laelaps::LaeRptRobotStatus Class Reference

Robot global status report. More...

#include <laeReports.h>

Public Types
typedef std::vector< LaeRptMotorHealth >	VecMotorHealth
typedef std::vector< LaeRptMotorCtlrHealth >	VecMotorCtlrHealth

Public Member Functions
	LaeRptRobotStatus ()
	Default constructor.
	LaeRptRobotStatus (const LaeRptRobotStatus &src)
	Copy constructor.
	~LaeRptRobotStatus ()
	Destructor.
LaeRptRobotStatus	operator= (const LaeRptRobotStatus &rhs)
	Assignment operator. More...
void	clear ()
	Clear report.
void	generate (LaeRobot *pRobot)
	Generate report. More...

Public Attributes
LaeRobotMode	m_eRobotMode
	robot operating mode
LaeTriState	m_eIsEStopped
	robot is [not] emergency stopped
LaeTriState	m_eAreDrivesPowered
	motor are [not] powered
LaeTriState	m_eIsMotionPossible
	motion is [not] possible
LaeTriState	m_eIsInMotion
	robot is [not] moving
LaeTriState	m_eIsInError
	robot is [not] in error condition
int	m_nErrorCode
	laelaps error code
double	m_fBatterySoC
	battery state of charge (0%-100%)
bool	m_bIsCharging
	battery is [not] being charged
double	m_fCurrent
	estimated robot draw (A)
double	m_fVoltage
	average battery voltage (V)
double	m_fTemperature
	interior average temperature (C)
LaeTriState	m_eAuxBattEn
	auxilliary battery power enable
LaeTriState	m_eAux5VEn
	auxilliary 5V power enable
LaeAlarmInfo	m_alarms
	system alarms and warnings
VecMotorCtlrHealth	m_vecCtlrHealth
	motors controllers' health
VecMotorHealth	m_vecMotorHealth
	motors' health

Detailed Description

Robot global status report.

Definition at line 163 of file laeReports.h.

Member Function Documentation

void LaeRptRobotStatus::generate

(

LaeRobot *

pRobot

)

Generate report.

Parameters

pRobot

Pointer to the robot.

Definition at line 221 of file laeReports.cxx.

References laelaps::LaeRobot::canMove(), laelaps::LaeKinematics::getPlatform(), laelaps::LaeKinematics::getPowertrainMap(), laelaps::LaeRptMotorCtlrHealth::m_alarms, laelaps::LaeRptMotorHealth::m_alarms, laelaps::LaePowertrain::m_attr, laelaps::LaePlatform::m_ctlr, laelaps::LaeMotorCtlrState::m_fBoardTemp, laelaps::LaeMotorCtlrState::m_fMainVolts, laelaps::LaePowertrainState::m_fTemp, laelaps::LaeRptMotorCtlrHealth::m_fTemperature, laelaps::LaeRptMotorHealth::m_fTemperature, laelaps::LaeRptMotorCtlrHealth::m_fVoltage, laelaps::LaeRptMotorHealth::m_fVoltage, laelaps::LaePowertrainState::m_fVolts, laelaps::LaeRobot::m_kin, laelaps::LaePowertrainAttr::m_nMotorId, laelaps::LaePowertrain::m_state, laelaps::LaeMotorCtlrState::m_strName, laelaps::LaeRptMotorCtlrHealth::m_strName, laelaps::LaeRptMotorHealth::m_strName, and laelaps::LaePowertrain::m_strName.

Referenced by laelaps::LaeRobot::getRobotStatus().

{
  // ---
  // ROS Industrial
  // ---
  m_eRobotMode    = RtDb.m_robotstatus.m_eRobotMode;
  m_eIsEStopped   = RtDb.m_robotstatus.m_bIsEStopped?
                                            LaeTriStateTrue: LaeTriStateFalse;
  m_eAreDrivesPowered = RtDb.m_robotstatus.m_bAreMotorsPowered? 
                                            LaeTriStateTrue: LaeTriStateFalse;
  m_eIsInMotion = RtDb.m_robotstatus.m_bInMotion?
                                            LaeTriStateTrue: LaeTriStateFalse;

  // alarmed state
  if( RtDb.m_robotstatus.m_bAlarmState )
  {
    m_eIsInError = LaeTriStateTrue;
    m_nErrorCode = m_eIsEStopped == LaeTriStateTrue?
                                        -LAE_ECODE_ESTOP: -LAE_ECODE_ALARMED;
  }

  // unalarmed state
  else
  {
    m_eIsInError = LaeTriStateFalse;
    m_nErrorCode = LAE_OK;
  }

  m_eIsMotionPossible = pRobot->canMove()? LaeTriStateTrue: LaeTriStateFalse;

