hekateros::HekUno Class Reference

Public Member Functions
	HekUno ()
	Default constructor.
virtual	~HekUno ()
	Destructor.
virtual int	open (uint_t uHekHwVer, const std::string &dev=HekDevArduino, int baud=HekBaudRateArduino)
	Open all interfaces monitoring hardware. More...
virtual int	close ()
	Close all interfaces to monitoring hardware. More...
virtual int	scan ()
	Scan and initialize hardware. More...
virtual int	cmdReadFwVersion (int &ver)
	Command to read firmware version. More...
virtual byte_t	cmdReadLimits ()
	Command to read limit bit state. More...
virtual byte_t	cmdReadAux ()
	Command to read auxilliary bit state. More...
virtual int	cmdReadPin (int id)
	Command to read one I/O pin. More...
virtual int	cmdWritePin (int id, int val)
	Command to write value to an I/O pin. More...
virtual int	cmdConfigPin (int id, char dir)
	Command to configure direction of an I/O pin. More...
virtual int	cmdSetAlarmLED (int val)
	Command to set Alarm LED. More...
virtual int	cmdSetStatusLED (int val)
	Command to set Status LED. More...
virtual int	cmdSetHaltedState ()
	Command to set monitoring state to halted. More...
virtual int	cmdTestInterface ()
	Test serial interface command. More...
virtual int	cmdNull ()
	Null command. More...

Protected Member Functions
int	sendCommand (char *buf, size_t nBytes, uint_t timeout=50000)
	Send command to Arduino. More...
int	recvResponse (char buf[], size_t count, uint_t timeout=100000)
	Receive response from Arduino. More...
byte_t	unpackHex (char buf[])
	Unpack hex characters to byte. More...

Protected Attributes
int	m_fd
	open arduino file descriptor
uint_t	m_uHekHwVer
	hekateros hardware version
int	m_nFwVer
	arduino firmware version
int	m_nFwOpState
	firmware operational state
int	m_nFwSeqNum
	expected test sequence number modulo 256

Detailed Description

Definition at line 63 of file hekUno.h.

Member Function Documentation

int HekUno::close ( )

virtual

Close all interfaces to monitoring hardware.

Returns

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

Definition at line 103 of file hekUno.cxx.

{
  if( m_fd >= 0 )
  {
    ::close(m_fd);
    m_fd = -1;
    LOGDIAG3("Closed Arduino compatible device.");
  }
  m_uHekHwVer = 0;
  m_nFwVer    = 0;
}

int HekUno::cmdConfigPin ( int  id, char  dir  )

virtual

Command to configure direction of an I/O pin.

Parameters

id	Pin identifier.
dir	Pin direction 'i' or 'o'.

Returns

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

Definition at line 248 of file hekUno.cxx.

{
  char  cmd[16];
  char  rsp[16];
  int   c;
  int   n;  

  if( dir == 'i' )
  {
    c = 0;
  }
  else if( dir == 'o' )
  {
    c = 1;
  }
  else 
  {
    return -HEK_ECODE_BAD_VAL;
  }

  sprintf(cmd, "!c %d %d\r", id, c);
  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( (n < 1) || (rsp[0] != '@') )
  {
    return -HEK_ECODE_NO_EXEC;
  }
  else
  {
    return HEK_OK;
  }
}

int HekUno::cmdNull ( )

virtual

Null command.

Returns

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

Definition at line 405 of file hekUno.cxx.

{
  char  cmd[] = "\r";
  char  rsp[16];
  int   n;  

  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp), 2000000);

  return HEK_OK;
}

byte_t HekUno::cmdReadAux ( )

virtual

Command to read auxilliary bit state.

Auxillary bits are usually End Effector GPIO, but allows room for additional bits.

Returns

Returns auxilliary switches state as a bit packed byte.

Definition at line 188 of file hekUno.cxx.

{
  char    cmd[] = "!e\r";
  char    rsp[16];
  int     n;  
  byte_t  val = 0;

  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( n > 2 )
  {
    val = unpackHex(rsp+1);
  }

  return val;
}

int HekUno::cmdReadFwVersion ( int &  ver )

virtual

Command to read firmware version.

param [out] ver Version number.

Returns

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

Definition at line 138 of file hekUno.cxx.

{
  char cmd[] = "!v\r";
  char rsp[16];
  int  n;  

  ver = 0;

  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp), 200000);

  if( n > 1 )
  {
    ver = atoi(rsp+1);
    return HEK_OK;
  }
  else
  {
    LOGERROR("Failed to read firmware version.");
    return -HEK_ECODE_NO_EXEC;
  }
}

byte_t HekUno::cmdReadLimits ( )

virtual

Command to read limit bit state.

Returns

Returns limit switches state as a bit packed byte.

Definition at line 162 of file hekUno.cxx.

{
  char    cmd[] = "!o\r";
  char    rsp[16];
  int     n;  
  byte_t  val = 0;

  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( n > 2 )
  {
    val = unpackHex(rsp+1);
  }
  else
  {
    LOGERROR("Failed to read optical limits.");
    return -HEK_ECODE_NO_EXEC;
  }

//fprintf(stderr, "received %x from uno.\n", val);

  return val;
}

int HekUno::cmdReadPin ( int  id )

virtual

Command to read one I/O pin.

Parameters

id	Pin identifier.

Returns

Return pin state 0 or 1.

Definition at line 207 of file hekUno.cxx.

{
  char  cmd[16];
  char  rsp[16];
  int   n;  
  int   val;

  sprintf(cmd, "!r %d\r", id);
  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( n > 1 )
  {
    val = atoi(rsp);
  }

  return val;
}

int HekUno::cmdSetAlarmLED ( int  val )

virtual

Command to set Alarm LED.

Parameters

val	LED 0==off or 1==on value.

Returns

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

Definition at line 283 of file hekUno.cxx.

References HEK_VERSION.

{
  char cmd[16];
  char rsp[16];
  int  n;  

  if( m_uHekHwVer < HEK_VERSION(1, 2, 0) )
  {
    return cmdWritePin(5, val);
  }

  sprintf(cmd, "!l 1 %d\r", val? 1: 0);
  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( (n < 1) || (rsp[0] != '@') )
  {
    return -HEK_ECODE_NO_EXEC;
  }
  else
  {
    return HEK_OK;
  }
}

int HekUno::cmdSetHaltedState ( )

virtual

Command to set monitoring state to halted.

Returns

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

Definition at line 335 of file hekUno.cxx.

References HEK_VERSION.

{
  char cmd[] = "!h\r";
  char rsp[16];
  int  n;  

  if( m_uHekHwVer < HEK_VERSION(1, 2, 0) )
  {
    return HEK_OK;
  }

  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( (n < 1) || (rsp[0] != '@') )
  {
    return -HEK_ECODE_NO_EXEC;
  }
  else
  {
    return HEK_OK;
  }
}

int HekUno::cmdSetStatusLED ( int  val )

virtual

Command to set Status LED.

Parameters

val	LED 0==off or 1==on value.

Returns

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

Definition at line 309 of file hekUno.cxx.

References HEK_VERSION.

{
  char cmd[16];
  char rsp[16];
  int  n;  

  if( m_uHekHwVer < HEK_VERSION(1, 2, 0) )
  {
    return HEK_OK;
  }

  sprintf(cmd, "!l 2 %d\r", val? 1: 0);
  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( (n < 1) || (rsp[0] != '@') )
  {
    return -HEK_ECODE_NO_EXEC;
  }
  else
  {
    return HEK_OK;
  }
}

int HekUno::cmdTestInterface ( )

virtual

Test serial interface command.

Returns

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

Definition at line 360 of file hekUno.cxx.

{
  char  cmd[] = "!t\r";
  char  rsp[16];
  int   n;  
  int   nOpState;
  int   nSeqNum;

  if( m_nFwVer >= 3 )
  {
    sendCommand(cmd, strlen(cmd));

    n = recvResponse(rsp, sizeof(rsp));

    if( (n < 1) || (rsp[0] != '@') )
    {
      return -HEK_ECODE_NO_EXEC;
    }

    n = sscanf(&rsp[1], "%d %d", &nOpState, &nSeqNum);

    if( n != 2 )
    {
      LOGERROR("Failed test of interface: bad response.");
      return -HEK_ECODE_NO_EXEC;
    }

    if( nOpState != m_nFwOpState )
    {
      fprintf(stderr, "ARDUINO TEST: New OpState=%d\n", m_nFwOpState);
    }

    if( nSeqNum != m_nFwSeqNum )
    {
      fprintf(stderr, "ARDUINO TEST: Lost sync: Sequence number received=%d, "
                    "expected=%d\n", nSeqNum, m_nFwSeqNum);
    }

    m_nFwOpState  = nOpState;
    m_nFwSeqNum   = (nSeqNum + 1) & 0xff;
  }

  return HEK_OK;
}

int HekUno::cmdWritePin ( int  id, int  val  )

virtual

Command to write value to an I/O pin.

