hekateros::HekMonitor Class Reference

Hekateros power, joint limits, and alarm monitoring class. More...

#include <hekMonitor.h>

Public Types
enum	MonStateId {   MonStateIdInit,   MonStateIdRunNormal,   MonStateIdRunAlarmed,   MonStateIdHalting,   MonStateIdHalted }
	Hekateros internal monitor states. More...
enum	MonThStateId {   MonThStateIdInit,   MonThStateIdIdle,   MonThStateIdRun,   MonThStateIdExit }
	monitor thread states. More...
typedef map< int, HekJointOptical >	MapOpticalLimits
	Map of optical limit switches for all joints in all kinematic chains. More...

Public Member Functions
	HekMonitor ()
	Default constructor.
virtual	~HekMonitor ()
	Destructor.
int	open (uint_t uHekHwVer, const std::string &strDevArduino=HekDevArduino, int nBaudRateArduino=HekBaudRateArduino)
	Open resources to monitor hardware. More...
int	close ()
	Close resources to monitor hardware. More...
int	start (double fHz=30.0)
	Start monitoring added objects. More...
int	stop ()
	Stop monitoring. More...
void	addServoChainToMonitor (DynaChain *pDynaChain)
	Add servo chain to monitor for alarms and health. More...
int	addJointLimitsToMonitor (HekSpecJoint_T *pSpecJoint, HekRobotJoint *pJoint)
	Add any joint limit switches to quick look-up map. More...
void	addKinematicsToMonitor (HekKinematics *pKin)
	Add kinematics for safety control. More...
MonStateId	getMonState ()
	Get the current monitor state. More...
void	markAlarmCond (bool bAlarmedCond)
	Mark alarm condition. More...
void	markEStopCond (bool bEStopCond)
	Mark emergency stop condition. More...
void	markPoweredCond (bool bPoweredCond)
	Mark motors are powered condition. More...
byte_t	readFwVersion ()
	Read firmware version. More...
byte_t	readLimitSwitches ()
	Read joint limit switch states. More...
byte_t	readEEGpio ()
	Read End Effector GPIO states. More...
byte_t	readEEGpioPin (byte_t byPin)
	Read one End Effector GPIO pin state. More...
int	writeEEGpioPin (byte_t byPin, byte_t byVal)
	Write state to one End Effector GPIO pin. More...
int	configEEGpioPin (byte_t byPin, char cDir)
	Configure End Effector GPIO pin direction. More...
void	writeAlarmLED (bool bState)
	Write alarm LED. More...
void	writeStatusLED (bool bState)
	Write CPU status LED. More...
void	writeStartHaltingSystem ()
	Write system is halting.
void	testInterface ()
	Test interface. More...
int	getAlarmCond ()
	Get monitoring alarm condition. More...
int	getEStopCond ()
	Get monitoring emergency stop condition. More...
int	getPoweredCond ()
	Get motors are powered condition. More...
HekOpticalLimit_T *	getJointLimitInfo (byte_t byMask)
	Get joint limits information. More...
byte_t	getJointLimitBits ()
	Get current limit switch bit values. More...
byte_t	getEEAuxBits ()
	Get current End Effector auxilliary bit values. More...
HekTriState	getJointLimitTriState (HekRobotJoint *pJoint, int nLimit)
	Get current joint limit tri-state. More...

Protected Member Functions
void	lock ()
	Lock the monitor thread mutex. More...
void	unlock ()
	Unlock the monitor thread mutex. More...
int	createMonThread ()
	Create the monitor thread. More...
void	destroyMonThread ()
	Destroy the monitor thread. More...
void	signalMonThread (MonThStateId eNewState)
	Signal monitor thread of new state. More...
void	idleWait ()
	Monitor thread block wait in idle state.
void	runWait ()
	Monitor thread block timed wait in run state.
const char *	getThStateName (MonThStateId eNewState)
	Get thread state name string. More...
void	monJointLimits ()
	Monitor joint (optical) limits for state transitions. More...
void	monEEAuxIO ()
	Monitor End Effector auxillary I/O.
void	monServoAlarms ()
	Monitor servos for alarms.

