )

Definition at line 674 of file RelayBoardV2.cpp.

void RelayBoardV2::getIOBoardDigIn ( int * DigIn )

Definition at line 643 of file RelayBoardV2.cpp.

void RelayBoardV2::getIOBoardDigOut ( int * DigOut )

Definition at line 650 of file RelayBoardV2.cpp.

void RelayBoardV2::getKeyPad ( int * keypad )

Definition at line 618 of file RelayBoardV2.cpp.

void RelayBoardV2::getMotorEnc	(	int	imotor_nr,
		long *	lmotorEnc
	)

Definition at line 472 of file RelayBoardV2.cpp.

void RelayBoardV2::getMotorEncS	(	int	imotor_nr,
		long *	lmotorEncS
	)

Definition at line 482 of file RelayBoardV2.cpp.

void RelayBoardV2::getMotorState	(	int	imotor_nr,
		int *	lmotorStatus
	)

Definition at line 491 of file RelayBoardV2.cpp.

void RelayBoardV2::getRelayBoardDigOut ( int * DigOut )

Definition at line 509 of file RelayBoardV2.cpp.

void RelayBoardV2::getRelayBoardState ( int * State )

Definition at line 502 of file RelayBoardV2.cpp.

void RelayBoardV2::getTemperature ( int * temp )

Definition at line 560 of file RelayBoardV2.cpp.

void RelayBoardV2::getUSBoardAnalogIn ( int * piAnalogIn )

Definition at line 734 of file RelayBoardV2.cpp.

void RelayBoardV2::getUSBoardData1To8 ( int * piUSDistMM )

Definition at line 706 of file RelayBoardV2.cpp.

void RelayBoardV2::getUSBoardData9To16 ( int * piUSDistMM )

Definition at line 720 of file RelayBoardV2.cpp.

int RelayBoardV2::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
	)