  // ---
  // Robot extended status
  // ---
  m_fBatterySoC   = RtDb.m_energy.m_fBatterySoC;
  m_bIsCharging   = RtDb.m_energy.m_bBatteryIsCharging;
  m_fCurrent      = RtDb.m_energy.m_fTotalCurrent;
  m_fVoltage      = RtDb.m_energy.m_fBatteryVoltage;

  m_fTemperature  = RtDb.m_robotstatus.m_fTempAvg;
  m_eAuxBattEn    = RtDb.m_enable.m_bAuxPortBatt?
                                      LaeTriStateFalse: LaeTriStateTrue;
  m_eAux5VEn      = RtDb.m_enable.m_bAuxPort5v?
                                      LaeTriStateFalse: LaeTriStateTrue;

  LaeAlarms::copyAlarms(RtDb.m_alarms.m_system, m_alarms);

  LaePlatform &base = pRobot->m_kin.getPlatform();

  //
  // Motor controller health extended status
  //
  for(int nCtlr = 0; nCtlr < LaeNumMotorCtlrs; ++nCtlr)
  {
    LaeRptMotorCtlrHealth  ctlrHealth;

    ctlrHealth.m_strName      = base.m_ctlr[nCtlr].m_strName;
    ctlrHealth.m_fTemperature = base.m_ctlr[nCtlr].m_fBoardTemp;
    ctlrHealth.m_fVoltage     = base.m_ctlr[nCtlr].m_fMainVolts;
    LaeAlarms::copyAlarms(RtDb.m_alarms.m_motorctlr[nCtlr],
                          ctlrHealth.m_alarms);

    m_vecCtlrHealth.push_back(ctlrHealth);
  }

  //
  // Motor health extended status
  //
  LaeMapPowertrain::iterator iter;       // kinematic chain iterator
  LaeMapPowertrain &mapPowertrains = pRobot->m_kin.getPowertrainMap();

  for(iter = mapPowertrains.begin(); iter != mapPowertrains.end(); ++iter)
  {
    LaeRptMotorHealth  motorHealth;
    LaePowertrain  &train = iter->second;
    int nMotorId = train.m_attr.m_nMotorId;

    motorHealth.m_strName      = train.m_strName;
    motorHealth.m_fTemperature = train.m_state.m_fTemp;
    motorHealth.m_fVoltage     = train.m_state.m_fVolts;
    LaeAlarms::copyAlarms(RtDb.m_alarms.m_motor[nMotorId],
                          motorHealth.m_alarms);

    m_vecMotorHealth.push_back(motorHealth);
  }
}

LaeRptRobotStatus LaeRptRobotStatus::operator=

(

const LaeRptRobotStatus &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 167 of file laeReports.cxx.

References m_alarms, m_bIsCharging, m_eAreDrivesPowered, m_eAux5VEn, m_eAuxBattEn, m_eIsEStopped, m_eIsInError, m_eIsInMotion, m_eIsMotionPossible, m_eRobotMode, m_fBatterySoC, m_fCurrent, m_fTemperature, m_fVoltage, m_nErrorCode, m_vecCtlrHealth, and m_vecMotorHealth.

{
  // standard ROS industrial
  m_eRobotMode        = rhs.m_eRobotMode;
  m_eIsEStopped       = rhs.m_eIsEStopped;
  m_eAreDrivesPowered = rhs.m_eAreDrivesPowered;
  m_eIsMotionPossible = rhs.m_eIsMotionPossible;
  m_eIsInMotion       = rhs.m_eIsInMotion;
  m_eIsInError        = rhs.m_eIsInError;
  m_nErrorCode        = rhs.m_nErrorCode;

  // robot base extensions
  m_fBatterySoC       = rhs.m_fBatterySoC;
  m_bIsCharging       = rhs.m_bIsCharging;
  m_fCurrent          = rhs.m_fCurrent;
  m_fVoltage          = rhs.m_fVoltage;
  m_fTemperature      = rhs.m_fTemperature;
  m_eAuxBattEn        = rhs.m_eAuxBattEn;
  m_eAux5VEn          = rhs.m_eAux5VEn;
  LaeAlarms::copyAlarms(rhs.m_alarms, m_alarms);

  // motor extensions
  m_vecCtlrHealth     = rhs.m_vecCtlrHealth;
  m_vecMotorHealth    = rhs.m_vecMotorHealth;

  return *this;
}

---

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

• include/Laelaps/laeReports.h
• sw/liblaelaps/laeReports.cxx