Static Protected Member Functions
static void *	monThread (void *pArg)
	Monitor thread. More...

Protected Attributes
MonStateId	m_eMonState
	Hekateros monitor state
bool	m_bIsOpen
	hardware is [not] open
bool	m_bEStopCond
	estop condition
bool	m_bAlarmCond
	alarm condition
bool	m_bPoweredCond
	power to motors condition
DynaChain *	m_pDynaChain
	dynamixel servo chain alarms
MapOpticalLimits	m_opticalLimits
	joint optical limits map
HekKinematics *	m_pKin
	kinematics
HekUno	m_hwif
	arduino compatible subproc i/f
byte_t	m_byLimitBits
	limit bit state
byte_t	m_byEEAuxBits
	end effector auxilliary bit state
MonThStateId	m_eMonThState
	monitoring thread state
MonThStateId	m_eMonThStateOld
	monitoring thread old state
double	m_fHz
	monitoring hertz
struct timespec	m_tPeriod
	derived monitoring period
struct timespec	m_tStart
	start time for next monitor work
pthread_mutex_t	m_mutexMon
	monitor mutex
pthread_cond_t	m_condMon
	monitor condition
pthread_t	m_threadMon
	monitor pthread identifier

Detailed Description

Hekateros power, joint limits, and alarm monitoring class.

Definition at line 100 of file hekMonitor.h.

Member Typedef Documentation

typedef map<int, HekJointOptical> hekateros::HekMonitor::MapOpticalLimits

Map of optical limit switches for all joints in all kinematic chains.

key:	i/o expander bit mask
mapped type:	joint optical limit data

Definition at line 112 of file hekMonitor.h.

Member Enumeration Documentation

enum hekateros::HekMonitor::MonStateId

Hekateros internal monitor states.

Enumerator
MonStateIdInit	power on and/or (re)initializing
MonStateIdRunNormal	running in normal mode
MonStateIdRunAlarmed	running in alarmed mode
MonStateIdHalting	halting
MonStateIdHalted	halted

Definition at line 117 of file hekMonitor.h.

    {
      MonStateIdInit,         ///< power on and/or (re)initializing
      MonStateIdRunNormal,    ///< running in normal mode
      MonStateIdRunAlarmed,   ///< running in alarmed mode
      MonStateIdHalting,      ///< halting
      MonStateIdHalted        ///< halted
    };

enum hekateros::HekMonitor::MonThStateId

monitor thread states.

Enumerator
MonThStateIdInit	S0.
MonThStateIdIdle	no work
MonThStateIdRun	process thread work
MonThStateIdExit	exit/no thread

Definition at line 129 of file hekMonitor.h.

    {
      MonThStateIdInit,     ///< S0
      MonThStateIdIdle,     ///< no work
      MonThStateIdRun,      ///< process thread work
      MonThStateIdExit      ///< exit/no thread
    };

Member Function Documentation

int HekMonitor::addJointLimitsToMonitor	(	HekSpecJoint_T *	pSpecJoint,
		HekRobotJoint *	pJoint
	)

Add any joint limit switches to quick look-up map.

Only add when monitor thread does not exist or is in the idle state.

Parameters

[in]	pSpecJoint	Pointer to joint spcecification.
[in]	pJoint	Pointer to associated master servo joint.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 355 of file hekMonitor.cxx.

References hekateros::degToRad(), hekateros::HekOpticalLimit_T::m_fCenterPos, hekateros::HekOpticalLimit_T::m_fMaxBlackPos, hekateros::HekOpticalLimit_T::m_fMaxEdgePos, hekateros::HekOpticalLimit_T::m_fMinBlackPos, hekateros::HekOpticalLimit_T::m_fMinEdgePos, hekateros::HekSpecJoint_T::m_limit, hekateros::HekJointOptical::m_limit, hekateros::HekJointOptical::m_pJoint, hekateros::HekOpticalLimit_T::m_uBit, hekateros::HekJointOptical::m_uCurVal, and hekateros::HekJointOptical::m_uMask.

Referenced by addServoChainToMonitor().

{
  HekJointOptical opticalLimit;
  int             i;

  for(i = 0; i < HekOptLimitMaxPerJoint; ++i)
  {
    if( pSpecJoint->m_limit[i].m_uBit == HekIOExpUnassigned )
    {
      break;
    }

    opticalLimit.m_uMask    = pSpecJoint->m_limit[i].m_uBit;
    opticalLimit.m_uCurVal  = HekIOExpDark;
    opticalLimit.m_pJoint   = pJoint;

    opticalLimit.m_limit.m_uBit = pSpecJoint->m_limit[i].m_uBit;
    opticalLimit.m_limit.m_fMinEdgePos = 
                                degToRad(pSpecJoint->m_limit[i].m_fMinEdgePos);
    opticalLimit.m_limit.m_fMinBlackPos = 
                                degToRad(pSpecJoint->m_limit[i].m_fMinBlackPos);
    opticalLimit.m_limit.m_fCenterPos = 
                                degToRad(pSpecJoint->m_limit[i].m_fCenterPos);
    opticalLimit.m_limit.m_fMaxBlackPos = 
                                degToRad(pSpecJoint->m_limit[i].m_fMaxBlackPos);
    opticalLimit.m_limit.m_fMaxEdgePos = 
                                degToRad(pSpecJoint->m_limit[i].m_fMaxEdgePos);


    m_opticalLimits[opticalLimit.m_uMask] = opticalLimit;
  }

  return HEK_OK;
}

void hekateros::HekMonitor::addKinematicsToMonitor ( HekKinematics *  pKin )

inline

Add kinematics for safety control.

Only add when monitor thread does not exist or is in the idle state.

Parameters

pKin	Pointer to kinematics.

Definition at line 232 of file hekMonitor.h.

References m_pKin.

    {
      m_pKin = pKin;
    }

void hekateros::HekMonitor::addServoChainToMonitor ( DynaChain *  pDynaChain )

inline

Add servo chain to monitor for alarms and health.

Only add when monitor thread does not exist or is in the idle state.

Parameters

pDynaChain

Pointer to dynamixel chain.

Definition at line 205 of file hekMonitor.h.

References addJointLimitsToMonitor(), and m_pDynaChain.

    {
      m_pDynaChain = pDynaChain;
    }

int HekMonitor::close

(

)

Close resources to monitor hardware.

Cancels monitor thread.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 253 of file hekMonitor.cxx.

{
  if( m_bIsOpen )
  {
    destroyMonThread();

    m_hwif.close();

    m_eMonState   = MonStateIdInit;
    m_bIsOpen     = false;
    m_bEStopCond  = false;
    m_bAlarmCond  = false;
    m_pDynaChain  = NULL;
    m_pKin        = NULL;

    m_opticalLimits.clear();

#ifdef HEK_HAS_SYS_BOARD
    // expandsion board hardware
    m_i2c.fd            = -1;
    m_i2c.addr          = 0;
#endif // HEK_HAS_SYS_BOARD

    m_byLimitBits       = 0x00;
    m_byEEAuxBits       = 0x00;

    LOGDIAG2("Closed monitoring hardware.");
  }

  return HEK_OK;
}

int HekMonitor::configEEGpioPin	(	byte_t	byPin,
		char	cDir
	)

Configure End Effector GPIO pin direction.

Parameters

byPin	GPIO pin.
cDir	'i' == input, 'o' == output.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 463 of file hekMonitor.cxx.

Referenced by markPoweredCond().

{
  int   rc = HEK_OK;

  lock();

  rc = m_hwif.cmdConfigPin(byPin, cDir);

  unlock();

  return rc;
}

int HekMonitor::createMonThread ( )

protected

Create the monitor thread.

Context:

Calling thread.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 522 of file hekMonitor.cxx.

Referenced by unlock().

{
  int   rc;

  m_eMonThState = MonThStateIdIdle;

  rc = pthread_create(&m_threadMon, NULL, HekMonitor::monThread, (void*)this);
 
  if( rc == 0 )
  {
    rc = HEK_OK;
  }

  else
  {
    LOGSYSERROR("pthread_create()");
    m_eMonThState = MonThStateIdExit;
    rc  = -HEK_ECODE_SYS;
  }

  return rc;
}

void HekMonitor::destroyMonThread ( )

protected

Destroy the monitor thread.

Context:

Calling thread.

Definition at line 545 of file hekMonitor.cxx.

Referenced by unlock().

{
  signalMonThread(MonThStateIdExit);

  usleep(1000);

  pthread_cancel(m_threadMon);
  pthread_join(m_threadMon, NULL);

  LOGDIAG3("Monitor thread canceled.");
}

int hekateros::HekMonitor::getAlarmCond ( )

inline

Get monitoring alarm condition.

Returns

Returns true or false.

Definition at line 371 of file hekMonitor.h.

References m_bAlarmCond.

Referenced by hekateros::HekRobot::isAlarmed().

    {
      return m_bAlarmCond;
    }

byte_t hekateros::HekMonitor::getEEAuxBits ( )

inline

Get current End Effector auxilliary bit values.

Returns

Bits.

Definition at line 423 of file hekMonitor.h.

References getJointLimitTriState(), and m_byEEAuxBits.

    {
      return m_byEEAuxBits;
    }

int hekateros::HekMonitor::getEStopCond ( )

inline

Get monitoring emergency stop condition.

Returns

Returns true or false.

Definition at line 381 of file hekMonitor.h.

References m_bEStopCond.

    {
      return m_bEStopCond;
    }

byte_t hekateros::HekMonitor::getJointLimitBits ( )

inline

Get current limit switch bit values.

Returns

Bits.

Definition at line 413 of file hekMonitor.h.

References m_byLimitBits.

    {
      return m_byLimitBits;
    }

HekOpticalLimit_T* hekateros::HekMonitor::getJointLimitInfo ( byte_t  byMask )

inline

Get joint limits information.

Parameters

byMask

Limit switch bit mask (index).

Returns

Return pointer to limit switch information.

Definition at line 403 of file hekMonitor.h.

References m_opticalLimits.

    {
      return &(m_opticalLimits[byMask].m_limit);
    }

HekTriState HekMonitor::getJointLimitTriState	(	HekRobotJoint *	pJoint,
		int	nLimit
	)

Get current joint limit tri-state.

Parameters

pJoint	Joint.
nLimit	Joint limit switch index.

Returns

Return HekTriState value.

Definition at line 499 of file hekMonitor.cxx.

References hekateros::HekRobotJoint::m_byOptLimitMask.

Referenced by getEEAuxBits().

{
  uint_t uMask = pJoint->m_byOptLimitMask[nLimit];

  if( uMask == HekIOExpUnassigned )
  {
    return HekTriStateUnknown;
  }
  else if( m_opticalLimits[uMask].m_uCurVal & HekIOExpLight )
  {
    return HekTriStateLight;
  }
  else
  {
    return HekTriStateDark;
  }
}

MonStateId hekateros::HekMonitor::getMonState ( )

inline

Get the current monitor state.

Returns

MonStateId enum value.

Definition at line 247 of file hekMonitor.h.

References m_eMonState, markAlarmCond(), and markEStopCond().

    {
      return m_eMonState;
    }

int hekateros::HekMonitor::getPoweredCond ( )

inline

Get motors are powered condition.

Returns

Returns true or false.

Definition at line 391 of file hekMonitor.h.

References m_bPoweredCond.

    {
      return m_bPoweredCond;
    }

const char * HekMonitor::getThStateName ( MonThStateId  eNewState )

protected

Get thread state name string.

define/undef to enable/disable debug test of i/f

Parameters

eNewState

Monitor thread's new state.

Returns

State name string.

Definition at line 604 of file hekMonitor.cxx.

Referenced by monThread(), and unlock().

void hekateros::HekMonitor::lock ( )

inlineprotected

Lock the monitor thread mutex.

The calling thread will block while waiting for the mutex to become available. Once locked, the monitor thread will block.

The lock()/unlock() primitives provide a safe mechanism safely access monitor resources.

Context:

Any.

Definition at line 488 of file hekMonitor.h.

    {
      pthread_mutex_lock(&m_mutexMon);
    }

void HekMonitor::markAlarmCond

(

bool

bAlarmedCond

)

Mark alarm condition.

Parameters

bAlarm

Definition at line 396 of file hekMonitor.cxx.

Referenced by getMonState().

{
  m_bAlarmCond = bAlarmCond;

  writeAlarmLED(m_bAlarmCond || m_bEStopCond);
}

void HekMonitor::markEStopCond

(

bool

bEStopCond

)

Mark emergency stop condition.

Parameters

bEStopCond

Definition at line 403 of file hekMonitor.cxx.

Referenced by getMonState(), and hekateros::HekRobot::resetEStop().

{
  m_bEStopCond = bEStopCond;

  if( m_bEStopCond )
  {
    m_bAlarmCond = m_bEStopCond;
  }

  writeAlarmLED(m_bAlarmCond || m_bEStopCond);
}

void hekateros::HekMonitor::markPoweredCond ( bool  bPoweredCond )

inline

Mark motors are powered condition.

Parameters

bPoweredCond

Definition at line 271 of file hekMonitor.h.

References configEEGpioPin(), m_bPoweredCond, readEEGpio(), readEEGpioPin(), readFwVersion(), readLimitSwitches(), writeAlarmLED(), and writeEEGpioPin().

    {
      m_bPoweredCond = bPoweredCond;
    }

void HekMonitor::monJointLimits ( )

protected

Monitor joint (optical) limits for state transitions.

Any limited rotation joint will be stopped when an optical limit switch transitions from lit to blocked.

Definition at line 681 of file hekMonitor.cxx.

References hekateros::degToRad(), hekateros::HekRobotJoint::doStopAtLimits(), hekateros::HekRobotJoint::m_fMaxSoftLimitRads, hekateros::HekRobotJoint::m_fMinSoftLimitRads, and hekateros::HekRobotJoint::m_strName.

Referenced by monThread(), and unlock().

{
  // past limit backoff speed (rads/sec)
  static double  TuneBackOffVel =  degToRad(10.0);

  MapOpticalLimits::iterator  iter;
  byte_t                      byMask;
  byte_t                      byVal;
  HekRobotJoint              *pJoint;
  DynaServo                  *pServo;
  int                         nOdPos;

  if( (m_pDynaChain == NULL) || (m_pKin == NULL) )
  {
    return;
  }

  m_byLimitBits = readLimitSwitches();

  for(iter = m_opticalLimits.begin(); iter != m_opticalLimits.end(); ++iter)
  {
    byMask = iter->first;
    pJoint = iter->second.m_pJoint;

    byVal = m_byLimitBits & byMask;

    //
    // Transitioned from light to dark.
    //
    if( (byVal == HekIOExpDark) && (byVal != iter->second.m_uCurVal) )
    {
      // have power to servos and this limit set to automatically stop
      if( m_bPoweredCond && pJoint->doStopAtLimits() )
      {
        string  strJointName;
        double  fJointCurPos, fJointCurVel;

        strJointName = pJoint->m_strName;

        m_pKin->getJointCurPosVel(strJointName, fJointCurPos, fJointCurVel);

        if( fJointCurPos < pJoint->m_fMinSoftLimitRads )
        {
          m_pKin->move(strJointName, pJoint->m_fMinSoftLimitRads,
                                  TuneBackOffVel);
        }
        else if( fJointCurPos > pJoint->m_fMaxSoftLimitRads )
        {
          m_pKin->move(strJointName, pJoint->m_fMaxSoftLimitRads,
                                  TuneBackOffVel);
        }
        else
        {
          m_pKin->stop(strJointName);
        }
      }
      else
      {
        // could validate/resync position(s) here
      }
    }

    iter->second.m_uCurVal = byVal;
  }
}

void * HekMonitor::monThread ( void *  pArg )

staticprotected

Monitor thread.

Parameters

pArg	Thread argument (point to HekMonitor object).

Returns

Returns NULL on thread exit.

Definition at line 623 of file hekMonitor.cxx.

References getThStateName(), idleWait(), m_eMonThState, m_eMonThStateOld, monEEAuxIO(), monJointLimits(), monServoAlarms(), runWait(), testInterface(), and unlock().

Referenced by unlock().

{
  HekMonitor   *pThis = (HekMonitor *)pArg;
  int           oldstate;
  int           rc;

  pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, &oldstate);
  pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldstate);
  //pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED, &oldstate);

  pThis->m_eMonThStateOld = MonThStateIdInit;

  LOGDIAG3("Monitor thread created.");

  while( pThis->m_eMonThState != MonThStateIdExit )
  {
     if( pThis->m_eMonThStateOld != pThis->m_eMonThState )
     {
        LOGDIAG3("Monitor thread: %s -> %s state.",
          pThis->getThStateName(pThis->m_eMonThStateOld),
          pThis->getThStateName(pThis->m_eMonThState));
     }

    switch( pThis->m_eMonThState )
    {
      case MonThStateIdIdle:
        pThis->idleWait();
        break;

      case MonThStateIdRun:
        pThis->runWait();
#ifdef HEK_MON_TEST_IF
        pThis->testInterface();
#endif
        pThis->monJointLimits();
        pThis->monEEAuxIO();
        pThis->monServoAlarms();
        break;

      case MonThStateIdExit:
        break;

      default:
        LOGERROR("%d: Unknown monitor state.", pThis->m_eMonThState);
        pThis->m_eMonThState = MonThStateIdExit;
        break;
    }

    pThis->m_eMonThStateOld = pThis->m_eMonThState;
  }

  pThis->unlock();

  LOGDIAG3("Monitor thread exited.");

  return NULL;
}

int HekMonitor::open	(	uint_t	uHekHwVer,
		const std::string &	strDevArduino = HekDevArduino,
		int	nBaudRateArduino = HekBaudRateArduino
	)

Open resources to monitor hardware.

Creates monitor thread.

Parameters

uHekHwVer

Definition at line 216 of file hekMonitor.cxx.

{
  int   rc;

  if( m_bIsOpen )
  {
    LOGWARN("Monitoring hardware already opened.");
    return HEK_OK;
  }

  if( (rc = m_hwif.open(uHekHwVer, strDevArduino, nBaudRateArduino)) < 0 )
  {
    LOGERROR("Hekateros monitor hardware open failed.");
    return rc;
  }
  else if( (rc = m_hwif.scan()) < 0 )
  {
    LOGERROR("Hekateros monitor hardware scan failed.");
    return rc;
  }

  if( (rc = createMonThread()) < 0 )
  {
    LOGERROR("Hekateros monitor thread creation failed.");
    return rc;
  }

  m_eMonState = MonStateIdInit;
  m_bIsOpen   = true;

  LOGDIAG2("Opened monitoring hardware.");

  return HEK_OK;
}

byte_t HekMonitor::readEEGpio

(

)

Read End Effector GPIO states.

Returns

GPIO bit values.

Definition at line 435 of file hekMonitor.cxx.

Referenced by markPoweredCond().

{
  byte_t  byVal = 0;

  lock();

  //LOGDIAG3("Reading optical switch pins");
 
  byVal = m_hwif.cmdReadAux();

  unlock();

  return byVal;
}

byte_t hekateros::HekMonitor::readEEGpioPin

(

byte_t

byPin

)

Read one End Effector GPIO pin state.

Parameters

byPin

GPIO pin.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Referenced by markPoweredCond().

byte_t hekateros::HekMonitor::readFwVersion

(

)

Read firmware version.

Returns

Version number

Referenced by markPoweredCond().

byte_t HekMonitor::readLimitSwitches

(

)

Read joint limit switch states.

Returns

Limit switch bit values.

Definition at line 420 of file hekMonitor.cxx.

Referenced by markPoweredCond().

{
  byte_t  byVal = 0;

  lock();

  //LOGDIAG3("Reading optical limits.");

  byVal = m_hwif.cmdReadLimits();

  unlock();

  return byVal;
}

void HekMonitor::signalMonThread ( MonThStateId  eNewState )

protected

Signal monitor thread of new state.

Parameters

eNewState

Monitor thread's new state.

