#include <ArduinoDAQ_LowLevel.h>

Inheritance diagram for ArduinoDAQ_LowLevel:

Public Member Functions
	ArduinoDAQ_LowLevel ()

bool	CMD_ADC_START (const TFrameCMD_ADC_start_payload_t &enc_config)

bool	CMD_ADC_STOP ()

bool	CMD_DAC (int dac_index, double dac_value_volts)

bool	CMD_ENCODER_ABS_START (const TFrameCMD_EMS22A_start_payload_t &enc_config)

bool	CMD_ENCODER_ABS_STOP ()

bool	CMD_ENCODERS_START (const TFrameCMD_ENCODERS_start_payload_t &enc_config)

bool	CMD_ENCODERS_STOP ()

bool	CMD_GPIO_output (int pin, bool pinState)
	Sets the clutch. More...

bool	CMD_PWM (int pin_index, uint8_t pwm_value)

std::string	getSerialPort () const

bool	initialize ()

bool	iterate ()

void	set_ADC_readings_callback (const std::function< void(TFrame_ADC_readings_payload_t)> &f)

void	set_ENCODER_ABS_readings_callback (const std::function< void(TFrame_ENCODER_ABS_reading_payload_t)> &f)

void	set_ENCODERS_readings_callback (const std::function< void(TFrame_ENCODERS_readings_payload_t)> &f)

void	setSerialPort (const std::string &sSerialName)

virtual	~ArduinoDAQ_LowLevel ()

Protected Member Functions
bool	AttemptConnection ()
	Returns true if connected OK, false on error. More...

void	daqOnNewADCCallback (const TFrame_ADC_readings_payload_t &data)

void	daqOnNewENCAbsCallback (const TFrame_ENCODER_ABS_reading_payload_t &data)

void	daqOnNewENCCallback (const TFrame_ENCODERS_readings_payload_t &data)

bool	IsConnected () const
	Returns true if the serial comms are working. More...

void	processIncommingFrame (const std::vector< uint8_t > &rxFrame)

bool	ReceiveFrameFromController (std::vector< uint8_t > &rx_data)
	Tries to get a framed chunk of data from the controller. More...

bool	SendFrameAndWaitAnswer (const uint8_t *full_frame, const size_t full_frame_len, const int num_retries=10, const int retries_interval_ms=40, uint8_t expected_ans_opcode=0)
	Sends a binary packet, in the expected format (returns false on COMMS error) More...

bool	WriteBinaryFrame (const uint8_t *full_frame, const size_t full_frame_len)
	Sends a binary packet, in the expected format (returns false on COMMS error) More...

Protected Attributes
std::function< void(TFrame_ADC_readings_payload_t)>	m_adc_callback

std::function< void(TFrame_ENCODERS_readings_payload_t)>	m_enc_callback

std::function< void(TFrame_ENCODER_ABS_reading_payload_t)>	m_encabs_callback

int	m_NOP_sent_counter {0}

CSerialPort	m_serial
	The serial COMMS object. More...

int	m_serial_port_baudrate

std::string	m_serial_port_name

Detailed Description

Definition at line 59 of file ArduinoDAQ_LowLevel.h.

Constructor & Destructor Documentation

ArduinoDAQ_LowLevel::ArduinoDAQ_LowLevel ( )

Definition at line 90 of file ArduinoDAQ_LowLevel.cpp.

ArduinoDAQ_LowLevel::~ArduinoDAQ_LowLevel ( )

virtual

Definition at line 115 of file ArduinoDAQ_LowLevel.cpp.

Member Function Documentation

bool ArduinoDAQ_LowLevel::AttemptConnection ( )

protected

Returns true if connected OK, false on error.

Definition at line 434 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_ADC_START ( const TFrameCMD_ADC_start_payload_t & enc_config )

Definition at line 670 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_ADC_STOP ( )

Definition at line 678 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_DAC	(	int	dac_index,
		double	dac_value_volts
	)

Definition at line 649 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_ENCODER_ABS_START ( const TFrameCMD_EMS22A_start_payload_t & enc_config )

Definition at line 702 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_ENCODER_ABS_STOP ( )

Definition at line 710 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_ENCODERS_START ( const TFrameCMD_ENCODERS_start_payload_t & enc_config )

Definition at line 686 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_ENCODERS_STOP ( )

Definition at line 694 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_GPIO_output	(	int	pin,
		bool	pinState
	)

Sets the clutch.

Definition at line 637 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::CMD_PWM	(	int	pin_index,
		uint8_t	pwm_value
	)

Definition at line 718 of file ArduinoDAQ_LowLevel.cpp.

void ArduinoDAQ_LowLevel::daqOnNewADCCallback ( const TFrame_ADC_readings_payload_t & data )

protected

void ArduinoDAQ_LowLevel::daqOnNewENCAbsCallback ( const TFrame_ENCODER_ABS_reading_payload_t & data )

protected

void ArduinoDAQ_LowLevel::daqOnNewENCCallback ( const TFrame_ENCODERS_readings_payload_t & data )

protected

std::string ArduinoDAQ_LowLevel::getSerialPort ( ) const

inline

Definition at line 81 of file ArduinoDAQ_LowLevel.h.

bool ArduinoDAQ_LowLevel::initialize ( )

called at startup, load params from ROS launch file and attempts to connect to the USB device

Returns: false on error

Definition at line 119 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::IsConnected ( ) const

protected

Returns true if the serial comms are working.

Definition at line 665 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::iterate ( )

called when work is to be done

Definition at line 330 of file ArduinoDAQ_LowLevel.cpp.

void ArduinoDAQ_LowLevel::processIncommingFrame ( const std::vector< uint8_t > & rxFrame )

protected

Definition at line 284 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::ReceiveFrameFromController ( std::vector< uint8_t > & rx_data )

protected

Tries to get a framed chunk of data from the controller.

Definition at line 530 of file ArduinoDAQ_LowLevel.cpp.

bool ArduinoDAQ_LowLevel::SendFrameAndWaitAnswer	(	const uint8_t *	full_frame,
		const size_t	full_frame_len,
		const int	num_retries = `10`,
		const int	retries_interval_ms = `40`,
		uint8_t	expected_ans_opcode = `0`
	)

protected

Sends a binary packet, in the expected format (returns false on COMMS error)

Definition at line 488 of file ArduinoDAQ_LowLevel.cpp.

void ArduinoDAQ_LowLevel::set_ADC_readings_callback ( const std::function< void(TFrame_ADC_readings_payload_t)> & f )

inline

Definition at line 102 of file ArduinoDAQ_LowLevel.h.

void ArduinoDAQ_LowLevel::set_ENCODER_ABS_readings_callback ( const std::function< void(TFrame_ENCODER_ABS_reading_payload_t)> & f )

inline

Definition at line 108 of file ArduinoDAQ_LowLevel.h.

void ArduinoDAQ_LowLevel::set_ENCODERS_readings_callback ( const std::function< void(TFrame_ENCODERS_readings_payload_t)> & f )

inline

Definition at line 105 of file ArduinoDAQ_LowLevel.h.

void ArduinoDAQ_LowLevel::setSerialPort ( const std::string & sSerialName )

inline

Definition at line 78 of file ArduinoDAQ_LowLevel.h.

bool ArduinoDAQ_LowLevel::WriteBinaryFrame	(	const uint8_t *	full_frame,
		const size_t	full_frame_len
	)

protected

Sends a binary packet, in the expected format (returns false on COMMS error)

Sends a binary packet (returns false on COMMS error)

Definition at line 457 of file ArduinoDAQ_LowLevel.cpp.

Member Data Documentation

std::function<void(TFrame_ADC_readings_payload_t)> ArduinoDAQ_LowLevel::m_adc_callback

protected

Definition at line 133 of file ArduinoDAQ_LowLevel.h.

std::function<void(TFrame_ENCODERS_readings_payload_t)> ArduinoDAQ_LowLevel::m_enc_callback

protected

Definition at line 134 of file ArduinoDAQ_LowLevel.h.

std::function<void(TFrame_ENCODER_ABS_reading_payload_t)> ArduinoDAQ_LowLevel::m_encabs_callback

protected

Definition at line 135 of file ArduinoDAQ_LowLevel.h.

int ArduinoDAQ_LowLevel::m_NOP_sent_counter {0}

protected

Definition at line 117 of file ArduinoDAQ_LowLevel.h.

CSerialPort ArduinoDAQ_LowLevel::m_serial

protected

The serial COMMS object.

Definition at line 116 of file ArduinoDAQ_LowLevel.h.

int ArduinoDAQ_LowLevel::m_serial_port_baudrate

protected

Definition at line 115 of file ArduinoDAQ_LowLevel.h.

std::string ArduinoDAQ_LowLevel::m_serial_port_name

protected

Definition at line 114 of file ArduinoDAQ_LowLevel.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation