epos reference

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EPOS

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Contents

1 Namespace Index 1

1.1 Namespace List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 Class Index 3

2.1 Class Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3 Class Index 5

3.1 Class List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

4 File Index 7

4.1 File List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

5 Namespace Documentation 9

5.1 epos Namespace Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

5.1.1 Typedef Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

5.1.1.1 Byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

5.1.1.2 DWord . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

5.1.1.3 Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.1.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.1.2.1 CommandStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

6 Class Documentation 11

6.1 AbstractEposGateway Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

6.1.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

6.1.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6.1.2.1 readObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6.1.2.2 readObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6.1.2.3 readObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6.1.2.4 sendFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6.1.2.5 writeObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13



ii CONTENTS

6.1.2.6 writeObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

6.1.2.7 writeObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

6.2 EposRs232Gateway Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146.2.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

6.2.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . 15

6.2.2.1 EposRs232Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

6.2.2.2 EposRs232Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15


6.2.3.1 readObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6.2.3.2 readObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6.2.3.3 readObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6.2.3.4 sendFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6.2.3.5 writeObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6.2.3.6 writeObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6.2.3.7 writeObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.3 MainMotorController Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19



6.3.2.1 MainMotorController . . . . . . . . . . . . . . . . . . . . . . . . . . . 20


6.3.3.1 convertStatusToString . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

6.3.3.2 isInit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.3.3.3 postStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.3.3.4 setSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.3.3.5 speedDiagnostic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.3.3.6 statusDiagnostic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.4 Rs232 Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24



6.4.2.1 Rs232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

6.4.2.2 Rs232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24


6.4.3.1 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

6.4.3.2 forceUnlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

6.4.3.3 open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

6.4.3.4 read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Generated on Fri Oct 21 00:57:35 2011 for EPOS by Doxygen



CONTENTS iii

6.4.3.5 read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.4.3.6 write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.4.3.7 write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

7 File Documentation 29

7.1 AbstractEposGateway.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 29


7.2 EposRs232Gateway.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

7.3 EposRs232Gateway.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33


7.4 main.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

7.4.1 Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

7.4.1.1 main . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

7.5 MainMotorController.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 36

7.5.1 Define Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

7.5.1.1 MIKE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

7.6 MainMotorController.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37


7.7 Rs232.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

7.8 Rs232.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40




Chapter 1

Namespace Index

1.1 Namespace List

Here is a list of all namespaces with brief descriptions:

epos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9



2 Namespace Index




Chapter 2

Class Index

2.1 Class Hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

AbstractEposGateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

EposRs232Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

MainMotorController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Rs232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24



4 Class Index




Chapter 3

Class Index

3.1 Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

AbstractEposGateway (Abstract gateway for EPOS devices ) . . . . . . . . . . . . . . . . . . 11

EposRs232Gateway (RS232 EPOS gateway ) . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

MainMotorController (MainMotorController (p. 19) PANDORA main motor controller ) . . 19

Rs232 (Simple C++ wrapper of unix serial port interface ) . . . . . . . . . . . . . . . . . . . . 24



6 Class Index




Chapter 4

File Index

4.1 File List

Here is a list of all files with brief descriptions:

AbstractEposGateway.h (Abstract interface for a EPOS / EPOS P device gateway ) . . . . . . 29

EposRs232Gateway.cpp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

EposRs232Gateway.h (RS232 interface for a EPOS device gateway ) . . . . . . . . . . . . . . 33

main.cpp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

MainMotorController.cpp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

MainMotorController.h (ROS controller for PANDORA main motors ) . . . . . . . . . . . . . 37

Rs232.cpp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Rs232.h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40



8 File Index




Chapter 5

Namespace Documentation

5.1 epos Namespace Reference

Typedefs

• typedef uint16_t Word

EPOS word (16bit).

• typedef uint32_t DWord

Double (long) EPOS word (32bit).

• typedef unsigned char Byte

Short EPOS word (8bit).

Enumerations

• enum CommandStatus {

SUCCESS = 0, BUSY, NACK, TIMEOUT,

RS232, API, RESYNC, PROTOCOL }

enumeration of error codes during device communication

5.1.1 Typedef Documentation

5.1.1.1 typedef unsigned char epos::Byte


Definition at line 100 of file AbstractEposGateway.h.

5.1.1.2 typedef uint32_t epos::DWord





10 Namespace Documentation

5.1.1.3 typedef uint16_t epos::Word

EPOS word (16bit).


5.1.2 Enumeration Type Documentation

5.1.2.1 enum epos::CommandStatus


For communication with the device, a protocol is implemented. In the event that the communication was

successful, each protocol command returns CommandStatus::SUCCESS.

Enumerator:

SUCCESS Command sent successfully. This status code is returned by the implementation in the

event of a successful transaction with the device. Please, note that this doesn’t mean the command

execution was successful, only the data transfer was. In some cases the device my return error

codes using the response data, signifying the result of the command execution. In the event that

a transaction does not return SUCCESS the returned data are undefined.

BUSY Device busy. This error code is returned if the device signals that it is not ready to receive new

commands.

NACK Device replied with NACK.

TIMEOUT Time out.

RS232 RS232 port error. Usually port disconnected.

API Invalid API usage. Read documentation. RESYNC Unexpected responce during handshake. Please disconnect and reconnect to resyncronize

gateway

PROTOCOL Responce from device violates protocol. Check for changes in updated firmware





Chapter 6

Class Documentation

6.1 AbstractEposGateway Class Reference

Abstract gateway for EPOS devices.

#include <AbstractEposGateway.h>

Inherited by EposRs232Gateway.

Public Member Functions

• virtual epos::CommandStatus sendFrame (unsigned char opCode, epos::Word ∗data, unsigned

short length, epos::Word∗

response)=0• virtual epos::CommandStatus readObject (unsigned char nodeId, uint16_t index, unsigned char

subIndex, epos::DWord ∗responce)=0

• virtual epos::CommandStatus readObject (unsigned char nodeId, uint16_t index, unsigned char

subIndex, epos::Word ∗responce)=0

• virtual epos::CommandStatus readObject (unsigned char nodeId, uint16_t index, unsigned char

subIndex, char ∗responce)=0

• virtual epos::CommandStatus writeObject (unsigned char nodeId, uint16_t index, unsigned char

subIndex, epos::DWord data)=0


subIndex, epos::Word data)=0


subIndex, char data)=0

6.1.1 Detailed Description

Abstract gateway for EPOS devices. All gateways for EPOS (P) devices must implement this class to

provide compatibility with new devices and hardware implementations.

Author

Charalampos Serenis

Electical and Computer Engineer

Department of Electrical and Computer Engineering

Aristotle University of Thessaloniki, Greece



12 Class Documentation


6.1.2 Member Function Documentation

6.1.2.1 virtual epos::CommandStatus AbstractEposGateway::readObject (unsigned char nodeId ,

uint16_t index, unsigned char subIndex, char ∗ responce) [pure virtual]

Implemented in EposRs232Gateway (p. 16).


uint16_t index, unsigned char subIndex, epos::Word ∗ responce) [pure virtual]



uint16_t index, unsigned char subIndex, epos::DWord ∗ responce) [pure virtual]

Read object dictionary entry (4 Data Bytes and less)

Read an object value at the given Index and SubIndex from the Object Dictionary.

Parameters

← nodeId the node ID of the device from which to read the data

← index the index of the Object Dictionary we wish to read

←

subIndex the sub-index of the Dictionary we wish to read→ responce the data read

Returns

the status of the operation


6.1.2.4 virtual epos::CommandStatus AbstractEposGateway::sendFrame (unsigned char opCode,

epos::Word ∗ data, unsigned short length, epos::Word ∗ response) [pure virtual]

Send a custom frame using the EPOS gateway

this function can be used to send new, or custom CAN commands to the CANOpen bus.

Parameters

← opCode the operation code of the command

in[ data the data that we wish to write to the CANOpen bus

← length the size of the data array

← response the data received from the device as a response to the command





6.1 AbstractEposGateway Class Reference 13

6.1.2.5 virtual epos::CommandStatus AbstractEposGateway::writeObject (unsigned char nodeId ,

uint16_t index, unsigned char subIndex, char data) [pure virtual]



uint16_t index, unsigned char subIndex, epos::Word data) [pure virtual]



uint16_t index, unsigned char subIndex, epos::DWord data) [pure virtual]

Write Object Dictionary Entry (4 Data Bytes and less)

Write an object value to the given Index and SubIndex from the Object Dictionary.

Parameters

← nodeID the node ID of the device from which to read the data


← subIndex the sub-index of the Dictionary we wish to read

← data the data that should be written

Returns



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

• AbstractEposGateway.h





6.2 EposRs232Gateway Class Reference

RS232 EPOS gateway.

#include <EposRs232Gateway.h>

Inherits AbstractEposGateway.

Collaboration diagram for EposRs232Gateway:

EposRs232Gateway

AbstractEposGateway Rs232

port


• EposRs232Gateway (void)

Generic constructor.

• EposRs232Gateway (const std::string &device, unsigned int baudRate=38400, unsigned int time-out=500)

Construct an EposRs232Gateway (p. 14) object and open EPOS device for read/write.

• epos::CommandStatus sendFrame (unsigned char opCode, epos::Word ∗data, unsigned short

length, epos::Word ∗response)

• epos::CommandStatus readObject (unsigned char nodeID, uint16_t index, unsigned char

subIndex, epos::DWord ∗responce)


subIndex, epos::Word ∗responce)


subIndex, char ∗responce)

• epos::CommandStatus writeObject (unsigned char nodeID, uint16_t index, unsigned char

subIndex, epos::DWord data)


subIndex, epos::Word data)


subIndex, char data)


RS232 EPOS gateway. EposRs232Gateway (p. 14) provides access to EPOS devices connected to the PC

through an RS232 port. Class provides generic functions for read and write commands through the gateway




6.2 EposRs232Gateway Class Reference 15

Author

Charalampos Serenis


Department of Electrical and Computer EngineeringAristotle University of Thessaloniki, Greece

Definition at line 101 of file EposRs232Gateway.h.

6.2.2 Constructor & Destructor Documentation

6.2.2.1 EposRs232Gateway::EposRs232Gateway (void)

Generic constructor.

Definition at line 25 of file EposRs232Gateway.cpp.

6.2.2.2 EposRs232Gateway::EposRs232Gateway (const std::string & device, unsigned int

baudRate = 38400, unsigned int timeout = 500)

Construct an EposRs232Gateway (p. 14) object and open EPOS device for read/write.

Parameters

← device the device name of the serial port the EPOS device is connected. e.g. "/dev/ttyS0"

← baudRate the baudrate that should be used for communication. valid values are:

• 115200

• 57600

• 38400

• 19200

• 9600

• 4800

• 2400

• 1800

• 1200

• 600

• 300

• 200

• 150

• 134

• 110

• 75

• 50

← timeout timeout in ms. This is used when attempting to read data from the serial port


Here is the call graph for this function:

EposRs232Gateway::EposRs232Gateway Rs232::open






6.2.3.1 epos::CommandStatus EposRs232Gateway::readObject (unsigned char nodeID, uint16_t

index, unsigned char subIndex, char ∗ responce) [virtual]

Implements AbstractEposGateway (p. 12).



index, unsigned char subIndex, epos::Word ∗ responce) [virtual]




EposRs232Gateway::readObject EposRs232Gateway::sendFrame

Rs232::read

Rs232::write


index, unsigned char subIndex, epos::DWord ∗ responce) [virtual]

Read object dictionary entry (4 Data Bytes and less)Read an object value at the given Index and SubIndex from the Object Dictionary.

Parameters

← nodeId the node ID of the device from which to read the data



→ responce the data read

Returns




Here is the caller graph for this function:

EposRs232Gateway::readObject

MainMotorController::MainMotorController

M ai nM otor Co ntro ll er ::po stStatus m ai n




6.2 EposRs232Gateway Class Reference 17

6.2.3.4 epos::CommandStatus EposRs232Gateway::sendFrame (unsigned char opCode,

epos::Word ∗ data, unsigned short length, epos::Word ∗ response) [virtual]

Send a CAN frame using the EPOS gatewaythis function can be used to send new, or custom CAN commands to the CANOpen bus.

Parameters

← opCode the operation code of the command

in[ data the data that we wish to write to the CANOpen bus

← length the size of the data array

← response the data received from the device as a response to the command




EposRs232Gateway::sendFrame

Rs232::read

Rs232::write




EposRs232Gateway::writeObject


MainMotorController::setSpeed main

6.2.3.5 epos::CommandStatus EposRs232Gateway::writeObject (unsigned char nodeID, uint16_t

index, unsigned char subIndex, char data) [virtual]




EposRs232Gateway::writeObject EposRs232Gateway::sendFrame

Rs232::read

Rs232::write


index, unsigned char subIndex, epos::Word data) [virtual]









Rs232::read

Rs232::write


index, unsigned char subIndex, epos::DWord data) [virtual]

Write Object Dictionary Entry (4 Data Bytes and less)

Write an object value to the given Index and SubIndex from the Object Dictionary.

Parameters

← nodeID the node ID of the device from which to read the data



← data the data that should be written

Returns






Rs232::read

Rs232::write




M ai nM otor Co ntro ll er ::se tSpe ed m ai n

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

• EposRs232Gateway.h

• EposRs232Gateway.cpp




6.3 MainMotorController Class Reference 19

6.3 MainMotorController Class Reference

MainMotorController (p. 19) PANDORA main motor controller.

#include <MainMotorController.h>

Collaboration diagram for MainMotorController:

MainMotorController

EposRs232Gateway

m_gateway

AbstractEposGateway Rs232

port


• MainMotorController (std::string dev, int speed, int timeout, ros::Publisher ∗p, ros::NodeHandle

&handle)

initialize the MainMotorController (p. 19)

• bool setSpeed (mainMotorControl_communications::setVehicleSpeedSrv::Request &req,

mainMotorControl_communications::setVehicleSpeedSrv::Response &res)

set vehicle speed

• void postStatus (const ros::TimerEvent &event)

post the controller status for health monitoring

• bool isInit (void)

check MainMotorController (p. 19) initialization status

• void speedDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

unknown function

• void statusDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

unknown function

• std::string convertStatusToString (epos::CommandStatus status)

convert epos::CommandStatus (p. 10) to a human readable string






MainMotorController (p. 19) PANDORA main motor controller. MainMotorController (p. 19) setups

the required topics and services to access the EPOS controller from ros. The MainMotorController (p. 19)takes care of the required convertions from linear and angular speed to rpms using robotKinematic library.

Finaly the required rpms are transmited to the EPOS controller using the designed protocol.

Author

Charalampos Serenis




Definition at line 93 of file MainMotorController.h.


6.3.2.1 MainMotorController::MainMotorController (std::string dev, int speed , int timeout,

ros::Publisher ∗ p, ros::NodeHandle & handle)

initialize the MainMotorController (p. 19)

requires a string to the character device that the EPOS controller is connected, the BAUD rate of the

controller, the timeout in ms, a ROS Publisher object and a ROS node handler.

Parameters

← dev a standard string of the character device the controller is connected. e.g. "/dev/ttyS0"

← speed the BAUD rate of the controller. e.g. 115200

← timeout the time it should take to timeout an expected reception from the character device in

miliseconds. e.g. 500

← p a ros::Publisher object that is going to be used to publish the required topics

← handle a ros::NodeHandle used to advertise services

Definition at line 185 of file MainMotorController.cpp.




MainMotorController::speedDiagnostic

MainMotorController::statusDiagnostic


MainMotorController::convertStatusToString


Rs232::read

Rs232::write


6.3.3.1 std::string MainMotorController::convertStatusToString (epos::CommandStatus status)

convert epos::CommandStatus (p. 10) to a human readable string





Parameters

← status the status code that we wish convert to string

Returnsa human readable string describing the error



MainMotorController::convertStatusToString MainMotorController::statusDiagnostic MainMotorController::MainMotorController

6.3.3.2 bool MainMotorController::isInit (void) [inline]

check MainMotorController (p. 19) initialization status

checks if the controller object is correctly initialized and communicates with the underlying hardware.

No error handling exists, this functions simply returns true if the controller communicates with the EPOS

device and false if there is an error. No error code is returned.

Returns

true if communication is ok with epos, false if there is a comminication error

Definition at line 173 of file MainMotorController.h.


MainMotorController::isInit main

6.3.3.3 void MainMotorController::postStatus (const ros::TimerEvent & event)

post the controller status for health monitoring

callback function for ros timer. Post the controller status in topic /mainMotorControl/status

Parameters

← event a ros::TimerEvent used to call the callback function



MainMotorController::postStatus EposRs232Gateway::readObject


MainMotorController::postStatus main





6.3.3.4 bool MainMotorController::setSpeed (mainMotorControl_-

communications::setVehicleSpeedSrv::Request & req, mainMotorControl_-

communications::setVehicleSpeedSrv::Response & res)

set vehicle speed

callback function for ros service. For more information please see ROS service mainMotorControl_-

communications::setVehicleSpeedSrv

Parameters

← req a ros request

→ the reply of the service

set vehicle speed

sets the vehicle speed.



MainMotorController::setSpeed EposRs232Gateway::writeObject EposRs232Gateway::sendFrame

Rs232::read

Rs232::write


MainMotorController::setSpeed main

6.3.3.5 void MainMotorController::speedDiagnostic (diagnostic_-

updater::DiagnosticStatusWrapper & stat)

unknown function

functions added by diagnostic team, dont know what they do!



MainMotorController::speedDiagnostic MainMotorController::MainMotorController

6.3.3.6 void MainMotorController::statusDiagnostic (diagnostic_-

updater::DiagnosticStatusWrapper & stat)

unknown function

functions added by diagnostic team, dont know what they do!







MainMotorController::statusDiagnostic MainMotorController::convertStatusToString


MainMotorController::statusDiagnostic MainMotorController::MainMotorController


• MainMotorController.h

• MainMotorController.cpp





6.4 Rs232 Class Reference

Simple C++ wrapper of unix serial port interface.

#include <Rs232.h>


• Rs232 (void)

Initializes internal variables but doesn’t open serial port.

• Rs232 (std::string port, unsigned int baudRate, unsigned int timeout)

• int open (std::string port, unsigned int speed=38400, int iTimeOut=500)

• int close (void)

• int write (char ∗data, unsigned int size)

• int write (char data)

• int read (char ∗data, unsigned int size)

• int read (char &data)

• void forceUnlock (void)


Simple C++ wrapper of unix serial port interface. Open serial ports for read and write in binary mode.

Provides the necessary locking mechanisms to prevent concurrent access to the serial port.

Author

Charalampos Serenis




Definition at line 51 of file Rs232.h.


6.4.2.1 Rs232::Rs232 (void)

Initializes internal variables but doesn’t open serial port.

Definition at line 23 of file Rs232.cpp.

6.4.2.2 Rs232::Rs232 (std::string port, unsigned int baudRate, unsigned int timeout)

Initializes internal variables and opens serial port for binary read / write.

Parameters

port the serial device to open

baudRate port baud rate in bits per second

timeout time in ms to wait for rear/write operations to complete




6.4 Rs232 Class Reference 25

See also

open (p. 25)



Rs232:: Rs 232 Rs 232:: open


6.4.3.1 int Rs232::close (void)

Close serial port

Close serial port currently accessed by the object. In the event that no port is open by the object a warning

is generated and no action is taken.


6.4.3.2 void Rs232::forceUnlock (void)


6.4.3.3 int Rs232::open (std::string port, unsigned int speed = 38400, int iTimeOut = 500)

Open serial port for binary rear / write

Opens the serial device defined by parameter port for binary read / write. In the event that the port is already

opened an error is generated, and no new port is open.

Parameters

port the serial port to open

baudRate port baud rate in bits per second

timeout time in ms to wait fore read / write operations to complete

Definition at line 42 of file Rs232.cpp.Here is the caller graph for this function:

Rs232::open

EposRs232Gateway::EposRs232Gateway

Rs232::Rs232

6.4.3.4 int Rs232::read (char & data)







Rs23 2::r ea d Rs2 32 ::re ad

6.4.3.5 int Rs232::read (char ∗ data, unsigned int size)



Rs232::read

Rs232::read





M ai nM ot or Co nt ro ll er :: se tSpe ed m ai n

6.4.3.6 int Rs232::write (char data)



R s2 32 :: wr it e R s2 32 ::w ri te

6.4.3.7 int Rs232::write (char ∗ data, unsigned int size)

Write data to serial port

Write size number of bytes to the serial port, from memory pointed by data. This is a blocking operation.

During write the object is locked and any concurrent access to the serial port (i.e. read, write, close) will

wait until the operation finishes or fails. Access to the same serial port by another program or by another

object holding a valid file descriptor to the serial port will not be blocked.

Parameters

data a pointer to the data that need to be written to the serial port

size the number of bytes that need to be written to the serial port

Returns

on success the number of bytes written to the serial port, which is the same as size

on error the error number returned by the OS. An error message is output to stderr





6.4 Rs232 Class Reference 27


Rs232::write


Rs232::write




M ai nM ot or Co nt ro ll er :: se tSpe ed m ai n


• Rs232.h

• Rs232.cpp




Chapter 7

File Documentation

7.1 AbstractEposGateway.h File Reference

Abstract interface for a EPOS / EPOS P device gateway.

#include <stdint.h>

Include dependency graph for AbstractEposGateway.h:

AbstractEposGateway.h

stdint.h

This graph shows which files directly or indirectly include this file:

AbstractEposGateway.h

EposRs232Gateway.h

main.cpp MainMotorController.h

MainMotorController.cpp

Classes

• class AbstractEposGateway

Abstract gateway for EPOS devices.



30 File Documentation

Namespaces

• namespace epos

Typedefs

• typedef uint16_t epos::Word

EPOS word (16bit).

• typedef uint32_t epos::DWord


• typedef unsigned char epos::Byte


Enumerations

• enum epos::CommandStatus {

epos::SUCCESS = 0, epos::BUSY, epos::NACK, epos::TIMEOUT,

epos::RS232, epos::API, epos::RESYNC, epos::PROTOCOL }



Abstract interface for a EPOS / EPOS P device gateway. Declares all the neccessary datatypes and inter-

faces to access an EPOS / EPOS P motor controller. This interface is provided in order to support different

hardware implementations of the gateway, such as RS232 interface USB interface, etc. AbstractEpos-

Gateway.h (p. 29) declares the following namespaces:

• epos

AbstractEposGateway.h (p. 29) declares the following typedefs:

• Word

• DWord

• Byte

AbstractEposGateway.h (p. 29) declares the following enumerations:

• CommandStatus

AbstractEposGateway.h (p. 29) declares the following abstract classes:

• AbstractEposGateway (p. 11)

AbstractEposGateway.h (p. 29) declares the following methods:




7.1 AbstractEposGateway.h File Reference 31

• int getSoftwareVersion(void);

• epos::status AbstractEposGateway::sendFrame (p. 12)( unsigned char opCode,

epos::Word (p. 10) ∗data, unsigned short length, epos::Word (p. 10) ∗response);

• epos::status AbstractEposGateway::readObject (p. 12)( unsigned char nodeID, uint16_t in-

dex, unsigned char subIndex, epos::DWord (p. 9) ∗responce);


dex, unsigned char subIndex, epos::Word (p. 10) ∗responce);


dex, unsigned char subIndex, char ∗responce);

• epos::status AbstractEposGateway::writeObject (p. 13)( unsigned char nodeID, uint16_t in-

dex, unsigned char subIndex, epos::DWord (p. 9) data);


dex, unsigned char subIndex, epos::Word (p. 10) data);


dex, unsigned char subIndex, char data);

Author

Charalampos Serenis




Definition in file AbstractEposGateway.h .





7.2 EposRs232Gateway.cpp File Reference

#include <iostream>


#include <string>

#include <pthread.h>

#include <cstring>

#include <stdint.h>

#include <unistd.h>

#include <termios.h>

#include <fcntl.h>

#include <errno.h>

Include dependency graph for EposRs232Gateway.cpp:

EposRs232Gateway.cpp

iostream string pthread.h cstring stdint.h unistd.h termios.h fcntl.h errno.h


EposRs232Gateway.cpp




7.3 EposRs232Gateway.h File Reference 33

7.3 EposRs232Gateway.h File Reference

RS232 interface for a EPOS device gateway.

#include <string>

#include <pthread.h>

#include <Rs232.h>

#include <AbstractEposGateway.h>

Include dependency graph for EposRs232Gateway.h:

EposRs232Gateway.h

string

pthread.hRs232.hAbstractEposGateway.h

i ostr ea m cstri ngstdint.h unistd.h termios.h fcntl.h errno.h


EposRs232Gateway.h



Classes

• class EposRs232Gateway

RS232 EPOS gateway.


RS232 interface for a EPOS device gateway. Defines the implementation for the RS232 device gateway.

This class EposRs232Gateway (p. 14) inherits the AbstractEposGateway (p. 11).

EposRs232Gateway.h (p. 33) declares the following methods:

• int getSoftwareVersion(void);

• epos::status EposRs232Gateway::sendFrame (p. 17)( unsigned char opCode, epos::Word

(p. 10) ∗data, unsigned short length, epos::Word (p. 10) ∗response);

• epos::status EposRs232Gateway::readObject(p. 16)( unsigned char nodeID, uint16_t index,

unsigned char subIndex, epos::DWord (p. 9) ∗responce);






unsigned char subIndex, epos::Word (p. 10) ∗responce);


unsigned char subIndex, char ∗responce);

• epos::status EposRs232Gateway::writeObject (p. 18)( unsigned char nodeID, uint16_t in-

dex, unsigned char subIndex, epos::DWord (p. 9) data);


dex, unsigned char subIndex, epos::Word (p. 10) data);


dex, unsigned char subIndex, char data);

Author

Charalampos Serenis




Definition in file EposRs232Gateway.h.




7.4 main.cpp File Reference 35

7.4 main.cpp File Reference

#include <iostream>

#include <cstdio>

#include "ros/ros.h"

#include "mainMotorControl_communications/setVehicleSpeedSrv.h"

#include "mainMotorControl_communications/mainMotorStateMsg.h"


#include <Kinematic.h>

#include <fstream>

#include <SubscriberTester.h>

#include <PublisherTester.h>

#include "diagnostic_updater/diagnostic_updater.h"

#include "MainMotorController.h"

Include dependency graph for main.cpp:

main.cpp

iostream

cstdio ros/ros.h mainMotorControl_communications/setVehicleSpeedSrv.h mainMotorControl_communications/mainMotorStateMsg.hEposRs232Gateway.h Kinematic.h fstream SubscriberTester.h PublisherTester.h diagnostic_updater/diagnostic_updater.h

string

pthread.hR s2 32 .h A bs tr ac tE po sG at ew ay .h

cstring stdint.hunistd.ht e rm ios . h f c nt l. h e rr no . h


main.cpp

Functions

• int main (int argc, char ∗∗argv)

7.4.1 Function Documentation

7.4.1.1 int main (int argc, char ∗∗ argv)

Definition at line 42 of file main.cpp.


main

MainMotorController::isInit

MainMotorController::postStatus

MainMotorController::setSpeed



Rs232::read

Rs232::write





7.5 MainMotorController.cpp File Reference

#include "MainMotorController.h"

Include dependency graph for MainMotorController.cpp:


MainMotorController.h

ros/ros.h mainMotorControl_communications/setVehicleSpeedSrv.h mainMotorControl_communications/mainMotorStateMsg.h EposRs232Gateway.h Kinematic.h fstream SubscriberTester.h PublisherTester.h diagnostic_updater/diagnostic_updater.h

string


iost ream cstringstdint.h unistd.h termios.h fcntl.h errno.h

Defines

• #define MIKE

7.5.1 Define Documentation

7.5.1.1 #define MIKE




7.6 MainMotorController.h File Reference 37

7.6 MainMotorController.h File Reference

ROS controller for PANDORA main motors.

#include "ros/ros.h"

#include "mainMotorControl_communications/setVehicleSpeedSrv.h"

#include "mainMotorControl_communications/mainMotorStateMsg.h"


#include <Kinematic.h>

#include <fstream>

#include <SubscriberTester.h>

#include <PublisherTester.h>

#include "diagnostic_updater/diagnostic_updater.h"

Include dependency graph for MainMotorController.h:


ros/ros.h mainMotorControl_communications/setVehicleSpeedSrv.h mainMotorControl_communications/mainMotorStateMsg.h EposRs232Gateway.h Kinematic.h fstream SubscriberTester.h PublisherTester.h diagnostic_updater/diagnostic_updater.h

string


iost ream cstringstdint.h unistd.h termios.h fcntl.h errno.h




Classes

• class MainMotorController

MainMotorController (p. 19) PANDORA main motor controller.


ROS controller for PANDORA main motors. Objects of class MainMotorController (p. 19) declare and

initialize all the necessary subsystems for communication with the underlaying hardware responsible for

controlling the 2 EPOS controllers. Furhtermore, the object setups all the described ROS topics and ser-

vices to communicate with other ROS nodes. This class acts as a midleware between the ROS API and the

libraries/objects driving the hardware. MainMotorController.h (p. 37) declares the following classes:

• MainMotorController (p. 19)

MainMotorController.h (p. 37) declares the following methods:





• MainMotorController (p. 19)( std::string dev, int speed, int timeout, ros::Publisher ∗p,

ros::NodeHandle &handle);

• bool setSpeed( mainMotorControl_communications::setVehicleSpeedSrv::Request &req,

mainMotorControl_communications::setVehicleSpeedSrv::Response &res);

• void postStatus(const ros::TimerEvent& event);

• inline bool isInit(void);

• void speedDiagnostic( diagnostic_updater::DiagnosticStatusWrapper &stat);

• void statusDiagnostic( diagnostic_updater::DiagnosticStatusWrapper &stat);

• std::string convertStatusToString(epos::CommandStatus);

Author

Charalampos SerenisElectical and Computer Engineer



Definition in file MainMotorController.h.




7.7 Rs232.cpp File Reference 39

7.7 Rs232.cpp File Reference

#include <Rs232.h>

Include dependency graph for Rs232.cpp:

Rs232.cpp

Rs232.h

iostream string cstring stdint.h unistd.h termios.h fcntl.h errno.h





7.8 Rs232.h File Reference

#include <iostream>

#include <string>

#include <cstring>

#include <stdint.h>

#include <unistd.h>

#include <termios.h>

#include <fcntl.h>

#include <errno.h>

Include dependency graph for Rs232.h:

Rs232.h

iostream string cstring stdint.h unistd.h termios.h fcntl.h errno.h


Rs232.h

EposRs232Gateway.h Rs232.cpp



Classes

• class Rs232

Simple C++ wrapper of unix serial port interface.




Index

AbstractEposGateway, 11

readObject, 12

sendFrame, 12

writeObject, 12, 13

AbstractEposGateway.h, 29

API

epos, 10

BUSY

epos, 10

Byte

epos, 9

close

Rs232, 25

CommandStatus

epos, 10

convertStatusToString

MainMotorController, 20

DWordepos, 9

epos, 9

API, 10

BUSY, 10

Byte, 9

CommandStatus, 10

DWord, 9

NACK, 10

PROTOCOL, 10

RESYNC, 10

RS232, 10SUCCESS, 10

TIMEOUT, 10

Word, 9

EposRs232Gateway, 14


readObject, 16

sendFrame, 16

writeObject, 17, 18

EposRs232Gateway.cpp, 32

EposRs232Gateway.h, 33

forceUnlock

Rs232, 25

isInit


main

main.cpp, 35

main.cpp, 35

main, 35

MainMotorController, 19convertStatusToString, 20

isInit, 21


postStatus, 21

setSpeed, 21

speedDiagnostic, 22

statusDiagnostic, 22

MainMotorController.cpp, 36

MIKE, 36

MainMotorController.h, 37

MIKE

MainMotorController.cpp, 36

NACK

epos, 10

open

Rs232, 25

postStatus


PROTOCOL

epos, 10

read

Rs232, 25, 26

readObject



RESYNC

epos, 10

RS232

epos, 10

Rs232, 24

close, 25

forceUnlock, 25

open, 25

read, 25, 26



42 INDEX

Rs232, 24

write, 26

Rs232.cpp, 39

Rs232.h, 40

sendFrame



setSpeed


speedDiagnostic


statusDiagnostic


SUCCESS

epos, 10

TIMEOUT

epos, 10

Word

epos, 9

write

Rs232, 26

writeObject

AbstractEposGateway, 12, 13

EposRs232Gateway, 17, 18

epos reference

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