Parameters

id	Pin identifier.
val	Pin state 0 or 1.

Returns

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

Definition at line 227 of file hekUno.cxx.

{
  char cmd[16];
  char rsp[16];
  int  n;  

  sprintf(cmd, "!w %d %d\r", id, val? 1: 0);
  sendCommand(cmd, strlen(cmd));

  n = recvResponse(rsp, sizeof(rsp));

  if( (n < 1) || (rsp[0] != '@') )
  {
    return -HEK_ECODE_NO_EXEC;
  }
  else
  {
    return HEK_OK;
  }
}

int HekUno::open ( uint_t  uHekHwVer, const std::string &  dev = HekDevArduino, int  baud = HekBaudRateArduino  )

virtual

Open all interfaces monitoring hardware.

Parameters

uHekHwVer

Definition at line 81 of file hekUno.cxx.

{
  m_uHekHwVer = uHekHwVer;

  if( (m_fd = SerDevOpen(dev.c_str(), baud, 8, 'N', 1, 0, 0) ) == -1 )
  {
    LOGERROR("Failed to open Arduino digital I/O board");
    return -HEK_ECODE_SYS;
  }

  SerDevFIFOInputFlush(m_fd);

  // flush any residuals
  cmdNull();

  //SerDevFIFOInputFlush(m_fd);

  LOGDIAG3("Opened Arduino compatible device: %s@%d", dev.c_str(), baud);

  return HEK_OK;
}

int HekUno::recvResponse ( char  buf[], size_t  count, uint_t  timeout = 100000  )

protected

Receive response from Arduino.

Parameters

buf	Receiving character buffer.
count	Maximum number of bytes to read.
timeout	Receive timeout (usec).

Returns

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

Definition at line 425 of file hekUno.cxx.

{
  char    c;
  ssize_t nBytes=0;

  // grab actual response
  nBytes = SerDevReadLine(m_fd, buf, count, (char *)"\n\r", timeout);

#ifdef MON_DEBUG
  fprintf(stderr, "DBG - received(%zd): ", nBytes);
  for(ssize_t i=0; i<nBytes; ++i)
  {
    fprintf(stderr, "%x ", buf[i]);
  }
  fprintf(stderr, "\n");
#endif // MON_DEBUG

  return (int)nBytes;
}

int HekUno::scan ( )

virtual

Scan and initialize hardware.

Returns

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

Definition at line 115 of file hekUno.cxx.

{
  LOGDIAG3("Scanning Arduino digital I/O board capabilities.");

  //
  // Read firmware version. Do this a few times to flush out any residual 
  // characters in arduino command pipeline.
  //
  for(int i=0; i<3; ++i)
  {
    cmdReadFwVersion(m_nFwVer);
    cmdReadLimits();
    if( m_nFwVer != 0 )
    {
      break;
    }
  }

  LOGDIAG3("Arduino firmware version %d.", m_nFwVer);

  return HEK_OK;
}

int HekUno::sendCommand ( char *  buf, size_t  nBytes, uint_t  timeout = 50000  )

protected

Send command to Arduino.

Parameters

buf	Buffer of bytes.
nBytes	Number of bytes in buffer to write.
timeout	Send timeout (usec).

Returns

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

Definition at line 418 of file hekUno.cxx.

{
  SerDevWrite(m_fd, (byte_t *)buf, nBytes, timeout);
  SerDevFIFOOutputDrain(m_fd);
  return HEK_OK;
}

byte_t HekUno::unpackHex ( char  buf[] )

protected

Unpack hex characters to byte.

Format: hh

Parameters

buf	Buffer of hex characters

Returns

Returns unpacked byte.

Definition at line 445 of file hekUno.cxx.

{
  byte_t  val = 0;

  //
  // Parse 2 character hex.
  //
  for(int i=0; i<2; ++i)
  {
    val *= 16;
    if(buf[i] >= '0' && buf[i] <='9')
    {
      val += buf[i] - '0';
    }

    else if (buf[i] >= 'A' && buf[i] <= 'F')
    {
      val += buf[i] -'A'+10;
    }

    else if (buf[i] >= 'a' && buf[i] <= 'f')
    {
      val += buf[i] -'a'+10;
    }
  }
  
  return val;
}

---

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

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