laelaps::LaeWd Class Reference

#include <laeWd.h>

Public Member Functions
	LaeWd (LaeI2C &i2cBus, uint_t addr=LaeI2CAddrArduino)
	Initialization constructor. More...
virtual	~LaeWd ()
	Destructor.
virtual void	sync ()
	Synchronize watchdog state with subprocessor state.
virtual int	configure (const LaeDesc &desc)
	Configure watchdog from product description. More...
virtual int	configure (const LaeTunes &tunes)
	Configure watchdog from tunable parameters. More...
virtual int	reload (const LaeTunes &tunes)
	Reload with new configuration. More...
virtual void	exec ()
	Execute cycle to pet/read/update Watchdog sub-processor.
virtual int	cmdPetTheDog ()
	Pet the watchdog command. More...
virtual int	cmdGetFwVersion (uint_t &uVerNum)
	Get the firmware version command. More...
virtual int	cmdSetBatterySoC (uint_t uBatterySoC)
	Set battery's state of charge state command. More...
virtual int	cmdSetAlarms (uint_t uAlarms)
	Set (clear) alarms command. More...
virtual int	cmdSetRgbLed (uint_t red, uint_t green, uint_t blue)
	Set the LED RGB color command. More...
virtual int	cmdResetRgbLed ()
	Reset the LED RGB color to state defaults. More...
virtual int	cmdConfigDPin (uint_t pin, uint_t dir)
	Configure a digital pin command. More...
virtual int	cmdReadDPin (uint_t pin, uint_t &val)
	Read the value of a digital pin command. More...
virtual int	cmdWriteDPin (uint_t pin, uint_t val)
	Write a value to a digital pin command. More...
virtual int	cmdReadAPin (uint_t pin, uint_t &val)
	Read the value of an analog pin command. More...
virtual int	cmdWriteAPin (uint_t pin, uint_t val)
	Write the value to an analog pin command. More...
virtual int	cmdEnableMotorCtlrs (bool bEnable)
	Enable/disable power in to motor controllers. More...
virtual int	cmdEnableAuxPort5V (bool bEnable)
	Enable/disable regulated 5 volt auxilliary port power out. More...
virtual int	cmdEnableAuxPortBatt (bool bEnable)
	Enable/disable battery auxilliary port power out. More...
virtual int	cmdReadEnables (bool &bMotorCtlrEn, bool &bAuxPort5vEn, bool &bAuxPortBattEn)
	Read enable lines. More...
virtual int	cmdReadVoltages (double &fJackV, double &fBattV)
	Read sensed voltages. More...
virtual int	cmdTest (uint_t &uSeqNum, uint_t &uOpState, uint_t &uAlarms, uint_t &uLedIndex)
	Test the firmware state command. More...
virtual int	cmdConfigOperation (unsigned long uTimeout)
	Configure firmware operation. More...
uint_t	getI2CAddr ()
	Get watchdog's I2C address. More...
uint_t	getFwVersion ()
	Get previously read firmware version. More...
bool	isCharging ()
	Test if battery is charging. More...

Static Public Member Functions
static int	enableMotorCtlrs (void *pArg, bool bEnable)
	Enable/disable power in to motor controllers. More...

Protected Member Functions
void	lock ()
	Lock the shared resource. More...
void	unlock ()
	Unlock the shared resource. More...
uint_t	determineAlarms ()
	Determine watchdog alarm state. More...

Protected Attributes
LaeI2C &	m_i2cBus
	bound I2C bus instance
uint_t	m_addrSubProc
	I2C sub-processor address.
uint_t	m_uFwVer
	firmware version number
ulong_t	m_uWatchdogTimeout
	watchdog timeout (msec)
bool	m_bBatteryIsCharging
	battery is [not] charging
double	m_fBatteryVoltage
	sensed battery voltage
double	m_fJackVoltage
	sensed power supply jack voltage
uint_t	m_uBatterySoC
	battery state of charge
uint_t	m_uAlarms
	alarms
bool	m_bMotorCtlrEn
	motor controller enable
bool	m_bAuxPortBattEn
	battery auxilliary port enable
bool	m_bAuxPort5vEn
	5 volt auxilliary port enable
rnr::chronos::Time	m_timeMotorCtlrs
	motor controller up time
pthread_mutex_t	m_mutex
	mutex

Detailed Description

WatchDog sub-processor interface class.

Definition at line 85 of file laeWd.h.

Constructor & Destructor Documentation

LaeWd::LaeWd	(	LaeI2C &	i2cBus,
		uint_t	addr = LaeI2CAddrArduino
	)

Initialization constructor.

Parameters

i2cbus	Bound open I2C bus instance.
addr	Arduino I2C address.

Definition at line 113 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LaeWdArgAlarmNone, laelaps::LaeWdArgBattSoCMax, laelaps::LaeWdTimeoutDft, laelaps::LaeDbEnable::m_bAuxPort5v, m_bAuxPort5vEn, laelaps::LaeDbEnable::m_bAuxPortBatt, m_bAuxPortBattEn, laelaps::LaeDbEnergy::m_bBatteryIsCharging, m_bBatteryIsCharging, laelaps::LaeDbEnable::m_bMotorCtlr, m_bMotorCtlrEn, laelaps::LaeDb::m_enable, laelaps::LaeDb::m_energy, m_fBatteryVoltage, laelaps::LaeDbEnergy::m_fJackVoltage, m_fJackVoltage, m_mutex, m_uAlarms, m_uBatterySoC, m_uFwVer, m_uWatchdogTimeout, and laelaps::RtDb.

                                        :
    m_i2cBus(i2cBus), m_addrSubProc(addr)
{
  // shadow values
  m_uFwVer              = FWVER_UNKNOWN;
  m_uWatchdogTimeout    = LaeWdTimeoutDft;
  m_bBatteryIsCharging  = false;
  m_fBatteryVoltage     = 0.0;
  m_fJackVoltage        = 0.0;
  m_uBatterySoC         = LaeWdArgBattSoCMax;
  m_uAlarms             = LaeWdArgAlarmNone;
  m_bMotorCtlrEn        = false;
  m_bAuxPortBattEn      = false;
  m_bAuxPort5vEn        = false; 

  RtDb.m_energy.m_bBatteryIsCharging  = m_bBatteryIsCharging;
  RtDb.m_energy.m_fJackVoltage        = m_fJackVoltage;
  RtDb.m_enable.m_bMotorCtlr          = m_bMotorCtlrEn;
  RtDb.m_enable.m_bAuxPortBatt        = m_bAuxPortBattEn;
  RtDb.m_enable.m_bAuxPort5v          = m_bAuxPort5vEn;

  pthread_mutex_init(&m_mutex, NULL);
}

Member Function Documentation

int LaeWd::cmdConfigDPin ( uint_t  pin, uint_t  dir  )

virtual

Configure a digital pin command.

Note

Deprecated in robot v2.2+ since there now exist an accessory subprocessor to support various gpio.

Parameters

pin	Digital pin number.
dir	Pin direction. 0 == input, 1 == output.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 396 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LAE_ECODE_BAD_VAL, laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgDPinDirIn, laelaps::LaeWdArgDPinDirOut, laelaps::LaeWdArgDPinNumWMax, laelaps::LaeWdArgDPinNumWMin, laelaps::LaeWdCmdIdConfigDPin, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, m_i2cBus, m_uFwVer, unlock(), and laelaps::LaeI2C::write().

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

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  // unknown firmware version
  if( m_uFwVer == FWVER_UNKNOWN )
  {
    rc = LAE_OK;
  }

  // deprecated
  else if( m_uFwVer >= 3 )
  {
    rc = LAE_OK;
  }

  // supported
  else
  {
    if( (pin < LaeWdArgDPinNumWMin) || (pin > LaeWdArgDPinNumWMax) )
    {
      LOGERROR("Pin %u: Out-of-range.", pin);
      rc = -LAE_ECODE_BAD_VAL;
    }

    else
    {
      dir = dir > 0? LaeWdArgDPinDirOut: LaeWdArgDPinDirIn;

      cmd[lenCmd++] = LaeWdCmdIdConfigDPin;
      cmd[lenCmd++] = (byte_t)pin;
      cmd[lenCmd++] = (byte_t)dir;

      n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

      rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;
    }
  }

  unlock();

  return rc;
}

int LaeWd::cmdConfigOperation ( unsigned long  uTimeout )

virtual

Configure firmware operation.

Parameters

uTimeout

Watchdog timeout (msec).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 1028 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdCmdIdConfigFw, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdTimeoutDft, lock(), m_addrSubProc, laelaps::LaeDb::m_config, laelaps::LaeDbConfig::m_fWatchDogTimeout, m_i2cBus, m_uFwVer, m_uWatchdogTimeout, laelaps::RtDb, unlock(), and laelaps::LaeI2C::write().

Referenced by configure(), and sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  // no support in older versions
  if( m_uFwVer < 3 )
  {
    m_uWatchdogTimeout = LaeWdTimeoutDft;
    rc = LAE_OK;
  }

  else
  {
    cmd[lenCmd++] = LaeWdCmdIdConfigFw;
    cmd[lenCmd++] = (byte_t)((uTimeout >> 8) & 0xff);
    cmd[lenCmd++] = (byte_t)(uTimeout & 0xff);

    n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

    if( n == (int)lenCmd )
    {
      m_uWatchdogTimeout = uTimeout;
      rc = LAE_OK;
    }
    else
    {
      rc = -LAE_ECODE_IO;
    }
  }

  if( rc == LAE_OK )
  {
    RtDb.m_config.m_fWatchDogTimeout = (double)m_uWatchdogTimeout / 1000.0;
  }

  unlock();

  return rc;
}

int LaeWd::cmdEnableAuxPort5V ( bool  bEnable )

virtual

Enable/disable regulated 5 volt auxilliary port power out.

Parameters

bEnable

Disable (false) or enable (true).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 759 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgAuxPort5V, laelaps::LaeWdArgDPinValHigh, laelaps::LaeWdArgDPinValLow, laelaps::LaeWdCmdIdEnableAuxPort, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, laelaps::LaeDbEnable::m_bAuxPort5v, m_bAuxPort5vEn, laelaps::LaeDb::m_enable, m_i2cBus, m_uFwVer, laelaps::RtDb, unlock(), and laelaps::LaeI2C::write().

Referenced by laelaps::LaeRobot::setAuxPower(), sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  // old versions had no hardware control to enable power - always enabled
  if( m_uFwVer < 2 )
  {
    bEnable = true;
    rc      = LAE_OK;
  }

  // new versions control out-power to deck auxilliary ports
  else
  {
    cmd[lenCmd++] = LaeWdCmdIdEnableAuxPort;
    cmd[lenCmd++] = LaeWdArgAuxPort5V;
    cmd[lenCmd++] = bEnable? LaeWdArgDPinValHigh: LaeWdArgDPinValLow;

    // enable/disable aux port
    n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

    rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;
  }

  if( rc == LAE_OK )
  {
    if( m_bAuxPort5vEn != bEnable )
    {
      LOGDIAG2("%s 5V aux port.", (bEnable? "Enabled": "Disabled"));
    }
    m_bAuxPort5vEn              = bEnable; 
    RtDb.m_enable.m_bAuxPort5v  = m_bAuxPort5vEn;
  }

  else
  {
    LOGERROR("Failed to %s 5V aux port.", (bEnable? "enable": "disable"));
  }

  unlock();

  return rc;
}

int LaeWd::cmdEnableAuxPortBatt ( bool  bEnable )

virtual

Enable/disable battery auxilliary port power out.

Parameters

bEnable

Disable (false) or enable (true).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 808 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgAuxPortBatt, laelaps::LaeWdArgDPinValHigh, laelaps::LaeWdArgDPinValLow, laelaps::LaeWdCmdIdEnableAuxPort, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, laelaps::LaeDbEnable::m_bAuxPortBatt, m_bAuxPortBattEn, laelaps::LaeDb::m_enable, m_i2cBus, m_uFwVer, laelaps::RtDb, unlock(), and laelaps::LaeI2C::write().

Referenced by laelaps::LaeRobot::setAuxPower(), sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  // old versions had no hardware control to enable power - always enabled
  if( m_uFwVer < 2 )
  {
    bEnable = true;
    rc      = LAE_OK;
  }

  // new versions control out-power to deck auxilliary ports
  else
  {
    cmd[lenCmd++] = LaeWdCmdIdEnableAuxPort;
    cmd[lenCmd++] = LaeWdArgAuxPortBatt;
    cmd[lenCmd++] = bEnable? LaeWdArgDPinValHigh: LaeWdArgDPinValLow;

    // enable/disable aux port
    n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

    rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;
  }

  if( rc == LAE_OK )
  {
    if( m_bAuxPortBattEn != bEnable )
    {
      LOGDIAG2("%s battery aux port.", (bEnable? "Enabled": "Disabled"));
    }
    m_bAuxPortBattEn              = bEnable;
    RtDb.m_enable.m_bAuxPortBatt  = m_bAuxPortBattEn;
  }

  else
  {
    LOGERROR("Failed to %s battery aux port.", (bEnable? "enable": "disable"));
  }

  unlock();

  return rc;
}

int LaeWd::cmdEnableMotorCtlrs ( bool  bEnable )

virtual

Enable/disable power in to motor controllers.

Parameters

bEnable

Disable (false) or enable (true).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 668 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgDPinValHigh, laelaps::LaeWdArgDPinValLow, laelaps::LaeWdArgPass, laelaps::LaeWdCmdIdEnableMotorCtlrs, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenEnableMotorCtlrs, lock(), m_addrSubProc, laelaps::LaeDbEnable::m_bMotorCtlr, m_bMotorCtlrEn, laelaps::LaeDb::m_enable, m_i2cBus, m_timeMotorCtlrs, m_uFwVer, laelaps::RtDb, TMc, unlock(), and laelaps::LaeI2C::write_read().

Referenced by sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp = LaeWdRspLenEnableMotorCtlrs;
  bool    bPass;
  int     nTries;
  int     nMaxTries = 3;
  int     rc;

  lock();

  // old versions had no hardware control to enable power - always enabled
  if( m_uFwVer < 2 )
  {
    bEnable = true;
    rc      = LAE_OK;
  }

  // new versions control in-power to motor controllers
  else
  {
    cmd[lenCmd++] = LaeWdCmdIdEnableMotorCtlrs;
    cmd[lenCmd++] = bEnable? LaeWdArgDPinValHigh: LaeWdArgDPinValLow;

    // really try to set the motor controller power-in state
    for(nTries = 0, bPass = false; (nTries < nMaxTries) && !bPass; ++nTries)
    {
      rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, 5000);

      if( (rc == LAE_OK) && (rsp[0] == LaeWdArgPass) )
      {
        bPass = true;
      }
      else
      {
        usleep(50);
      }
    }

    // pass
    if( bPass )
    {
      // give time for motor controllers to power up
      if( bEnable )
      {
        usleep(TMc);
      }

      rc = LAE_OK;
    }

    // fail
    else
    {
      rc = -LAE_ECODE_IO;
    }
  }

  if( rc == LAE_OK )
  {
    // disable to enable
    if( !m_bMotorCtlrEn && bEnable)
    {
      LOGDIAG1("Enabled motor controllers.");
      m_timeMotorCtlrs.markNow();
    }

    // enable to disable
    else if( m_bMotorCtlrEn && !bEnable )
    {
      double t = m_timeMotorCtlrs.now();
      LOGDIAG1("Motor controllers disabled: Uptime: %.4lfs.",
          t - m_timeMotorCtlrs.t());
    }

    m_bMotorCtlrEn              = bEnable;
    RtDb.m_enable.m_bMotorCtlr  = m_bMotorCtlrEn;
  }

  else
  {
    LOGERROR("Failed to %s motor controllers.", (bEnable? "enable": "disable"));
  }

  unlock();

  return rc;
}

int LaeWd::cmdGetFwVersion ( uint_t &  uVerNum )

virtual

Get the firmware version command.

Parameters

[out]

uVerNum

Firmware version number.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 263 of file laeWd.cxx.

References laelaps::LAE_OK, laelaps::LaeWdCmdIdGetVersion, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenGetVersion, lock(), m_addrSubProc, m_i2cBus, laelaps::LaeDb::m_product, m_uFwVer, laelaps::LaeDbProduct::m_uWatchDogFwVer, laelaps::RtDb, TStd, unlock(), and laelaps::LaeI2C::write_read().

Referenced by laelaps::LaeRobot::connWatchDog(), sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp = LaeWdRspLenGetVersion;
  int     rc;

  lock();

  cmd[lenCmd++] = LaeWdCmdIdGetVersion;

  rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, TStd);

  if( rc == LAE_OK )
  {
    uVerNum = (uint_t)rsp[0];
    m_uFwVer = uVerNum;
    RtDb.m_product.m_uWatchDogFwVer = m_uFwVer;
  }

  unlock();

  return rc;
}

int LaeWd::cmdPetTheDog ( )

virtual

Pet the watchdog command.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 215 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgDPinValHigh, laelaps::LaeWdCmdIdPetDog, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenPetDog_2, lock(), m_addrSubProc, laelaps::LaeDbEnergy::m_bBatteryIsCharging, m_bBatteryIsCharging, laelaps::LaeDb::m_energy, m_i2cBus, m_uFwVer, laelaps::RtDb, TStd, unlock(), laelaps::LaeI2C::write(), and laelaps::LaeI2C::write_read().

Referenced by exec(), sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp;
  bool    bBatteryIsCharging;
  int     n;
  int     rc;

  lock();

  cmd[lenCmd++] = LaeWdCmdIdPetDog;

  // unknown version
  if( m_uFwVer == FWVER_UNKNOWN )
  {
    rc = LAE_OK;
  }

  // version 1
  else if( m_uFwVer <= 1 )
  {
    n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

    rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;
  }

  // versions 2+
  else
  {
    lenRsp = LaeWdRspLenPetDog_2;

    rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, TStd);

    if( rc == LAE_OK )
    {
      bBatteryIsCharging = rsp[0] == LaeWdArgDPinValHigh? true: false;
      m_bBatteryIsCharging = bBatteryIsCharging;
      RtDb.m_energy.m_bBatteryIsCharging = m_bBatteryIsCharging;
    }
  }

  unlock();

  return rc;
}

int LaeWd::cmdReadAPin ( uint_t  pin, uint_t &  val  )

virtual

Read the value of an analog pin command.

Note

Deprecated in robot v2.2+ since there now exist an accessory subprocessor to support various gpio.

Parameters

	pin	Analog pin number.
[out]	val	Analog 10-bit value [0-1023].

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 555 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LAE_ECODE_BAD_VAL, laelaps::LAE_OK, laelaps::LaeWdArgAInPinNumMax, laelaps::LaeWdArgAInPinNumMin, laelaps::LaeWdCmdIdReadAPin, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenReadAPin, lock(), m_addrSubProc, m_i2cBus, m_uFwVer, TStd, unlock(), WD_DBG_BUF, and laelaps::LaeI2C::write_read().

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

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp = LaeWdRspLenReadAPin;
  int     rc;

  lock();

  // unknown firmware version
  if( m_uFwVer == FWVER_UNKNOWN )
  {
    val = 0;
    rc  = LAE_OK;
  }

  // deprecated
  else if( m_uFwVer >= 3 )
  {
    val = 0;
    rc  = LAE_OK;
  }

  // supported
  else
  {
    if( (pin < LaeWdArgAInPinNumMin) || (pin > LaeWdArgAInPinNumMax) )
    {
      LOGERROR("Pin %u: Out-of-range.", pin);
      rc = -LAE_ECODE_BAD_VAL;
    }

    else
    {
      cmd[lenCmd++] = LaeWdCmdIdReadAPin;
      cmd[lenCmd++] = (byte_t)pin;

      rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, TStd);

      if( rc == LAE_OK )
      {
        if( (uint_t)rsp[0] != pin )
        {
          WD_DBG_BUF(LaeWdCmdIdReadAPin, rsp, n, "pin=%d rsp=", pin);
          LOGERROR("Response pin %u != pin %u.", (uint_t)rsp[0], pin);
          rc = -LAE_ECODE_BAD_VAL;
        }
        else
        {
          val = (uint_t)((((uint_t)rsp[1]) << 8) | (((uint_t)rsp[2]) & 0xff));
        }
      }
    }
  }

  unlock();

  return rc;
}

int LaeWd::cmdReadDPin ( uint_t  pin, uint_t &  val  )

virtual

Read the value of a digital pin command.

Note

Deprecated in robot v2.2+ since there now exist an accessory subprocessor to support various gpio.

Parameters

	pin	Digital pin number.
[out]	val	Digital pin low (0) or high (1) value.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 445 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LAE_ECODE_BAD_VAL, laelaps::LAE_OK, laelaps::LaeWdArgDPinNumMax, laelaps::LaeWdArgDPinNumMin, laelaps::LaeWdCmdIdReadDPin, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenReadDPin, lock(), m_addrSubProc, m_i2cBus, m_uFwVer, TStd, unlock(), WD_DBG_BUF, and laelaps::LaeI2C::write_read().

