C++ class the CAN USB adapter USB2-F-7001. More...

#include <inc/USB2_F_7001.h>

Public Member Functions
bool	CANBusOpen ()
	Check whether the CAN bus is open or not.
bool	clearBuffers ()
	Clear buffers.
bool	closeCANBus ()
	Close the CAN bus.
USB2_F_7001_BitRate	getCANBitRate ()
	Get the current bit rate.
int	getSerialNumber ()
	Get the serial number.
int	getVersion ()
	Get the version.
bool	openCANBus (USB2_F_7001_BitRate bit_rate)
	Open the CAN bus.
bool	reset ()
	Reset.
bool	setCANBitRate (USB2_F_7001_BitRate bit_rate)
	Set the bit rate.
bool	transmitExtendedFrame (std::string *frame)
	Transmit extended frame.
bool	transmitStandardFrame (std::string *frame)
	Transmit standard frame.
	USB2_F_7001 (std::string serial_port_name, boost::function< void(std::string )> f)
	Constructor.
	~USB2_F_7001 ()
	Destructor.
Private Member Functions
void	newFrameCallback (std::string *frame)
	New CAN frame callback.
Private Attributes
USB2_F_7001_BitRate	bit_rate_
	Bit rate.
bool	open_
	CAN bus state.
boost::function< void(std::string *)	receivedFrameCallback )
	Callback function.
cereal::CerealPort	serial_port_
	Serial port.

Detailed Description

C++ class the CAN USB adapter USB2-F-7001.

This class was based on the serial port code found on the hokuyo_node as suggested by Blaise Gassend on the ros-users mailling list.

Definition at line 69 of file USB2_F_7001.h.

Constructor & Destructor Documentation

USB2_F_7001::USB2_F_7001	(	std::string *	serial_port_name,
		boost::function< void(std::string *)>	f
	)

Constructor.

Definition at line 52 of file USB2_F_7001.cpp.

USB2_F_7001::~USB2_F_7001 ( )

Destructor.

Definition at line 66 of file USB2_F_7001.cpp.

Member Function Documentation

bool USB2_F_7001::CANBusOpen ( ) [inline]

Check whether the CAN bus is open or not.

Definition at line 97 of file USB2_F_7001.h.

bool USB2_F_7001::clearBuffers ( )

Clear buffers.

Clears the USB2-F-7001 buffers.

Returns:: True is succesful, false if otherwise.

Definition at line 208 of file USB2_F_7001.cpp.

bool USB2_F_7001::closeCANBus ( )

Close the CAN bus.

This call closes the CAN bus.

Parameters:

bit_rate Bit rate of the serial port.

Definition at line 123 of file USB2_F_7001.cpp.

USB2_F_7001_BitRate USB2_F_7001::getCANBitRate ( ) [inline]

Get the current bit rate.

Definition at line 124 of file USB2_F_7001.h.

int USB2_F_7001::getSerialNumber ( )

Get the serial number.

Definition at line 283 of file USB2_F_7001.cpp.

int USB2_F_7001::getVersion ( )

Get the version.

Definition at line 275 of file USB2_F_7001.cpp.

void USB2_F_7001::newFrameCallback ( std::string * frame ) [private]

New CAN frame callback.

This function allows to receive CAn frames.

Parameters:

frame Data frame to receive.

Definition at line 290 of file USB2_F_7001.cpp.

bool USB2_F_7001::openCANBus ( USB2_F_7001_BitRate bit_rate )

Open the CAN bus.

This opens the CAN bus with the desired baud rate.

Parameters:

bit_rate Bit rate of the serial port.

Definition at line 73 of file USB2_F_7001.cpp.

bool USB2_F_7001::reset ( )

Reset.

Resets the USB2-F-7001.

Returns:: True is succesful, false if otherwise.

Definition at line 155 of file USB2_F_7001.cpp.

bool USB2_F_7001::setCANBitRate ( USB2_F_7001_BitRate bit_rate )

Set the bit rate.

Sets the USB2-F-7001 bit rate. Values are 10Kbp2 20Kbps 50Kbps 100Kbps 125Kbps 250Kbps 500Kbps 800Kbps 1000Kbps

Returns:: True is succesful, false if otherwise.

Definition at line 181 of file USB2_F_7001.cpp.

bool USB2_F_7001::transmitExtendedFrame ( std::string * frame )

Transmit extended frame.

This function allows to send an extended CAN frame.

Parameters:

frame Extended data frame to send.

Returns:: True is succesful, false if otherwise.

Definition at line 267 of file USB2_F_7001.cpp.

bool USB2_F_7001::transmitStandardFrame ( std::string * frame )

Transmit standard frame.

This function allows to send a standard CAN frame.

Parameters:

frame Standard data frame to send.

Returns:: True is succesful, false if otherwise.

Definition at line 232 of file USB2_F_7001.cpp.

Member Data Documentation

USB2_F_7001_BitRate USB2_F_7001::bit_rate_ [private]

Bit rate.

Definition at line 171 of file USB2_F_7001.h.

bool USB2_F_7001::open_ [private]

CAN bus state.

Definition at line 174 of file USB2_F_7001.h.

boost::function<void(std::string*) USB2_F_7001::receivedFrameCallback) [private]

Callback function.

Definition at line 180 of file USB2_F_7001.h.

cereal::CerealPort USB2_F_7001::serial_port_ [private]

Serial port.

Definition at line 177 of file USB2_F_7001.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation