#include <SerRelayBoard.h>

Public Types
enum	CANNode { CANNODE_IOBOARD = 0, CANNODE_MOTORRIGHT = 1, CANNODE_MOTORLEFT = 2, CANNODE_USBOARD = 3, CANNODE_MOTORREARRIGHT = 4, CANNODE_MOTORREARLEFT = 5 }
enum	MotionType { MOTIONTYPE_VELCTRL, MOTIONTYPE_POSCTRL }
enum	RelBoardCmd { CMD_SET_CHARGE_RELAY = 1, CMD_RESET_POS_CNT = 2, CMD_QUICK_STOP = 4, CMD_SET_RELAY1 = 8, CMD_SET_RELAY2 = 16, CMD_SET_RELAY3 = 32, CMD_SET_RELAY4 = 64, CMD_SET_RELAY5 = 128, CMD_SET_RELAY6 = 256, CMD_ZERO_GYRO = 512 }
enum	RelBoardConfig { CONFIG_HAS_IOBOARD = 1, CONFIG_HAS_USBOARD = 2, CONFIG_HAS_GYROBOARD = 4, CONFIG_HAS_RADARBOARD1 = 8, CONFIG_HAS_RADARBOARD2 = 16, CONFIG_HAS_DRIVES = 32, CONFIG_HAS_4_DRIVES = 64 }
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 }
enum	TypeLCD { LCD_20CHAR_TEXT, LCD_60CHAR_TEXT, RELAY_BOARD_1_4, RELAY_BOARD_2 }
Public Member Functions
void	addGenericCANListeningId (int id)
void	disable_logging ()
int	disableBrake (int iCanIdent, bool bDisabled)
void	enable_logging ()
int	evalRxBuffer ()
int	execHoming (int CanIdent)
void	execMotion (int iGroupID)
void	getGenericCANMessages (std::vector< CANTimedMessage > &pMessages)
int	getGyroBoardAng (double *pdAngRad, double dAcc[])
int	getGyroBoardAngBoost (double *pdAngRad, boost::array< double, 3u > &dAcc)
int	getGyroBoardDltAng (double *pdAng, double dAcc[])
int	getIOBoardAnalogIn (int *piAnalogIn)
int	getIOBoardBattVoltage ()
int	getIOBoardDigIn ()
int	getIOBoardDigOut ()
void	getIOBoardJoyValNorm (double pdJoyXNorm, double pdJoyYNorm)
void	getIOBoardJoyValWheelMean (double pdVelWheelLeftMean, double pdVelWheelRightMean)
int	getRadarBoardData (double *pdVelMMS)
int	getRelayBoardAnalogIn (int *piAnalogIn)
int	getRelayBoardDigIn ()
int	getRelayBoardDigOut ()
void	getStatus (int iCanIdent, int piStatus, int piTempCel)
void	getUSBoardAnalogIn (int *piAnalogIn)
int	getUSBoardData1To8 (int *piUSDistMM)
int	getUSBoardData9To16 (int *piUSDistMM)
int	getWheelDltPosVel (int iCanIdent, double pdDltAngWheelRad, double pdVelWheelRadS)
int	getWheelPosVel (int iCanIdent, double pdAngWheelRad, double pdVelWheelRadS)
bool	init ()
bool	initPltf ()
bool	isComError ()
bool	isDriveError ()
bool	isEMStop ()
bool	isScannerStop ()
void	log_to_file (int direction, unsigned char cMsg[])
void	readConfig (int iTypeLCD, std::string pathToConf, std::string sNumComPort, int hasMotorRight, int hasMotorLeft, int hasMotorRearRight, int hasMotorRearLeft, int hasIOBoard, int hasUSBoard, int hasRadarBoard, int hasGyroBoard, double quickfix1, double quickfix2, double quickfix3, double quickfix4, DriveParam driveParamLeft, DriveParam driveParamRight, DriveParam driveParamRearLeft, DriveParam driveParamRearRight)
void	removeGenericCANListeningId (int id)
void	requestDriveStatus ()
void	requestGyroBoardData ()
void	requestIOBoardAnalogIn ()
void	requestIOBoardData ()
void	requestIOBoardDigIn ()
int	requestMotPosVel (int iCanIdent)
void	requestRadarBoardData ()
void	requestUSBoardAnalogIn ()
void	requestUSBoardData1To8 ()
void	requestUSBoardData9To16 ()
bool	reset ()
void	resetEMStop ()
bool	resetPltf ()
void	sendGenericCANMessage (CanMsg &message)
void	sendHeartbeat ()
int	sendRequest ()
void	sendSynch ()
	SerRelayBoard ()
	SerRelayBoard (std::string ComPort, int ProtocolVersion=1)
void	setEMStop ()
int	setIOBoardDigOut (int iChannel, bool bVal)
int	setRelayBoardDigOut (int iChannel, bool bOn)
int	setWheelPosVel (int iCanIdent, double dPos, double dVel, bool bQuickStop)
int	setWheelVel (int iCanIdent, double dVel, bool bQuickStop)
bool	shutdown ()
bool	shutdownPltf ()
int	startUS (int iChannelActive)
int	stopUS ()
void	writeIOBoardLCD (int iLine, int iColumn, const std::string &sText)
void	zeroGyro (bool bZeroActive)
	~SerRelayBoard ()
Protected Member Functions
void	convDataToSendMsg (unsigned char cMsg[])
void	convDataToSendMsgRelayBoard2 (unsigned char cMsg[])
bool	convRecMsgToData (unsigned char cMsg[])
bool	convRecMsgToDataRelayBoard2 (unsigned char cMsg[])
void	readConfiguration ()
void	rxCharArray ()
void	sendNetStartCanOpen ()
void	txCharArray ()
Protected Attributes
bool	logging
bool	m_bComInit
bool	m_bGyroBoardZeroGyro
unsigned char	m_cDebugLeft [4]
char	m_cDebugRearLeft [4]
char	m_cDebugRearRight [4]
unsigned char	m_cDebugRight [4]
char	m_cSoftEMStop
unsigned char	m_cTextDisplay [60]
double	m_dLastPosLeft
double	m_dLastPosRearLeft
double	m_dLastPosRearRight
double	m_dLastPosRight
DriveParam	m_DriveParamLeft
DriveParam	m_DriveParamRearLeft
DriveParam	m_DriveParamRearRight
DriveParam	m_DriveParamRight
int	m_iChargeCurrent
int	m_iCmdRelayBoard
int	m_iConfigRelayBoard
int	m_iGyroBoardAcc [3]
int	m_iGyroBoardAng
int	m_iGyroBoardStatus
int	m_iIOBoardAnalogIn [8]
int	m_iIOBoardBattVoltage
int	m_iIOBoardDigIn
int	m_iIOBoardDigOut
int	m_iIOBoardStatus
int	m_iMotLeftStatus
int	m_iMotRearLeftStatus
int	m_iMotRearRightStatus
int	m_iMotRightStatus
int	m_iNumBytesSend
int	m_iPosMeasMotLeftEnc
int	m_iPosMeasMotRearLeftEnc
int	m_iPosMeasMotRearRightEnc
int	m_iPosMeasMotRightEnc
int	m_iRadarBoardStatus
int	m_iRadarBoardVel [4]
int	m_iRelBoardBattVoltage
int	m_iRelBoardIRSensor [4]
int	m_iRelBoardKeyPad
int	m_iRelBoardStatus
int	m_iRelBoardTempSensor
int	m_iTypeLCD
int	m_iUSBoardAnalogData [4]
int	m_iUSBoardSensorActive
int	m_iUSBoardSensorData [16]
int	m_iUSBoardStatus
int	m_iVelCmdMotLeftEncS
int	m_iVelCmdMotRearLeftEncS
int	m_iVelCmdMotRearRightEncS
int	m_iVelCmdMotRightEncS
int	m_iVelMeasMotLeftEncS
int	m_iVelMeasMotRearLeftEncS
int	m_iVelMeasMotRearRightEncS
int	m_iVelMeasMotRightEncS
Mutex	m_Mutex
SerialIO	m_SerIO
std::string	m_sNumComPort
int	protocol_version
Private Member Functions
int	evalRxBufferRelayBoard2 ()
bool	initRelayBoard2 ()
Private Attributes
bool	autoSendRequest
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
double	quickFix [4]

Detailed Description

Driver class for communication with a Neobotix RelayBoard. Uses RS422 with 420 kBaud.

Definition at line 59 of file SerRelayBoard.h.

Member Enumeration Documentation

enum SerRelayBoard::CANNode

CAN node enumeration.

Enumerator:

CANNODE_IOBOARD
CANNODE_MOTORRIGHT
CANNODE_MOTORLEFT
CANNODE_USBOARD
CANNODE_MOTORREARRIGHT
CANNODE_MOTORREARLEFT

Definition at line 209 of file SerRelayBoard.h.

enum SerRelayBoard::MotionType

Motion types.

Enumerator:

MOTIONTYPE_VELCTRL
MOTIONTYPE_POSCTRL

Definition at line 223 of file SerRelayBoard.h.

enum SerRelayBoard::RelBoardCmd

Enumerator:

CMD_SET_CHARGE_RELAY
CMD_RESET_POS_CNT
CMD_QUICK_STOP
CMD_SET_RELAY1
CMD_SET_RELAY2
CMD_SET_RELAY3
CMD_SET_RELAY4
CMD_SET_RELAY5
CMD_SET_RELAY6
CMD_ZERO_GYRO

Definition at line 180 of file SerRelayBoard.h.

enum SerRelayBoard::RelBoardConfig

Enumerator:

CONFIG_HAS_IOBOARD
CONFIG_HAS_USBOARD
CONFIG_HAS_GYROBOARD
CONFIG_HAS_RADARBOARD1
CONFIG_HAS_RADARBOARD2
CONFIG_HAS_DRIVES
CONFIG_HAS_4_DRIVES

Definition at line 194 of file SerRelayBoard.h.

enum SerRelayBoard::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 168 of file SerRelayBoard.h.

enum SerRelayBoard::TypeLCD

Enumerator:

LCD_20CHAR_TEXT
LCD_60CHAR_TEXT
RELAY_BOARD_1_4
RELAY_BOARD_2

Definition at line 229 of file SerRelayBoard.h.

Constructor & Destructor Documentation

SerRelayBoard::SerRelayBoard ( )

Definition at line 67 of file SerRelayBoard.cpp.

SerRelayBoard::~SerRelayBoard ( )

Definition at line 257 of file SerRelayBoard.cpp.

SerRelayBoard::SerRelayBoard	(	std::string	ComPort,
		int	ProtocolVersion = `1`
	)

Member Function Documentation

void SerRelayBoard::addGenericCANListeningId ( int id )

Definition at line 1372 of file SerRelayBoard.cpp.

void SerRelayBoard::convDataToSendMsg ( unsigned char cMsg[] ) [protected]

Type LCD = 20 char text: 1 byte command 16 byte data 20 byte LCD Text 11 bytes filled with zeros 2 bytes checksum -> 50 bytes

Type LCD = 60 char text: 1 byte command 16 byte data 60 byte LCD Text 2 bytes checksum -> 79 bytes

Definition at line 1448 of file SerRelayBoard.cpp.

void SerRelayBoard::convDataToSendMsgRelayBoard2 ( unsigned char cMsg[] ) [protected]

Definition at line 1846 of file SerRelayBoard.cpp.

bool SerRelayBoard::convRecMsgToData ( unsigned char cMsg[] ) [protected]

Definition at line 1549 of file SerRelayBoard.cpp.

bool SerRelayBoard::convRecMsgToDataRelayBoard2 ( unsigned char cMsg[] ) [protected]

Definition at line 1769 of file SerRelayBoard.cpp.

void SerRelayBoard::disable_logging ( )

Definition at line 1418 of file SerRelayBoard.cpp.

int SerRelayBoard::disableBrake	(	int	iCanIdent,
		bool	bDisabled
	)

Definition at line 715 of file SerRelayBoard.cpp.

void SerRelayBoard::enable_logging ( )

Definition at line 1413 of file SerRelayBoard.cpp.

int SerRelayBoard::evalRxBuffer ( )

Definition at line 269 of file SerRelayBoard.cpp.

int SerRelayBoard::evalRxBufferRelayBoard2 ( ) [private]

Definition at line 357 of file SerRelayBoard.cpp.

int SerRelayBoard::execHoming ( int CanIdent )

Definition at line 966 of file SerRelayBoard.cpp.

void SerRelayBoard::execMotion ( int iGroupID ) [inline]

Definition at line 95 of file SerRelayBoard.h.

void SerRelayBoard::getGenericCANMessages ( std::vector< CANTimedMessage > & pMessages )

Definition at line 1382 of file SerRelayBoard.cpp.

int SerRelayBoard::getGyroBoardAng	(	double *	pdAngRad,
		double	dAcc[]
	)

Definition at line 1294 of file SerRelayBoard.cpp.

int SerRelayBoard::getGyroBoardAngBoost	(	double *	pdAngRad,
		boost::array< double, 3u > &	dAcc
	)

Definition at line 1315 of file SerRelayBoard.cpp.

int SerRelayBoard::getGyroBoardDltAng	(	double *	pdAng,
		double	dAcc[]
	)

Definition at line 1339 of file SerRelayBoard.cpp.

int SerRelayBoard::getIOBoardAnalogIn ( int * piAnalogIn )

Definition at line 1137 of file SerRelayBoard.cpp.

int SerRelayBoard::getIOBoardBattVoltage ( )

Definition at line 1100 of file SerRelayBoard.cpp.

int SerRelayBoard::getIOBoardDigIn ( )

Definition at line 1106 of file SerRelayBoard.cpp.

int SerRelayBoard::getIOBoardDigOut ( )

Definition at line 1112 of file SerRelayBoard.cpp.

void SerRelayBoard::getIOBoardJoyValNorm	(	double *	pdJoyXNorm,
		double *	pdJoyYNorm
	)

Definition at line 1093 of file SerRelayBoard.cpp.

void SerRelayBoard::getIOBoardJoyValWheelMean	(	double *	pdVelWheelLeftMean,
		double *	pdVelWheelRightMean
	)

Definition at line 1086 of file SerRelayBoard.cpp.

int SerRelayBoard::getRadarBoardData ( double * pdVelMMS )

Definition at line 1352 of file SerRelayBoard.cpp.

int SerRelayBoard::getRelayBoardAnalogIn ( int * piAnalogIn )

Definition at line 1041 of file SerRelayBoard.cpp.

int SerRelayBoard::getRelayBoardDigIn ( )

Definition at line 1056 of file SerRelayBoard.cpp.

int SerRelayBoard::getRelayBoardDigOut ( )

Definition at line 976 of file SerRelayBoard.cpp.

void SerRelayBoard::getStatus	(	int	iCanIdent,
		int *	piStatus,
		int *	piTempCel
	)

Definition at line 941 of file SerRelayBoard.cpp.

void SerRelayBoard::getUSBoardAnalogIn ( int * piAnalogIn )

Definition at line 1259 of file SerRelayBoard.cpp.

int SerRelayBoard::getUSBoardData1To8 ( int * piUSDistMM )

Definition at line 1215 of file SerRelayBoard.cpp.

int SerRelayBoard::getUSBoardData9To16 ( int * piUSDistMM )

Definition at line 1237 of file SerRelayBoard.cpp.

int SerRelayBoard::getWheelDltPosVel	(	int	iCanIdent,
		double *	pdDltAngWheelRad,
		double *	pdVelWheelRadS
	)

Definition at line 889 of file SerRelayBoard.cpp.

int SerRelayBoard::getWheelPosVel	(	int	iCanIdent,
		double *	pdAngWheelRad,
		double *	pdVelWheelRadS
	)

Rotation directions are defined as follows: Positive wheel angle and velocity is set according to the right hand rule. The right hands thumb is aligned to the axis from motor to wheel.

Definition at line 856 of file SerRelayBoard.cpp.

bool SerRelayBoard::init ( )

Definition at line 488 of file SerRelayBoard.cpp.

bool SerRelayBoard::initPltf ( )

Definition at line 494 of file SerRelayBoard.cpp.

bool SerRelayBoard::initRelayBoard2 ( ) [private]

Definition at line 523 of file SerRelayBoard.cpp.

bool SerRelayBoard::isComError ( )

Definition at line 625 of file SerRelayBoard.cpp.

bool SerRelayBoard::isDriveError ( )

Definition at line 631 of file SerRelayBoard.cpp.

bool SerRelayBoard::isEMStop ( )

Definition at line 637 of file SerRelayBoard.cpp.

bool SerRelayBoard::isScannerStop ( )

Definition at line 650 of file SerRelayBoard.cpp.

void SerRelayBoard::log_to_file	(	int	direction,
		unsigned char	cMsg[]
	)

Definition at line 1423 of file SerRelayBoard.cpp.

void SerRelayBoard::readConfig	(	int	iTypeLCD,
		std::string	pathToConf,
		std::string	sNumComPort,
		int	hasMotorRight,
		int	hasMotorLeft,
		int	hasMotorRearRight,
		int	hasMotorRearLeft,
		int	hasIOBoard,
		int	hasUSBoard,
		int	hasRadarBoard,
		int	hasGyroBoard,
		double	quickfix1,
		double	quickfix2,
		double	quickfix3,
		double	quickfix4,
		DriveParam	driveParamLeft,
		DriveParam	driveParamRight,
		DriveParam	driveParamRearLeft,
		DriveParam	driveParamRearRight
	)