Definition at line 557 of file hekMonitor.cxx.

Referenced by unlock().

{
  lock();

  m_eMonThStateOld  = m_eMonThState;
  m_eMonThState     = eNewThState;
  pthread_cond_signal(&m_condMon);

  unlock();
}

int HekMonitor::start

(

double

fHz = 30.0

)

Start monitoring added objects.

Parameters

fHz	Monitoring hertz.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 290 of file hekMonitor.cxx.

{
  double fPeriod;

  if( !m_bIsOpen )
  {
    LOGERROR("Monitor hardware not open.");
    return -HEK_ECODE_NO_RSRC;
  }
  else if( m_eMonThState != MonThStateIdIdle )
  {
    LOGERROR("Monitor thread not in idle state.");
    return -HEK_ECODE_BAD_OP;
  }
  else if( fHz <= 0.0 )
  {
    LOGERROR("Monitor thread run Hz=%lf invalid.", fHz);
    return -HEK_ECODE_BAD_OP;
  }

  m_fHz   = fHz;
  fPeriod = 1.0/fHz;

  m_tPeriod.tv_sec = (time_t)fPeriod;
  fPeriod -= (double)m_tPeriod.tv_sec;
  m_tPeriod.tv_nsec = (time_t)(fPeriod * GIGASEC);

  m_tStart = now();

  LOGDIAG3("Monitor thread started running at %.1lf Hz.", m_fHz);

  signalMonThread(MonThStateIdRun);

  m_eMonState = MonStateIdRunNormal;

  return HEK_OK;
}

int HekMonitor::stop

(

)

Stop monitoring.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 328 of file hekMonitor.cxx.

{
  if( !m_bIsOpen )
  {
    LOGERROR("Monitor hardware not open.");
    return -HEK_ECODE_NO_RSRC;
  }
  else if( m_eMonThState != MonThStateIdRun )
  {
    LOGERROR("Monitor thread not in run state.");
    return -HEK_ECODE_BAD_OP;
  }

  LOGDIAG3("Monitor thread stopped - blocked waiting.");

  signalMonThread(MonThStateIdIdle);

  m_eMonState = MonStateIdInit;

  return HEK_OK;
}

void HekMonitor::testInterface

(

)

Test interface.

Diagnostics printed to stderr.

Definition at line 485 of file hekMonitor.cxx.

Referenced by monThread(), and writeStartHaltingSystem().

{
  lock();

  m_hwif.cmdTestInterface();

  unlock();
}

void hekateros::HekMonitor::unlock ( )

inlineprotected

Unlock the monitor thread mutex.

The monitor thread will be available to run.

Context:

Any.

Definition at line 502 of file hekMonitor.h.

References createMonThread(), destroyMonThread(), getThStateName(), idleWait(), monEEAuxIO(), monJointLimits(), monServoAlarms(), monThread(), runWait(), and signalMonThread().

Referenced by monThread().

    {
      pthread_mutex_unlock(&m_mutexMon);
    }

void HekMonitor::writeAlarmLED

(

bool

bState

)

Write alarm LED.

Parameters

bState

On/off state of LED.

Definition at line 476 of file hekMonitor.cxx.

Referenced by markPoweredCond().

{
  lock();

  m_hwif.cmdSetAlarmLED(bState? 1: 0);

  unlock();
}

int HekMonitor::writeEEGpioPin	(	byte_t	byPin,
		byte_t	byVal
	)

Write state to one End Effector GPIO pin.

Parameters

byPin	GPIO pin.
byVal	GPIO pin new value. 0 or 1.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 450 of file hekMonitor.cxx.

Referenced by markPoweredCond().

{
  int   rc = HEK_OK;

  lock();

  rc = m_hwif.cmdWritePin(byPin, byVal);

  unlock();

  return rc;
}

void hekateros::HekMonitor::writeStatusLED ( bool  bState )

inline

Write CPU status LED.

Parameters

bState

On/off state of LED.

Definition at line 343 of file hekMonitor.h.

    {
    }

---

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

• include/Hekateros/hekMonitor.h
• sw/libhekateros/hekMonitor.cxx