segway Namespace Reference

Classes
struct	CrcTable
class	FaultPacking
class	Logger
class	Rmp440LEInterface
struct	RmpConfigurationCommand
class	RmpConfigurationCommandSet
class	RmpFault
class	RmpInterface
class	RmpTransport
class	RmpUdp
class	RmpUsb
Typedefs
typedef std::vector< uint8_t >	Bytes
typedef std::vector< std::string >	FaultDecodeList
typedef std::vector< FaultPacking >	FaultPackingList
typedef std::vector< std::string >	FaultStatusDescription
typedef std::vector < UserDefinedFeedbackType >	FeedbackTypeList
Enumerations
enum	FaultGroup {   TRANSIENT = 0, CRITICAL, COMM, SENSORS,   BSA, MCU, ARCHITECTURE, INTERNAL }
enum	LogLevel {   DEBUG = 0, INFO, WARNING, ERROR,   FATAL }
enum	OperationalState {   CCU_INIT = 0, INIT_PROPULSION, CHECK_STARTUP_ISSUES, STANDBY_MODE,   TRACTOR_MODE, DISABLE_POWER }
enum	RmpAudioSong {   MOTOR_AUDIO_PLAY_NO_SONG = 0, MOTOR_AUDIO_PLAY_POWER_ON_SONG, MOTOR_AUDIO_PLAY_POWER_OFF_SONG, MOTOR_AUDIO_PLAY_ALARM_SONG,   MOTOR_AUDIO_PLAY_MODE_UP_SONG, MOTOR_AUDIO_PLAY_MODE_DOWN_SONG, MOTOR_AUDIO_PLAY_ENTER_ALARM_SONG, MOTOR_AUDIO_PLAY_EXIT_ALARM_SONG,   MOTOR_AUDIO_PLAY_FINAL_SHUTDOWN_SONG, MOTOR_AUDIO_PLAY_CORRECT_ISSUE, MOTOR_AUDIO_PLAY_ISSUE_CORRECTED, MOTOR_AUDIO_PLAY_CORRECT_ISSUE_REPEATING,   MOTOR_AUDIO_PLAY_BEGINNER_ACK, MOTOR_AUDIO_PLAY_EXPERT_ACK, MOTOR_AUDIO_ENTER_FOLLOW, MOTOR_AUDIO_TEST_SWEEP,   MOTOR_AUDIO_SIMULATE_MOTOR_NOISE }
enum	RmpConfigurationCommandId {   CONFIG_CMD_ID_NONE = 0, CONFIG_CMD_ID_SET_MAXIMUM_VELOCITY, CONFIG_CMD_ID_SET_MAXIMUM_ACCELERATION, CONFIG_CMD_ID_SET_MAXIMUM_DECELERATION,   CONFIG_CMD_ID_SET_DTZ_DECEL_RATE, CONFIG_CMD_ID_SET_COASTDOAN_ACCEL, CONFIG_CMD_ID_SET_MAXIMUM_TURN_RATE, CONFIG_CMD_ID_SET_MAXIMUM_TURN_ACCEL,   CONFIG_CMD_ID_SET_TIRE_DIAMETER, CONFIG_CMD_ID_SET_WHEEL_BASE_LENGTH, CONFIG_CMD_ID_SET_WHEEL_TRACK_WIDTH, CONFIG_CMD_ID_SET_TRANSMISSION_RATIO,   CONFIG_CMD_ID_SET_INPUT_CONFIG_BITMAP, CONFIG_CMD_ID_SET_ETH_IP_ADDRESS, CONFIG_CMD_ID_SET_ETH_PORT_NUMBER, CONFIG_CMD_ID_SET_ETH_SUBNET_MASK,   CONFIG_CMD_ID_SET_GATEWAY, CONFIG_CMD_ID_SET_USER_FB_1_BITMAP, CONFIG_CMD_ID_SET_USER_FB_2_BITMAP, CONFIG_CMD_ID_SET_USER_FB_3_BITMAP,   CONFIG_CMD_ID_SET_USER_FB_4_BITMAP, CONFIG_CMD_ID_FORCE_CONFIG_FEEDBACK_BITMAPS = 30, CONFIG_CMD_ID_SET_AUDIO_COMMAND, CONFIG_CMD_ID_SET_OPERATIONAL_MODE,   CONFIG_CMD_ID_SEND_SP_FAULT_LOG, CONFIG_CMD_ID_RESET_INTEGRATORS, CONFIG_CMD_ID_RESET_PARAMS_TO_DEFAULT }
enum	RmpMessageId { STANDARD_MOTION = 0x500, CONFIGURATION_CMD, CAN_RMP_RESP, OMNI_MOTION = 0x600 }
enum	RmpOperationalModeRequest {   DISABLE_REQUEST = 1, POWERDOWN_REQUEST, DTZ_REQUEST, STANDBY_REQUEST,   TRACTOR_REQUEST }
enum	RmpResetIntegrator {   RESET_LINEAR_POSITION = 0x00000001, RESET_RIGHT_FRONT_POSITION = 0x00000002, RESET_LEFT_FRONT_POSITION = 0x00000004, RESET_RIGHT_REAR_POSITION = 0x00000008,   RESET_LEFT_REAR_POSITION = 0x00000010, RESET_ALL_POSITION_DATA = 0x0000001F }
enum	UserDefinedFeedbackBitmapType { USER_DEFINED_FEEDBACK_BITMAP_1 = 0, USER_DEFINED_FEEDBACK_BITMAP_2, USER_DEFINED_FEEDBACK_BITMAP_3, USER_DEFINED_FEEDBACK_BITMAP_4 }
enum	UserDefinedFeedbackType {   NO_FEEDBACK = 0xFFFFFFFF, INVALID_FEEDBACK = 0xFFFFFFFE, FAULT_STATUS_WORD_1 = 0, FAULT_STATUS_WORD_2,   FAULT_STATUS_WORD_3, FAULT_STATUS_WORD_4, MCU_0_FAULT_STATUS, MCU_1_FAULT_STATUS,   MCU_2_FAULT_STATUS, MCU_3_FAULT_STATUS, FRAME_COUNT, OPERATIONAL_STATE,   DYNAMIC_RESPONSE, MIN_PROPULSION_BATT_SOC, AUX_BATT_SOC, INERTIAL_X_ACC_G,   INERTIAL_Y_ACC_G, INERTIAL_X_RATE_RPS, INERTIAL_Y_RATE_RPS, INERTIAL_Z_RATE_RPS,   PSE_PITCH_DEG, PSE_PITCH_RATE_DPS, PSE_ROLL_DEG, PSE_ROLL_RATE_DPS,   PSE_YAW_RATE_DPS, PSE_DATA_IS_VALID, YAW_RATE_LIMIT_RPS, VEL_LIMIT_MPS,   LINEAR_ACCEL_MSP2, LINEAR_VEL_MPS, DIFFERENTIAL_WHEEL_VEL_RPS, RIGHT_FRONT_VEL_MPS,   LEFT_FRONT_VEL_MPS, RIGHT_REAR_VEL_MPS, LEFT_REAR_VEL_MPS, RIGHT_FRONT_POS_M,   LEFT_FRONT_POS_M, RIGHT_REAR_POS_M, LEFT_REAR_POS_M, LINEAR_POS_M,   RIGHT_FRONT_CURRENT_A0PK, LEFT_FRONT_CURRENT_A0PK, RIGHT_REAR_CURRENT_A0PK, LEFT_REAR_CURRENT_A0PK,   MAX_MOTOR_CURRENT_A0PK, RIGHT_FRONT_CURRENT_LIMIT_A0PK, LEFT_FRONT_CURRENT_LIMIT_A0PK, RIGHT_REAR_CURRENT_LIMIT_A0PK,   LEFT_REAR_CURRENT_LIMIT_A0PK, MIN_MOTOR_CURRENT_LIMIT_A0PK, FRONT_BASE_BATT_1_SOC, FRONT_BASE_BATT_2_SOC,   REAR_BASE_BATT_1_SOC, REAR_BASE_BATT_2_SOC, FRONT_BASE_BATT_1_TEMP_DEGC, FRONT_BASE_BATT_2_TEMP_DEGC,   REAR_BASE_BATT_1_TEMP_DEGC, REAR_BASE_BATT_2_TEMP_DEGC, VEL_TARGET_MPS, YAW_RATE_TARGET_RPS,   ANGLE_TARGET_DEG, AUX_BATT_VOLTAGE_V, AUX_BATT_CURRENT_A, AUX_BATT_TEMP_DEGC,   ABB_SYSTEM_STATUS, AUX_BATT_STATUS, AUX_BATT_FAULTS, P72V_BATTERY_VOLTAGE,   SP_SW_BUILD_ID, UIP_SW_BUILD_ID, MCU_0_INST_POWER_W, MCU_1_INST_POWER_W,   MCU_2_INST_POWER_W, MCU_3_INST_POWER_W, MCU_0_TOTAL_ENERGY_WH, MCU_1_TOTAL_ENERGY_WH,   MCU_2_TOTAL_ENERGY_WH, MCU_3_TOTAL_ENERGY_WH, FRAM_VEL_LIMIT_MPS, FRAM_ACCEL_LIMIT_MPS2,   FRAM_DECEL_LIMIT_MPS2, FRAM_DTZ_DECEL_LIMIT_MPS2, FRAM_COASTDOWN_DECEL_MPS2, FRAM_YAW_RATE_LIMIT_RPS,   FRAM_YAW_ACCEL_LIMIT_RPS2, FRAM_TIRE_DIAMETER_M, FRAM_WHEEL_BASE_LENGTH_M, FRAM_WHEEL_TRACK_WIDTH_M,   FRAM_TRANSMISSION_RATIO, FRAM_CONFIG_BITMAP, FRAM_ETH_IP_ADDRESS, FRAM_ETH_PORT_NUMBER,   FRAM_ETH_SUBNET_MASK, FRAM_ETH_GATEWAY, USER_FEEDBACK_BITMAP_1, USER_FEEDBACK_BITMAP_2,   USER_FEEDBACK_BITMAP_3, USER_FEEDBACK_BITMAP_4 }
Functions
void	AppendCrc16 (Bytes &rBytes)
uint16_t	ConvertBytesToUint16 (const uint8_t *pByte, size_t size)
uint32_t	ConvertBytesToUint32 (const uint8_t *pByte, size_t size)
void	ConvertCommandToBytes (uint16_t commandId, uint32_t value1, uint32_t value2, Bytes &rBytes)
uint32_t	ConvertFloatToUint32 (float data)
void	ConvertUint16ToBytes (const uint16_t &rData, uint8_t *pByte, size_t size)
void	ConvertUint32ToBytes (const uint32_t &rData, uint8_t *pByte, size_t size)
float	ConvertUint32ToFloat (uint32_t data)
uint16_t	GetCrc (Bytes &rBytes, size_t size)
std::string	GetLogLevelString (LogLevel level)
void	InitializeFaultDecodeList (FaultDecodeList &rDecodeList, unsigned int argumentCount,...)
bool	IsCrcValid (Bytes &rBytes, size_t size)
Variables
static const unsigned int	BAUD_RATE = 115200
static const unsigned int	CHARACTER_SIZE = 8
static const uint16_t	CRC_ADJUSTMENT = 0xA001
static const size_t	CRC_FEEDBACK_SIZE = sizeof(uint32_t)
static const size_t	CRC_SIZE = sizeof(uint16_t)
static const size_t	CRC_TABLE_SIZE = 256
static const size_t	FEEDBACK_TYPE_NBR = 4
static const size_t	FORCE_CONFIG_FEEDBACK_1_IDX = 16
static const size_t	FORCE_CONFIG_FEEDBACK_2_IDX = 17
static const size_t	FORCE_CONFIG_FEEDBACK_3_IDX = 18
static const size_t	FORCE_CONFIG_FEEDBACK_4_IDX = 19
static const size_t	MAX_ENTRIES_PER_FEEDBACK = 32
static const size_t	MAX_FEEDBACK_ENTRIES = FEEDBACK_TYPE_NBR * MAX_ENTRIES_PER_FEEDBACK
static const size_t	MAX_RCV_SIZE = 1024
static const size_t	MAX_TRIAL_NBR = 7
static const uint32_t	NO_FAULT = 0x00000000
static const size_t	NVM_CONFIG_PARAM_NBR = 20
static const size_t	NVM_CONFIG_PARAM_SIZE = NVM_CONFIG_PARAM_NBR * sizeof(uint32_t)
static const uint32_t	PSE1_VALID = 0x00000001
static const uint32_t	PSE2_VALID = 0x00000002
static const uint32_t	PSE_VALID = PSE1_VALID | PSE2_VALID
static const size_t	RMP_CMD_BODY_SIZE = sizeof(uint16_t) + 2 * sizeof(uint32_t)
static const size_t	RMP_CMD_HEADER_IDX = 0
static const size_t	RMP_CMD_VAL1_IDX = sizeof(uint16_t)
static const size_t	RMP_CMD_VAL2_IDX = sizeof(uint16_t) + sizeof(uint32_t)
static boost::mutex	s_Mutex
static const long	TIMEOUT = 30

---

Detailed Description

Please read the rmp user manual (for instance, page 53 of the RMP 440LE manual)

---

Typedef Documentation

typedef std::vector<uint8_t> segway::Bytes

Definition at line 46 of file RmpType.h.

typedef std::vector<std::string> segway::FaultDecodeList

Definition at line 158 of file RmpFault.h.

typedef std::vector<FaultPacking> segway::FaultPackingList

Definition at line 156 of file RmpFault.h.

typedef std::vector<std::string> segway::FaultStatusDescription

Definition at line 53 of file RmpFault.h.

typedef std::vector<UserDefinedFeedbackType> segway::FeedbackTypeList

Definition at line 157 of file RmpFault.h.

---

Enumeration Type Documentation

enum segway::FaultGroup

Define fault group type Please read the rmp user manual (for instance, page 73 of the RMP 440LE manual)

Enumerator:

TRANSIENT
CRITICAL
COMM
SENSORS
BSA
MCU
ARCHITECTURE
INTERNAL

Definition at line 59 of file RmpFault.h.

enum segway::LogLevel

Descibe the severity level of the log

Enumerator:

DEBUG
INFO
WARNING
ERROR
FATAL

Definition at line 52 of file RmpLogger.h.

enum segway::OperationalState

Define Operational States Please read the rmp user manual (for instance, page 61 of the RMP 440LE manual)

Enumerator:

CCU_INIT
INIT_PROPULSION
CHECK_STARTUP_ISSUES
STANDBY_MODE
TRACTOR_MODE
DISABLE_POWER

Definition at line 79 of file RmpUserDefinedFeedbackType.h.

enum segway::RmpAudioSong

Define Audio Songs Please read the rmp user manual (for instance, page 51 of the RMP 440LE manual)

Enumerator:

MOTOR_AUDIO_PLAY_NO_SONG
MOTOR_AUDIO_PLAY_POWER_ON_SONG
MOTOR_AUDIO_PLAY_POWER_OFF_SONG
MOTOR_AUDIO_PLAY_ALARM_SONG
MOTOR_AUDIO_PLAY_MODE_UP_SONG
MOTOR_AUDIO_PLAY_MODE_DOWN_SONG
MOTOR_AUDIO_PLAY_ENTER_ALARM_SONG
MOTOR_AUDIO_PLAY_EXIT_ALARM_SONG
MOTOR_AUDIO_PLAY_FINAL_SHUTDOWN_SONG
MOTOR_AUDIO_PLAY_CORRECT_ISSUE
MOTOR_AUDIO_PLAY_ISSUE_CORRECTED
MOTOR_AUDIO_PLAY_CORRECT_ISSUE_REPEATING
MOTOR_AUDIO_PLAY_BEGINNER_ACK
MOTOR_AUDIO_PLAY_EXPERT_ACK
MOTOR_AUDIO_ENTER_FOLLOW
MOTOR_AUDIO_TEST_SWEEP
MOTOR_AUDIO_SIMULATE_MOTOR_NOISE

Definition at line 98 of file RmpConfigurationCommand.h.

enum segway::RmpConfigurationCommandId

Define Rmp Configuration Command Ids Please read the rmp user manual (for instance, page 53 of the RMP 440LE manual)

Enumerator:

CONFIG_CMD_ID_NONE
CONFIG_CMD_ID_SET_MAXIMUM_VELOCITY
CONFIG_CMD_ID_SET_MAXIMUM_ACCELERATION
CONFIG_CMD_ID_SET_MAXIMUM_DECELERATION
CONFIG_CMD_ID_SET_DTZ_DECEL_RATE
CONFIG_CMD_ID_SET_COASTDOAN_ACCEL
CONFIG_CMD_ID_SET_MAXIMUM_TURN_RATE
CONFIG_CMD_ID_SET_MAXIMUM_TURN_ACCEL
CONFIG_CMD_ID_SET_TIRE_DIAMETER
CONFIG_CMD_ID_SET_WHEEL_BASE_LENGTH
CONFIG_CMD_ID_SET_WHEEL_TRACK_WIDTH
CONFIG_CMD_ID_SET_TRANSMISSION_RATIO
CONFIG_CMD_ID_SET_INPUT_CONFIG_BITMAP
CONFIG_CMD_ID_SET_ETH_IP_ADDRESS
CONFIG_CMD_ID_SET_ETH_PORT_NUMBER
CONFIG_CMD_ID_SET_ETH_SUBNET_MASK
CONFIG_CMD_ID_SET_GATEWAY
CONFIG_CMD_ID_SET_USER_FB_1_BITMAP
CONFIG_CMD_ID_SET_USER_FB_2_BITMAP
CONFIG_CMD_ID_SET_USER_FB_3_BITMAP
CONFIG_CMD_ID_SET_USER_FB_4_BITMAP
CONFIG_CMD_ID_FORCE_CONFIG_FEEDBACK_BITMAPS
CONFIG_CMD_ID_SET_AUDIO_COMMAND
CONFIG_CMD_ID_SET_OPERATIONAL_MODE
CONFIG_CMD_ID_SEND_SP_FAULT_LOG
CONFIG_CMD_ID_RESET_INTEGRATORS
CONFIG_CMD_ID_RESET_PARAMS_TO_DEFAULT

Definition at line 50 of file RmpConfigurationCommand.h.

enum segway::RmpMessageId

Define Rmp Message Ids Please read the rmp user manual (for instance, page 38 of the RMP 440LE manual)

Enumerator:

STANDARD_MOTION
CONFIGURATION_CMD
CAN_RMP_RESP
OMNI_MOTION

Definition at line 48 of file RmpMessage.h.

enum segway::RmpOperationalModeRequest

Define Rmp Operational Mode Requests Please read the rmp user manual (for instance, page 51 of the RMP 440LE manual)

Enumerator:

DISABLE_REQUEST
POWERDOWN_REQUEST
DTZ_REQUEST
STANDBY_REQUEST
TRACTOR_REQUEST

Definition at line 85 of file RmpConfigurationCommand.h.

enum segway::RmpResetIntegrator

Define Reset Integrator Bitmaps Please read the rmp user manual (for instance, page 52 of the RMP 440LE manual)

Enumerator:

RESET_LINEAR_POSITION
RESET_RIGHT_FRONT_POSITION
RESET_LEFT_FRONT_POSITION
RESET_RIGHT_REAR_POSITION
RESET_LEFT_REAR_POSITION
RESET_ALL_POSITION_DATA

Definition at line 123 of file RmpConfigurationCommand.h.

enum segway::UserDefinedFeedbackBitmapType

Define User Defined Feedback Bitmap Types Please read the rmp user manual (for instance, page 53 of the RMP 440LE manual)

Enumerator:

USER_DEFINED_FEEDBACK_BITMAP_1
USER_DEFINED_FEEDBACK_BITMAP_2
USER_DEFINED_FEEDBACK_BITMAP_3
USER_DEFINED_FEEDBACK_BITMAP_4

Definition at line 67 of file RmpUserDefinedFeedbackType.h.

enum segway::UserDefinedFeedbackType

Define User Defined Feedback Types Please read the rmp user manual (for instance, page 61 of the RMP 440LE manual)

Enumerator:

NO_FEEDBACK
INVALID_FEEDBACK
FAULT_STATUS_WORD_1
FAULT_STATUS_WORD_2
FAULT_STATUS_WORD_3
FAULT_STATUS_WORD_4
MCU_0_FAULT_STATUS
MCU_1_FAULT_STATUS
MCU_2_FAULT_STATUS
MCU_3_FAULT_STATUS
FRAME_COUNT
OPERATIONAL_STATE
DYNAMIC_RESPONSE
MIN_PROPULSION_BATT_SOC
AUX_BATT_SOC
INERTIAL_X_ACC_G
INERTIAL_Y_ACC_G
INERTIAL_X_RATE_RPS
INERTIAL_Y_RATE_RPS
INERTIAL_Z_RATE_RPS
PSE_PITCH_DEG
PSE_PITCH_RATE_DPS
PSE_ROLL_DEG
PSE_ROLL_RATE_DPS
PSE_YAW_RATE_DPS
PSE_DATA_IS_VALID
YAW_RATE_LIMIT_RPS
VEL_LIMIT_MPS
LINEAR_ACCEL_MSP2
LINEAR_VEL_MPS
DIFFERENTIAL_WHEEL_VEL_RPS
RIGHT_FRONT_VEL_MPS
LEFT_FRONT_VEL_MPS
RIGHT_REAR_VEL_MPS
LEFT_REAR_VEL_MPS
RIGHT_FRONT_POS_M
LEFT_FRONT_POS_M
RIGHT_REAR_POS_M
LEFT_REAR_POS_M
LINEAR_POS_M
RIGHT_FRONT_CURRENT_A0PK
LEFT_FRONT_CURRENT_A0PK
RIGHT_REAR_CURRENT_A0PK
LEFT_REAR_CURRENT_A0PK
MAX_MOTOR_CURRENT_A0PK
RIGHT_FRONT_CURRENT_LIMIT_A0PK
LEFT_FRONT_CURRENT_LIMIT_A0PK
RIGHT_REAR_CURRENT_LIMIT_A0PK
LEFT_REAR_CURRENT_LIMIT_A0PK
MIN_MOTOR_CURRENT_LIMIT_A0PK
FRONT_BASE_BATT_1_SOC
FRONT_BASE_BATT_2_SOC
REAR_BASE_BATT_1_SOC
REAR_BASE_BATT_2_SOC
FRONT_BASE_BATT_1_TEMP_DEGC
FRONT_BASE_BATT_2_TEMP_DEGC
REAR_BASE_BATT_1_TEMP_DEGC
REAR_BASE_BATT_2_TEMP_DEGC
VEL_TARGET_MPS
YAW_RATE_TARGET_RPS
ANGLE_TARGET_DEG
AUX_BATT_VOLTAGE_V
AUX_BATT_CURRENT_A
AUX_BATT_TEMP_DEGC
ABB_SYSTEM_STATUS
AUX_BATT_STATUS
AUX_BATT_FAULTS
P72V_BATTERY_VOLTAGE
SP_SW_BUILD_ID
UIP_SW_BUILD_ID
MCU_0_INST_POWER_W
MCU_1_INST_POWER_W
MCU_2_INST_POWER_W
MCU_3_INST_POWER_W
MCU_0_TOTAL_ENERGY_WH
MCU_1_TOTAL_ENERGY_WH
MCU_2_TOTAL_ENERGY_WH
MCU_3_TOTAL_ENERGY_WH
FRAM_VEL_LIMIT_MPS
FRAM_ACCEL_LIMIT_MPS2
FRAM_DECEL_LIMIT_MPS2
FRAM_DTZ_DECEL_LIMIT_MPS2
FRAM_COASTDOWN_DECEL_MPS2
FRAM_YAW_RATE_LIMIT_RPS
FRAM_YAW_ACCEL_LIMIT_RPS2
FRAM_TIRE_DIAMETER_M
FRAM_WHEEL_BASE_LENGTH_M
FRAM_WHEEL_TRACK_WIDTH_M
FRAM_TRANSMISSION_RATIO
FRAM_CONFIG_BITMAP
FRAM_ETH_IP_ADDRESS
FRAM_ETH_PORT_NUMBER
FRAM_ETH_SUBNET_MASK
FRAM_ETH_GATEWAY
USER_FEEDBACK_BITMAP_1
USER_FEEDBACK_BITMAP_2
USER_FEEDBACK_BITMAP_3
USER_FEEDBACK_BITMAP_4

Definition at line 93 of file RmpUserDefinedFeedbackType.h.

---

Function Documentation

void segway::AppendCrc16

(

Bytes &

rBytes

)

[inline]

Append checksum at the end of byte vector

Parameters:

rBytes

byte vector

Definition at line 245 of file RmpHelper.h.

uint16_t segway::ConvertBytesToUint16	(	const uint8_t *	pByte,
		size_t	size
	)		[inline]

Convert a byte array to a 16 bits unsigned integer

Parameters:

pByte	byte array
size	size of the array

Returns:

16 bits unsigned integer

Definition at line 94 of file RmpHelper.h.

uint32_t segway::ConvertBytesToUint32	(	const uint8_t *	pByte,
		size_t	size
	)		[inline]

Convert a byte array to a 32 bits unsigned integer

Parameters:

pByte	byte array
size	size of the array

Returns:

32 bits unsigned integer

Definition at line 108 of file RmpHelper.h.

void segway::ConvertCommandToBytes	(	uint16_t	commandId,
		uint32_t	value1,
		uint32_t	value2,
		Bytes &	rBytes
	)		[inline]

Convert a rmp command to a byte vector

Parameters:

commandId	command id
value1	first value
value2	second value
rBytes	returned byte vector

Definition at line 145 of file RmpHelper.h.

uint32_t segway::ConvertFloatToUint32

(

float

data

)

[inline]

Convert a float to a 32 bits unsigned integer

Parameters:

data

float

Returns:

32 bits unsigned integer

Definition at line 123 of file RmpHelper.h.

void segway::ConvertUint16ToBytes	(	const uint16_t &	rData,
		uint8_t *	pByte,
		size_t	size
	)		[inline]

Convert a 16 bits unsigned integer to a byte array

Parameters:

rData	data to convert
pByte	byte array (should already be allocated)
size	size of the array

Definition at line 64 of file RmpHelper.h.

void segway::ConvertUint32ToBytes	(	const uint32_t &	rData,
		uint8_t *	pByte,
		size_t	size
	)		[inline]

Convert a 32 bits unsigned integer to a byte array

Parameters:

rData	data to convert
pByte	byte array (should already be allocated)
size	size of the array

Definition at line 78 of file RmpHelper.h.

float segway::ConvertUint32ToFloat

(

uint32_t

data

)

[inline]

Convert a 32 bits unsigned integer to a float

Parameters:

data	32 bits unsigned integer

Returns:

float

Definition at line 133 of file RmpHelper.h.

uint16_t segway::GetCrc	(	Bytes &	rBytes,
		size_t	size
	)		[inline]

Compute the checksum of a byte vector

Parameters:

rBytes	byte vector
size	number of bytes to check

Returns:

crc value

Definition at line 224 of file RmpHelper.h.

std::string segway::GetLogLevelString

(

LogLevel

level

)

Definition at line 167 of file RmpLogger.cpp.

void segway::InitializeFaultDecodeList	(	FaultDecodeList &	rDecodeList,
		unsigned int	argumentCount,
			...
	)

Definition at line 47 of file RmpFault.cpp.

bool segway::IsCrcValid	(	Bytes &	rBytes,
		size_t	size
	)		[inline]

Check data integrity

Parameters:

rBytes	byte vector
size	size of the data to check

Returns:

wether the Crc values matche

Definition at line 261 of file RmpHelper.h.

---

Variable Documentation

const unsigned int segway::BAUD_RATE = 115200 [static]

Definition at line 54 of file RmpUsb.cpp.

const unsigned int segway::CHARACTER_SIZE = 8 [static]

Definition at line 55 of file RmpUsb.cpp.

const uint16_t segway::CRC_ADJUSTMENT = 0xA001 [static]

Definition at line 54 of file RmpHelper.h.

const size_t segway::CRC_FEEDBACK_SIZE = sizeof(uint32_t) [static]

Definition at line 56 of file RmpHelper.h.

const size_t segway::CRC_SIZE = sizeof(uint16_t) [static]

Definition at line 55 of file RmpHelper.h.

const size_t segway::CRC_TABLE_SIZE = 256 [static]

Definition at line 53 of file RmpHelper.h.

const size_t segway::FEEDBACK_TYPE_NBR = 4 [static]

Definition at line 47 of file RmpUserDefinedFeedbackType.h.

const size_t segway::FORCE_CONFIG_FEEDBACK_1_IDX = 16 [static]

Definition at line 54 of file RmpUserDefinedFeedbackType.h.

const size_t segway::FORCE_CONFIG_FEEDBACK_2_IDX = 17 [static]

Definition at line 55 of file RmpUserDefinedFeedbackType.h.

const size_t segway::FORCE_CONFIG_FEEDBACK_3_IDX = 18 [static]

Definition at line 56 of file RmpUserDefinedFeedbackType.h.

const size_t segway::FORCE_CONFIG_FEEDBACK_4_IDX = 19 [static]

Definition at line 57 of file RmpUserDefinedFeedbackType.h.

const size_t segway::MAX_ENTRIES_PER_FEEDBACK = 32 [static]

Definition at line 48 of file RmpUserDefinedFeedbackType.h.

const size_t segway::MAX_FEEDBACK_ENTRIES = FEEDBACK_TYPE_NBR * MAX_ENTRIES_PER_FEEDBACK [static]

Definition at line 49 of file RmpUserDefinedFeedbackType.h.

static const size_t segway::MAX_RCV_SIZE = 1024 [static]

Definition at line 58 of file RmpUdp.cpp.

const size_t segway::MAX_TRIAL_NBR = 7 [static]

Definition at line 56 of file RmpInterface.cpp.

const uint32_t segway::NO_FAULT = 0x00000000 [static]

Definition at line 51 of file RmpFault.h.

const size_t segway::NVM_CONFIG_PARAM_NBR = 20 [static]

Definition at line 51 of file RmpUserDefinedFeedbackType.h.

const size_t segway::NVM_CONFIG_PARAM_SIZE = NVM_CONFIG_PARAM_NBR * sizeof(uint32_t) [static]

Definition at line 52 of file RmpUserDefinedFeedbackType.h.

const uint32_t segway::PSE1_VALID = 0x00000001 [static]

Definition at line 59 of file RmpUserDefinedFeedbackType.h.

const uint32_t segway::PSE2_VALID = 0x00000002 [static]

Definition at line 60 of file RmpUserDefinedFeedbackType.h.

const uint32_t segway::PSE_VALID = PSE1_VALID | PSE2_VALID [static]

Definition at line 61 of file RmpUserDefinedFeedbackType.h.

const size_t segway::RMP_CMD_BODY_SIZE = sizeof(uint16_t) + 2 * sizeof(uint32_t) [static]

Definition at line 48 of file RmpHelper.h.

const size_t segway::RMP_CMD_HEADER_IDX = 0 [static]

Definition at line 49 of file RmpHelper.h.

const size_t segway::RMP_CMD_VAL1_IDX = sizeof(uint16_t) [static]

Definition at line 50 of file RmpHelper.h.

const size_t segway::RMP_CMD_VAL2_IDX = sizeof(uint16_t) + sizeof(uint32_t) [static]

Definition at line 51 of file RmpHelper.h.

boost::mutex segway::s_Mutex [static]

Definition at line 50 of file RmpLogger.cpp.

static const long segway::TIMEOUT = 30 [static]

Definition at line 59 of file RmpUdp.cpp.