ConscienceRsInterface Class Reference

#include <CscRsInterface.h>

Public Member Functions
	ConscienceRsInterface ()
bool	setupSerialStream422 (FileDesc &fd, const char *portName)
bool	setupSerialStream485 (FileDesc &fd, const char *portName)
void	writePelcoPMessage (int movement, float deltaAngleMotor0, float deltaAngleMotor1)
void	processUnitSample ()
float	getMotorAngle (int motorId)
int	processResultToRs485 (CscState *state)
int	readFromRs485 (const char *buffer, unsigned int buf_size)
bool	writeToRs485 (const char *buffer, unsigned int buf_size)
bool	isActivated ()
void	closeSerial ()
void	queryMotorPosition (int motorId)
virtual	~ConscienceRsInterface ()
void	updateStatusAndProcessAction ()
void	initUpdateStatusAndProcessActionThread ()
void	activate (const char *rs485PortName, const char *rs422PortName)
void	disactivate ()
void	reachMotorsAngles (float directionValues[2])
int	updateRequestedMotorsAngles (float motor0Speed, float motor1Speed)
void	stopAllMovments ()
float	getMotoValInPercent (int motorId)
void	emergencyStop ()

Static Public Member Functions
static ConscienceRsInterface *	getInstance ()

Public Attributes
const char *	rs485PortName
const char *	rs422PortName
int	rs485Fd
int	rs422Fd

Constructor & Destructor Documentation

ConscienceRsInterface()

ConscienceRsInterface::ConscienceRsInterface ( )

explicit

~ConscienceRsInterface()

ConscienceRsInterface::~ConscienceRsInterface ( )

virtual

Member Function Documentation

activate()

void ConscienceRsInterface::activate	(	const char *	rs485PortName,
		const char *	rs422PortName
	)

closeSerial()

void ConscienceRsInterface::closeSerial

(

)

disactivate()

void ConscienceRsInterface::disactivate

(

)

emergencyStop()

void ConscienceRsInterface::emergencyStop

(

)

getInstance()

static ConscienceRsInterface* ConscienceRsInterface::getInstance ( )

inlinestatic

getMotorAngle()

float ConscienceRsInterface::getMotorAngle

(

int

motorId

)

getMotoValInPercent()

float ConscienceRsInterface::getMotoValInPercent

(

int

motorId

)

initUpdateStatusAndProcessActionThread()

void ConscienceRsInterface::initUpdateStatusAndProcessActionThread

(

)

isActivated()

bool ConscienceRsInterface::isActivated

(

)

processResultToRs485()

int ConscienceRsInterface::processResultToRs485

(

CscState *

state

)

processUnitSample()

void ConscienceRsInterface::processUnitSample

(

)

queryMotorPosition()

void ConscienceRsInterface::queryMotorPosition

(

int

motorId

)

reachMotorsAngles()

void ConscienceRsInterface::reachMotorsAngles

(

float

directionValues[2]

)

readFromRs485()

int ConscienceRsInterface::readFromRs485	(	const char *	buffer,
		unsigned int	buf_size
	)

setupSerialStream422()

bool ConscienceRsInterface::setupSerialStream422	(	FileDesc &	fd,
		const char *	portName
	)

setupSerialStream485()

bool ConscienceRsInterface::setupSerialStream485	(	FileDesc &	fd,
		const char *	portName
	)

stopAllMovments()

void ConscienceRsInterface::stopAllMovments

(

)

updateRequestedMotorsAngles()

int ConscienceRsInterface::updateRequestedMotorsAngles	(	float	motor0Speed,
		float	motor1Speed
	)

updateStatusAndProcessAction()

void ConscienceRsInterface::updateStatusAndProcessAction

(

)

writePelcoPMessage()

void ConscienceRsInterface::writePelcoPMessage	(	int	movement,
		float	deltaAngleMotor0,
		float	deltaAngleMotor1
	)

writeToRs485()

bool ConscienceRsInterface::writeToRs485	(	const char *	buffer,
		unsigned int	buf_size
	)

Member Data Documentation

rs422Fd

int ConscienceRsInterface::rs422Fd

rs422PortName

const char* ConscienceRsInterface::rs422PortName

rs485Fd

int ConscienceRsInterface::rs485Fd

rs485PortName

const char* ConscienceRsInterface::rs485PortName

---

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

• SignalEncoder/CscRsInterface.h
• SignalEncoder/CscRsInterface.cpp