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

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp = LaeWdRspLenReadDPin;
  int     rc;

  lock();

  // unknown firmware version
  if( m_uFwVer == FWVER_UNKNOWN )
  {
    val = 0;
    rc  = LAE_OK;
  }

  // deprecated
  else if( m_uFwVer >= 3 )
  {
    val = 0;
    rc  = LAE_OK;
  }

  // supported
  else
  {
    if( (pin < LaeWdArgDPinNumMin) || (pin > LaeWdArgDPinNumMax) )
    {
      LOGERROR("Pin %u: Out-of-range.", pin);
      rc = -LAE_ECODE_BAD_VAL;
    }

    else
    {
      cmd[lenCmd++] = LaeWdCmdIdReadDPin;
      cmd[lenCmd++] = (byte_t)pin;

      rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, TStd);

      if( rc == LAE_OK )
      {
        if( (uint_t)rsp[0] != pin )
        {
          WD_DBG_BUF(LaeWdCmdIdReadDPin, rsp, n, "pin=%d rsp=", pin);
          LOGERROR("Response pin %u != pin %u.", (uint_t)rsp[0], pin);
          rc = -LAE_ECODE_BAD_VAL;
        }
        else
        {
          val = (uint_t)rsp[1];
        }
      }
    }
  }

  unlock();

  return rc;
}

int LaeWd::cmdReadEnables ( bool &  bMotorCtlrEn, bool &  bAuxPort5vEn, bool &  bAuxPortBattEn  )

virtual

Read enable lines.

Parameters

[out]	bMotorCtlrEn	Motor controllers enable.
[out]	bAuxPort5vEn	Auxilliary port 5v out enable.
[out]	bAuxPortBattEn	Auxilliary port battery out enable.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 857 of file laeWd.cxx.

References laelaps::LAE_OK, laelaps::LaeWdCmdIdReadEnables, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenReadEnables, lock(), m_addrSubProc, laelaps::LaeDbEnable::m_bAuxPort5v, m_bAuxPort5vEn, laelaps::LaeDbEnable::m_bAuxPortBatt, m_bAuxPortBattEn, laelaps::LaeDbEnable::m_bMotorCtlr, m_bMotorCtlrEn, laelaps::LaeDb::m_enable, m_i2cBus, m_timeMotorCtlrs, m_uFwVer, laelaps::RtDb, TStd, unlock(), and laelaps::LaeI2C::write_read().

Referenced by exec().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp = LaeWdRspLenReadEnables;
  int     rc;

  lock();

  // old versions had no hardware control to enable power - always enabled
  if( m_uFwVer < 2 )
  {
    // return values
    bMotorCtlrEn    = true;
    bAuxPort5vEn    = true;
    bAuxPortBattEn  = true;
    rc              = LAE_OK;
  }

  // new versions control power enable lines
  else
  {
    cmd[lenCmd++] = LaeWdCmdIdReadEnables;

    rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, TStd);

    if( rc == LAE_OK )
    {
      // return values
      bMotorCtlrEn    = rsp[0] > 0? true: false;
      bAuxPort5vEn    = rsp[1] > 0? true: false;
      bAuxPortBattEn  = rsp[2] > 0? true: false;
    }
  }

  if( rc == LAE_OK )
  {
    // disable to enable
    if( !m_bMotorCtlrEn && bMotorCtlrEn )
    {
      LOGDIAG1("Motor controllers enabled.");
      m_timeMotorCtlrs.markNow();
    }

    // enable to disable
    else if( m_bMotorCtlrEn && !bMotorCtlrEn )
    {
      double t = m_timeMotorCtlrs.now();
      LOGDIAG1("Motor controllers disabled: Uptime: %.4lfs.",
          t - m_timeMotorCtlrs.t());
    }

    // shadow
    m_bMotorCtlrEn    = bMotorCtlrEn;
    m_bAuxPort5vEn    = bAuxPort5vEn;
    m_bAuxPortBattEn  = bAuxPortBattEn;

    // real-time db
    RtDb.m_enable.m_bMotorCtlr    = m_bMotorCtlrEn;
    RtDb.m_enable.m_bAuxPort5v    = m_bAuxPort5vEn;
    RtDb.m_enable.m_bAuxPortBatt  = m_bAuxPortBattEn;
  }

  else
  {
    LOGERROR("Failed to read enable lines.");
  }

  unlock();

  return rc;
}

int LaeWd::cmdReadVoltages ( double &  fJackV, double &  fBattV  )

virtual

Read sensed voltages.

Parameters

[out]	fJackV	Sensed charging jack input voltage.
[out]	fBattV	Sensed battery output voltage.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 933 of file laeWd.cxx.

References laelaps::LAE_OK, laelaps::LaeWdArgVScale, laelaps::LaeWdCmdIdReadVolts, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenReadVolts, lock(), m_addrSubProc, laelaps::LaeDb::m_energy, laelaps::LaeDbEnergy::m_fBatteryVoltage, m_fBatteryVoltage, laelaps::LaeDbEnergy::m_fJackVoltage, m_fJackVoltage, m_i2cBus, m_uFwVer, laelaps::RtDb, TStd, unlock(), and laelaps::LaeI2C::write_read().

Referenced by exec(), and sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp = LaeWdRspLenReadVolts;
  int     rc;

  lock();

  // old versions had no hardware to sense voltages
  if( m_uFwVer < 2 )
  {
    fJackV  = 0.0;
    fBattV  = 0.0;
    rc      = LAE_OK;
  }

  // new versions can sense input jack and battery output voltages
  else
  {
    cmd[lenCmd++] = LaeWdCmdIdReadVolts;

    rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, TStd);

    if( rc == LAE_OK )
    {
      fJackV = (double)(rsp[0]) * LaeWdArgVScale;
      fBattV = (double)(rsp[1]) * LaeWdArgVScale;
    }
  }

  if( rc == LAE_OK )
  {
    m_fBatteryVoltage = fBattV;
    m_fJackVoltage    = fJackV;

    RtDb.m_energy.m_fBatteryVoltage = m_fBatteryVoltage;
    RtDb.m_energy.m_fJackVoltage    = m_fJackVoltage;
  }

  else
  {
    LOGERROR("Failed to read voltages.");
  }

  unlock();

  return rc;
}

int LaeWd::cmdResetRgbLed ( )

virtual

Reset the LED RGB color to state defaults.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 376 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdCmdIdResetRgbLed, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, m_i2cBus, unlock(), and laelaps::LaeI2C::write().

Referenced by sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  cmd[lenCmd++] = LaeWdCmdIdResetRgbLed;

  n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

  rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;

  unlock();

  return rc;
}

int LaeWd::cmdSetAlarms ( uint_t  uAlarms )

virtual

Set (clear) alarms command.

Parameters

uAlarms

Bit-or'ed alarm state.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 323 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdCmdIdSetAlarms, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, m_i2cBus, m_uAlarms, unlock(), and laelaps::LaeI2C::write().

Referenced by exec(), sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  cmd[lenCmd++] = LaeWdCmdIdSetAlarms;
  cmd[lenCmd++] = (byte_t)((uAlarms >> 8) & 0xff);
  cmd[lenCmd++] = (byte_t)(uAlarms & 0xff);

  n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

  if( n == (int)lenCmd )
  {
    m_uAlarms = uAlarms;
    rc = LAE_OK;
  }
  else
  {
    rc = -LAE_ECODE_IO;
  }

  unlock();

  return rc;
}

int LaeWd::cmdSetBatterySoC ( uint_t  uBatterySoC )

virtual

Set battery's state of charge state command.

Parameters

uBatterySoC

Battery state of charge as a percent [0-100].

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 289 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgBattSoCMax, laelaps::LaeWdCmdIdSetBattCharge, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, m_i2cBus, m_uBatterySoC, unlock(), and laelaps::LaeI2C::write().

Referenced by exec(), sync(), and Laelaps.WatchDog.WatchDog::sync().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  if( uBatterySoC > LaeWdArgBattSoCMax )
  {
    uBatterySoC = LaeWdArgBattSoCMax;
  }

  cmd[lenCmd++] = LaeWdCmdIdSetBattCharge;
  cmd[lenCmd++] = (byte_t)uBatterySoC;

  n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

  if( n == (int)lenCmd )
  {
    m_uBatterySoC = uBatterySoC;
    rc = LAE_OK;
  }
  else
  {
    rc = -LAE_ECODE_IO;
  }

  unlock();

  return rc;
}

int LaeWd::cmdSetRgbLed ( uint_t  red, uint_t  green, uint_t  blue  )

virtual

Set the LED RGB color command.

Parameters

red	Red component [0-255].
green	Green component [0-255].
blue	Blue component [0-255].

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 353 of file laeWd.cxx.

References laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdCmdIdSetRgbLed, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, m_i2cBus, unlock(), and laelaps::LaeI2C::write().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  cmd[lenCmd++] = LaeWdCmdIdSetRgbLed;
  cmd[lenCmd++] = (byte_t)red;
  cmd[lenCmd++] = (byte_t)green;
  cmd[lenCmd++] = (byte_t)blue;

  n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

  rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;

  unlock();

  return rc;
}

int LaeWd::cmdTest ( uint_t &  uSeqNum, uint_t &  uOpState, uint_t &  uAlarms, uint_t &  uLedIndex  )

virtual

Test the firmware state command.

Parameters

[out]	uSeqNum	This command's sequence number modulo 256.
[out]	uOpState	Firmware's operational state.
[out]	uAlarms	Firmware's view of alarms.
[out]	uLedIndex	Firmware's current LED pattern index.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 984 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LAE_OK, laelaps::LaeWdCmdIdTest, laelaps::LaeWdMaxCmdLen, laelaps::LaeWdMaxRspLen, laelaps::LaeWdRspLenTest, lock(), m_addrSubProc, m_i2cBus, m_uFwVer, TStd, unlock(), and laelaps::LaeI2C::write_read().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  byte_t  rsp[LaeWdMaxRspLen];
  size_t  lenCmd = 0;
  size_t  lenRsp = LaeWdRspLenTest;
  int     rc;

  lock();

  // old versions had a test command - deprecated
  if( (m_uFwVer != FWVER_UNKNOWN) && (m_uFwVer < 3) )
  {
    cmd[lenCmd++] = LaeWdCmdIdTest;

    rc = m_i2cBus.write_read(m_addrSubProc, cmd, lenCmd, rsp, lenRsp, TStd);

    if( rc == LAE_OK )
    {
      uSeqNum   = (uint_t)rsp[0];
      uOpState  = (uint_t)rsp[1];
      uAlarms   = (uint_t)((((uint_t)rsp[2]) << 8) | (((uint_t)rsp[3]) & 0xff));
      uLedIndex = (uint_t)rsp[4];
    }
  }

  // deprecated
  else
  {
    uSeqNum   = 0;
    uOpState  = 0;
    uAlarms   = 0;
    uLedIndex = 0;
    rc        = LAE_OK;
  }

  unlock();

  return rc;
}

int LaeWd::cmdWriteAPin ( uint_t  pin, uint_t  val  )

virtual

Write the value to an analog pin command.

Note

Deprecated in robot v2.2+ since there now exist an accessory subprocessor to support various gpio.

Parameters

pin	Analog pin number.
val	Analog 10-bit value [0-1023].

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 616 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LAE_ECODE_BAD_VAL, laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgAOutPinNumMax, laelaps::LaeWdArgAOutPinNumMin, laelaps::LaeWdArgAOutPinValMax, laelaps::LaeWdCmdIdWriteAPin, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, m_i2cBus, m_uFwVer, unlock(), and laelaps::LaeI2C::write().

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  // unknown firmware version
  if( m_uFwVer == FWVER_UNKNOWN )
  {
    rc = LAE_OK;
  }

  // deprecated
  else if( m_uFwVer >= 3 )
  {
    rc = LAE_OK;
  }

  // supported
  else
  {
    if( (pin < LaeWdArgAOutPinNumMin) || (pin > LaeWdArgAOutPinNumMax) )
    {
      LOGERROR("Pin %u: Out-of-range.", pin);
      rc = -LAE_ECODE_BAD_VAL;
    }

    else
    {
      if( val > LaeWdArgAOutPinValMax )
      {
        val = LaeWdArgAOutPinValMax;
      }

      cmd[lenCmd++] = LaeWdCmdIdWriteAPin;
      cmd[lenCmd++] = (byte_t)pin;
      cmd[lenCmd++] = (byte_t)val;

      n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

      rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;
    }
  }

  unlock();

  return rc;
}

int LaeWd::cmdWriteDPin ( uint_t  pin, uint_t  val  )

virtual

Write a value to a digital pin command.

Note

Deprecated in robot v2.2+ since there now exist an accessory subprocessor to support various gpio.

Parameters

pin	Digital pin number.
val	Digital pin low (0) or high (1) value.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 506 of file laeWd.cxx.

References FWVER_UNKNOWN, laelaps::LAE_ECODE_BAD_VAL, laelaps::LAE_ECODE_IO, laelaps::LAE_OK, laelaps::LaeWdArgDPinNumWMax, laelaps::LaeWdArgDPinNumWMin, laelaps::LaeWdArgDPinValHigh, laelaps::LaeWdArgDPinValLow, laelaps::LaeWdCmdIdWriteDPin, laelaps::LaeWdMaxCmdLen, lock(), m_addrSubProc, m_i2cBus, m_uFwVer, unlock(), and laelaps::LaeI2C::write().

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

{
  byte_t  cmd[LaeWdMaxCmdLen];
  size_t  lenCmd = 0;
  int     n;
  int     rc;

  lock();

  // unknown firmware version
  if( m_uFwVer == FWVER_UNKNOWN )
  {
    rc = LAE_OK;
  }

  // deprecated
  else if( m_uFwVer >= 3 )
  {
    rc = LAE_OK;
  }

  // supported
  else
  {
    if( (pin < LaeWdArgDPinNumWMin) || (pin > LaeWdArgDPinNumWMax) )
    {
      LOGERROR("Pin %u: Out-of-range.", pin);
      rc = -LAE_ECODE_BAD_VAL;
    }

    else
    {
      val = val > 0? LaeWdArgDPinValHigh: LaeWdArgDPinValLow;

      cmd[lenCmd++] = LaeWdCmdIdWriteDPin;
      cmd[lenCmd++] = (byte_t)pin;
      cmd[lenCmd++] = (byte_t)val;

      n = m_i2cBus.write(m_addrSubProc, cmd, lenCmd);

      rc = (n == (int)lenCmd)? LAE_OK: -LAE_ECODE_IO;
    }
  }

  unlock();

  return rc;
}

int LaeWd::configure ( const LaeDesc &  desc )

virtual

Configure watchdog from product description.

Call after connection is opened.

Parameters

desc	Product description.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 159 of file laeWd.cxx.

References laelaps::LAE_OK.

Referenced by laelaps::LaeRobot::configForOperation(), and reload().

{
  return LAE_OK;
}

int LaeWd::configure ( const LaeTunes &  tunes )

virtual

Configure watchdog from tunable parameters.

Call after connection is opened.

Parameters

tunes

Laelaps tuning parameters.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 164 of file laeWd.cxx.

References cmdConfigOperation(), laelaps::LaeTunes::getWatchDogTimeout(), and laelaps::LAE_OK.

{
  unsigned long uTimeout;
  int           rc;

  // convert to milliseconds
  uTimeout = (unsigned long)(tunes.getWatchDogTimeout() * 1000.0);

  rc = cmdConfigOperation(uTimeout);

  if( rc == LAE_OK )
  {
    LOGDIAG2("Tuned WatchDog.");
  }

  return rc;
}

uint_t LaeWd::determineAlarms ( )

protected

Determine watchdog alarm state.

The current real-time database alarm state is used for the determination.

Returns

Watchdog alarm state.

Definition at line 1073 of file laeWd.cxx.

References laelaps::LAE_ALARM_BATT, laelaps::LAE_ALARM_ESTOP, laelaps::LAE_ALARM_TEMP, laelaps::LaeWdArgAlarmBatt, laelaps::LaeWdArgAlarmBattCrit, laelaps::LaeWdArgAlarmCrit, laelaps::LaeWdArgAlarmEStop, laelaps::LaeWdArgAlarmGen, laelaps::LaeWdArgAlarmNone, laelaps::LaeWdArgAlarmTemp, laelaps::LaeDb::m_alarms, laelaps::LaeDbAlarms::m_battery, laelaps::LaeAlarmInfo::m_bIsCritical, laelaps::LaeDbAlarms::m_system, laelaps::LaeAlarmInfo::m_uAlarms, and laelaps::RtDb.

Referenced by exec(), and unlock().

{
  uint_t  uAlarms = LaeWdArgAlarmNone;

  //
  // Alarms.
  //
  if( RtDb.m_alarms.m_system.m_uAlarms & LAE_ALARM_BATT )
  {
    uAlarms |= LaeWdArgAlarmBatt;
  }
  if( RtDb.m_alarms.m_system.m_uAlarms & LAE_ALARM_TEMP )
  {
    uAlarms |= LaeWdArgAlarmTemp;
  }
  if( RtDb.m_alarms.m_system.m_uAlarms & LAE_ALARM_ESTOP )
  {
    uAlarms |= LaeWdArgAlarmEStop;
  }
  if( RtDb.m_alarms.m_system.m_uAlarms & ~uAlarms )
  {
    uAlarms |= LaeWdArgAlarmGen;
  }

  //
  // Critical.
  //
  if( RtDb.m_alarms.m_system.m_bIsCritical &&
      (uAlarms & ~((uint_t)LaeWdArgAlarmBatt)) )
  {
    uAlarms |= LaeWdArgAlarmCrit;
  }
  if( RtDb.m_alarms.m_battery.m_bIsCritical )
  {
    uAlarms |= LaeWdArgAlarmBattCrit;
  }

  return uAlarms;
}

int LaeWd::enableMotorCtlrs ( void *  pArg, bool  bEnable  )

static

Enable/disable power in to motor controllers.

Parameters

pArg	Recast pointer to this class instance.
bEnable	Disable (false) or enable (true).

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 1117 of file laeWd.cxx.

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

{
  return ((LaeWd *)pArg)->cmdEnableMotorCtlrs(bEnable);
}

uint_t laelaps::LaeWd::getFwVersion ( )

inline

Get previously read firmware version.

Returns

Firmware version number.

Definition at line 371 of file laeWd.h.

References m_uFwVer.

    {
      return m_uFwVer;
    }

uint_t laelaps::LaeWd::getI2CAddr ( )

inline

Get watchdog's I²C address.

Returns

7-bit address.

Definition at line 361 of file laeWd.h.

References m_addrSubProc.

    {
      return m_addrSubProc;
    }

bool laelaps::LaeWd::isCharging ( )

inline

Test if battery is charging.

Returns

Returns true or false.

Definition at line 381 of file laeWd.h.

References m_bBatteryIsCharging.

    {
      return m_bBatteryIsCharging;
    }

void laelaps::LaeWd::lock ( )

inlineprotected

Lock the shared resource.

The lock()/unlock() primitives provide a safe threading. registered vServo data.

Context:

Any.

Definition at line 418 of file laeWd.h.

Referenced by cmdConfigDPin(), cmdConfigOperation(), cmdEnableAuxPort5V(), cmdEnableAuxPortBatt(), cmdEnableMotorCtlrs(), cmdGetFwVersion(), cmdPetTheDog(), cmdReadAPin(), cmdReadDPin(), cmdReadEnables(), cmdReadVoltages(), cmdResetRgbLed(), cmdSetAlarms(), cmdSetBatterySoC(), cmdSetRgbLed(), cmdTest(), cmdWriteAPin(), and cmdWriteDPin().

    {
      pthread_mutex_lock(&m_mutex);
    }

int LaeWd::reload ( const LaeTunes &  tunes )

virtual

Reload with new configuration.

Parameters

tunes

Laelaps tuning parameters.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 182 of file laeWd.cxx.

References configure().

Referenced by laelaps::LaeThreadWd::reload().

{
  LOGDIAG2("Reloading WatchDog tuning parameters...");
  return configure(tunes);
}

void laelaps::LaeWd::unlock ( )

inlineprotected

Unlock the shared resource.

Context:

Any.

Definition at line 429 of file laeWd.h.

References determineAlarms().

Referenced by cmdConfigDPin(), cmdConfigOperation(), cmdEnableAuxPort5V(), cmdEnableAuxPortBatt(), cmdEnableMotorCtlrs(), cmdGetFwVersion(), cmdPetTheDog(), cmdReadAPin(), cmdReadDPin(), cmdReadEnables(), cmdReadVoltages(), cmdResetRgbLed(), cmdSetAlarms(), cmdSetBatterySoC(), cmdSetRgbLed(), cmdTest(), cmdWriteAPin(), and cmdWriteDPin().

    {
      pthread_mutex_unlock(&m_mutex);
    }

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

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