Hekateros Product Identifiers

Macros
#define	HEK_PROD_GA   0x000
	product general availability
#define	HEK_PROD_BETA   0x001
	product beta version
#define	HEK_PROD_ALPHA   0x002
	product alpha version
#define	HEK_PROD_PROTO   0x003
	product prototype version
#define	HEK_CLASS_ARM   0xBA000000
	base arm
#define	HEK_CLASS_EE   0xEE000000
	end effector
#define	HEK_CLASS_EQUIP_DECK   0xED000000
	equipment deck effector
#define	HEK_CLASS_AUX   0xAE000000
	auxiliary effector
#define	HEK_PRODUCT_ID(sizecode, dof, special)
	Convert robotic arm (base) product triplet to product id. More...
#define	HEK_EE_PRODUCT_ID(family, sizecode, dof, special)
	Convert end effector product 4-tuple to product id. More...
#define	HEK_ED_PRODUCT_ID(sizecode, dof, special)
	Convert equipment deck effector product triplet to product id. More...
#define	HEK_AE_PRODUCT_ID(sizecode, dof, special)
	Convert auxiliary effector product triplet to product id. More...
#define	HEK_VERSION(major, minor, revision)   ((((major)&0xff)<<24) | (((minor)&0xff)<<16) | ((revision)&0xffff))
	Convert version triplet to integer equivalent. More...
#define	HEK_VER_MAJOR(ver)   (((ver)>>24) &0xff)
	Get version major number from version. More...
#define	HEK_VER_MINOR(ver)   (((ver)>>16) &0xff)
	Get version minor number from version. More...
#define	HEK_VER_REV(ver)   ((ver) & 0xffff)
	Get revision number from version. More...

Enumerations
enum	hekateros::HekProdSize {   hekateros::HekProdSizeUnknown = 0,   hekateros::HekProdSizeStd = 1,   hekateros::HekProdSizeShort = 2,   hekateros::HekProdSizeLong = 3,   hekateros::HekProdSizeMini = 4,   hekateros::HekProdSizeNumOf = 5 }
	Hekateros product size codes. More...

Variables
const char *const	hekateros::HekProdFamily = "Hekateros"
	product family name
const int	hekateros::HekProdFamilyUnknown = 0
	unknown/undefined product family
const int	hekateros::HekProdIdUnknown = 0
	unknown/undefined product id
const char *const	hekateros::HekProdSizeStrUnknown = "?"
	Common Hekateros product size codes as strings. More...
const char *const	hekateros::HekProdSizeStrStd = "N"
	standard (normal) size
const char *const	hekateros::HekProdSizeStrShort = "S"
	short
const char *const	hekateros::HekProdSizeStrLong = "L"
	long
const char *const	hekateros::HekProdSizeStrMini = "Mini"
	mini

Detailed Description

Hekateros product ids, names, and descriptions.

Products ids are classified by class, family, size, dof, and special fields.

Macro Definition Documentation

#define HEK_AE_PRODUCT_ID	(		sizecode,
			dof,
			special
	)

Value:

( HEK_CLASS_AUX | \
     (((sizecode)&0xf)<<20) | (((dof)&0xff)<<12) | ((special)&0xfff) )

Convert auxiliary effector product triplet to product id.

Parameters

sizecode	Product size code.
dof	Degrees of freedom.
special	Special product subfields. To be defined as needed.

Definition at line 174 of file hekateros.h.

#define HEK_ED_PRODUCT_ID	(		sizecode,
			dof,
			special
	)

Value:

( HEK_CLASS_EQUIP_DECK | \
     (((sizecode)&0xf)<<20) | (((dof)&0xff)<<12) | ((special)&0xfff) )

Convert equipment deck effector product triplet to product id.

Parameters

sizecode	Product size code.
dof	Degrees of freedom.
special	Special product subfields. To be defined as needed.

Definition at line 163 of file hekateros.h.

#define HEK_EE_PRODUCT_ID	(		family,
			sizecode,
			dof,
			special
	)

Value:

( HEK_CLASS_EE | (((family)&0xff)<<16) | \
      (((sizecode)&0xf)<<12) | (((dof)&0xff)<<4) | ((special)&0xf) )

Convert end effector product 4-tuple to product id.

Parameters

family	End effector family
sizecode	Product size code.
dof	Degrees of freedom.
special	Special product subfields. To be defined as needed.

Definition at line 152 of file hekateros.h.

#define HEK_PRODUCT_ID	(		sizecode,
			dof,
			special
	)

Value:

( HEK_CLASS_ARM | \
     (((sizecode)&0xf)<<20) | (((dof)&0xff)<<12) | ((special)&0xfff) )

Convert robotic arm (base) product triplet to product id.

Parameters

sizecode	Product size code.
dof	Degrees of freedom.
special	Special product subfields. To be defined as needed.

Definition at line 140 of file hekateros.h.

#define HEK_VER_MAJOR

(

ver

)

(((ver)>>24) &0xff)

Get version major number from version.

Parameters

ver	Version number.

Returns

Major number.

Definition at line 195 of file hekateros.h.

Referenced by hekateros::HekRobot::getVersion(), and hekateros::HekSpec::set().

#define HEK_VER_MINOR

(

ver

)

(((ver)>>16) &0xff)

Get version minor number from version.

Parameters

ver	Version number.

Returns

Minor number.

Definition at line 204 of file hekateros.h.

Referenced by hekateros::HekRobot::getVersion(), and hekateros::HekSpec::set().

#define HEK_VER_REV

(

ver

)

((ver) & 0xffff)

Get revision number from version.

Parameters

ver	Version number.

Returns

Revision number.

Definition at line 213 of file hekateros.h.

Referenced by hekateros::HekRobot::getVersion(), and hekateros::HekSpec::set().

#define HEK_VERSION	(		major,
			minor,
			revision
	)		((((major)&0xff)<<24) | (((minor)&0xff)<<16) | ((revision)&0xffff))

Convert version triplet to integer equivalent.

Parameters

major	Major version number.
minor	Minor version number.
revision	Revision number.

Definition at line 185 of file hekateros.h.

Referenced by hekateros::HekUno::cmdSetAlarmLED(), hekateros::HekUno::cmdSetHaltedState(), hekateros::HekUno::cmdSetStatusLED(), and hekateros::HekSpec::set().

Enumeration Type Documentation

enum hekateros::HekProdSize

Hekateros product size codes.

Sizes are relavent to the product family. For example, a short base is different from a short end effector.

Enumerator
HekProdSizeUnknown	unknown size
HekProdSizeStd	standard (normal) size
HekProdSizeShort	short
HekProdSizeLong	long
HekProdSizeMini	mini
HekProdSizeNumOf	number of

Definition at line 227 of file hekateros.h.

  {
    HekProdSizeUnknown  = 0,    ///< unknown size
    HekProdSizeStd      = 1,    ///< standard (normal) size
    HekProdSizeShort    = 2,    ///< short
    HekProdSizeLong     = 3,    ///< long
    HekProdSizeMini     = 4,    ///< mini

    HekProdSizeNumOf    = 5     ///< number of
  };

Variable Documentation

const char* const hekateros::HekProdSizeStrUnknown = "?"

Common Hekateros product size codes as strings.

unknown base size

Definition at line 241 of file hekateros.h.