BIMA Antenna IF canbus Master class. More...

#include <carma/antenna/bima/IFCanMaster.h>

Inheritance diagram for carma::antenna::bima::IFCanMaster:

Public Member Functions
AntennaControlImpl &	getAntennaControl ()

AntennaIF &	getAntennaIFPol1 ()

AntennaIF &	getAntennaIFPol2 ()

CMReceiver &	getCmRxControl ()

carma::antenna::ovro::Tiltmeter &	getTiltmeter ()

	IFCanMaster (carma::util::IPQreader< TelemetryCommand > &ifr, Rx &rx, carma::monitor::BimaSubsystem &mon, AntennaNameResolver &anr, Configuration &config)
	Constructor for emulation only. More...

	IFCanMaster (int board, int bus, carma::util::IPQreader< TelemetryCommand > &ifr, Rx &rx, carma::monitor::BimaSubsystem &mon, AntennaNameResolver &anr, Configuration &config)
	IFCanMaster single bus constructor. More...

void	reset ()
	Reset the canbusses via dio. More...

void	setInitialized (bool state)
	Set initialization flag. More...

void	start ()
	Start the CAN Master This routine does not block! It is responsible for kicking off a new thread which in turn runs the main Master::run() routine. More...

void	stop ()
	Stop the CAN Master This routine terminates the main run thread in the CAN Master. More...

void	writerThread (void)

Public Member Functions inherited from carma::canbus::Master
	Master (bool simOfflineNodes=true)
	Default constructor for emulation. More...

	Master (int boardId, bool simOfflineNodes=false, bool reset=false, bool terminate=true)
	Master constructor. More...

	Master (int boardId, int modulbusId, bool simOfflineNodes=false, bool reset=false, bool terminate=true)
	Master constructor. More...

	Master (const ::std::vector< DevTermPair > &devTermPairs, bool simOfflineNodes=false, bool reset=false)
	Constructor for arbitrary number of CanDio ports. More...

void	run ()
	Run the Master. More...

void	stop ()
	Stop running internal Master threads. More...

virtual	~Master ()
	Master destructor. More...

Public Member Functions inherited from carma::canbus::CanDio
	CanDio ()
	Default constructor. More...

	CanDio (int boardId, bool reset=true, bool terminate=true)
	Constructor to control both CAN busses on a single board. More...

	CanDio (int boardId, int slotId, bool reset=true, bool terminate=true)
	Constructor to control a single CAN bus. More...

	CanDio (const std::vector< DevTermPair > &devTermPairs, bool reset=true)
	Constructor to control arbitrary number of CAN busses. More...

void	echoAll (bool enable)
	Enable or disable echoing sent messages back through the read interface. More...

std::map< busIdType, carma::canbus::busStatusType >	getBusStatus ()

carma::canbus::Message	getMessage ()
	Retrieve a CAN message. More...

bool	isTerminated ()
	Return termination state. More...

void	postMessage (const carma::canbus::Message &msg, carma::canbus::txPriorityType prio=carma::canbus::NORMAL)
	Post a CAN message. More...

void	reset ()
	Reset. More...

Public Member Functions inherited from carma::canbus::CanIo
virtual BusStatusMap	getBusStatus () const
	Retrieve bus statistics. More...

virtual	~CanIo ()
	Virtual destructor. More...

Static Public Member Functions
static void *	startWriterThread (void *arg)

Protected Member Functions
std::map < carma::canbus::msgType, std::string >	getControls () const
	Get a map of controls provided by the IFCanMaster Master controls correspond to global CAN Message Ids. More...

void	softReset ()
	Reset modules via software RESET msg. More...

void	updateStatus ()
	Update the status of the Antenna CAN Master. More...

Protected Member Functions inherited from carma::canbus::Master
void	addDevice (Device *device)
	Add a device to the master. More...

Device *	getDevice (apiType api, nodeType node)
	Get pointer to a device. More...

int	getDonglelessPacketCount () const
	Get 'Dongleless node' packet count This routine returns the number of Dongleless node packets detected by Master. More...

unsigned int	getLatePacketCount ()
	Get combined late packet count from all devices. More...

int	getOfflineNodeCount () const
	Get number of offline nodes. More...

int	getOnlineNodeCount () const
	Get number of online nodes. More...

int	getUnknownPacketCount () const
	Get number of unknown packets This method returns the number of CAN packets that canbus::Master does not recognize. More...

	Master (const Master &)

Master &	operator= (const Master &)

void	removeDevice (apiType api, nodeType node)
	Remove a device. More...

virtual void	runReadThread ()
	Thread to read and process incoming CAN messages. More...

void	runTimerThread ()
	Timer thread. More...

virtual void	setTime ()
	Send a time sync message. More...

void	softwareReset ()
	Send a software reset command to all modules. More...

void	updateDevicesStates ()
	Update the devices states. More...

Protected Member Functions inherited from carma::canbus::CanDio
void	clearReadQueue ()
	Clear any underlying read buffers. More...

void	queueMessage (const Message &msg)
	Queue CAN message to be read for simulation purposes. More...

void	setTimestampEchoLatency (int tsLatency, busIdType busId)
	Set timestamp echo latency. More...

Additional Inherited Members
Public Types inherited from carma::canbus::CanDio
typedef ::std::pair< int, int >	BoardSlotPair
	Pair containing boardId (first) and slotId (second). More...

typedef ::std::pair < BoardSlotPair, bool >	DevTermPair
	Pair for board & slot (first) and termination setting (second). More...

Static Protected Member Functions inherited from carma::canbus::Master
static void *	readThreadEntry (void *arg)
	Entry point for main thread. More...

static void *	timerThreadEntry (void *arg)
	Entry point for timer thread. More...

Protected Attributes inherited from carma::canbus::Master
pthread_mutex_t	deviceMutex_

std::map< keyType, Device * >	devices_

int	nDonglelessPackets_

int	nOfflineNodes_

int	nOnlineNodes_

int	nUnknownPackets_

pthread_t	readThreadId_

bool	running_

carma::util::PthreadMutex	runningMutex_

const int	simOfflineNodes_

pthread_t	timerThreadId_

Protected Attributes inherited from carma::canbus::CanDio
std::auto_ptr < carma::canbus::CanIo >	cio_

std::auto_ptr< carma::canbus::Dio >	dio_

const long	pulseWidth_
	Reset pulsewidth. More...

const bool	terminate_

Detailed Description

BIMA Antenna IF canbus Master class.

This class is responsible for declaring and maintaining the Antenna IF CAN device on BIMA antennas.

Definition at line 72 of file IFCanMaster.h.

Constructor & Destructor Documentation

carma::antenna::bima::IFCanMaster::IFCanMaster	(	carma::util::IPQreader< TelemetryCommand > &	ifr,
		Rx &	rx,
		carma::monitor::BimaSubsystem &	mon,
		AntennaNameResolver &	anr,
		Configuration &	config
	)

Constructor for emulation only.

carma::antenna::bima::IFCanMaster::IFCanMaster	(	int	board,
		int	bus,
		carma::util::IPQreader< TelemetryCommand > &	ifr,
		Rx &	rx,
		carma::monitor::BimaSubsystem &	mon,
		AntennaNameResolver &	anr,
		Configuration &	config
	)

IFCanMaster single bus constructor.

This constructor should be used when it is desireable to control only a single CANbus on the Janz cPCI carrier board.

Parameters

board Board number of Janz cPCI carrier board (0-15). The carrier board is the cPCI board which contains four separate mezzanine modules (2 - CAN, 1 - DIO and 1 - RJ45 Breakout Board), each on a separate 'modulbus'. The boardId is set via a hex switch near the back of the cPCI board. On older models, it is determined via a clearly labeled PLD chip near the back of the board. The chip will be labeled "mbus X" - do not confuse this with the mobulbus numbers on the front panel.

bus Canbus to use [0..1].

Exceptions

carma::util::ErrorException derivatives on a variety of failures.

Member Function Documentation

std::map<carma::canbus::msgType, std::string> carma::antenna::bima::IFCanMaster::getControls ( ) const

protectedvirtual

Get a map of controls provided by the IFCanMaster Master controls correspond to global CAN Message Ids.

For the most part this routine won't be used since control commands are hard coded into the below routines and our Antenna API has no mechanism to return values via corba.

Reimplemented from carma::canbus::Master.

void carma::antenna::bima::IFCanMaster::reset ( )

Reset the canbusses via dio.

This routine performs what is commonly known as a hard reset.

void carma::antenna::bima::IFCanMaster::setInitialized ( bool state )

Set initialization flag.

void carma::antenna::bima::IFCanMaster::softReset ( )

protected

Reset modules via software RESET msg.

A soft reset.

void carma::antenna::bima::IFCanMaster::start ( )

Start the CAN Master This routine does not block! It is responsible for kicking off a new thread which in turn runs the main Master::run() routine.

See Also: carma::antenna::bima::IFCanMaster::stop

void carma::antenna::bima::IFCanMaster::stop ( )

Stop the CAN Master This routine terminates the main run thread in the CAN Master.

It is safe to call this routine even if start() has not yet been called (i.e. when handling an exception).

void carma::antenna::bima::IFCanMaster::updateStatus ( )

protectedvirtual

Update the status of the Antenna CAN Master.

This routine retrieves values specific to the CANbus(ses) for the antenna and places them into the monitor stream. It is called automatically by the Master class every frame (1/2 second) as described in carma::canbus::Master.

See Also: carma::canbus::Master::updateStatus

Implements carma::canbus::Master.

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

carma/antenna/bima/IFCanMaster.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation