Carma Loberotator CAN Master class. More...

#include <carma/loberotator/LoberotatorMaster.h>

Inheritance diagram for carma::loberotator::LoberotatorMaster:

Public Member Functions
carma::loberotator::Loberotator &	getGlobalLoberotator ()
	Get 'global' (node 0 control device) loberotator. More...

carma::switchyard::Switchyard &	getLlSwitchyard ()
	Retrieve reference to LL Switchyard instance. More...

carma::switchyard::Switchyard &	getLoSwitchyard ()
	Retrieve reference to LO Switchyard instance. More...

bool	isDone ()
	Query to see if the System::quit() method has been invoked. More...

	LoberotatorMaster (int holdoff, double autoWriteDelayInS, double syautoWriteDelayInS)
	Constructor for emulation mode Runs without accessing any hardware, directing all canbus writes to dev/null. More...

	LoberotatorMaster (int board, int bus, int holdoff, bool simulate, double autoWriteDelayInS, double syautoWriteDelayInS)
	LoberotatorMaster constructor. More...

Public Member Functions inherited from carma::loberotator::Chassis
	Chassis ()
	Constructor. More...

void	insert (Loberotator *)
	Insert a Loberotator into the system. More...

Loberotator &	loberotator (int chan) const
	Get a loberotator. More...

virtual	~Chassis ()
	Destructor. More...

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...

Protected Member Functions
void	updateStatus ()
	Update the status of the Loberotator CAN Master. More...

virtual	~LoberotatorMaster ()
	Destructor. More...

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

virtual std::map< msgType, std::string >	getControls () const
	Get controls. 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 Public Attributes inherited from carma::loberotator::Chassis
static const int	N_CHAN = 24
	Maximum number of loberotator channels. 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::loberotator::Chassis
carma::loberotator::Loberotator *	loberotator_ [N_CHAN]

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

Carma Loberotator CAN Master class.

Definition at line 42 of file LoberotatorMaster.h.

Constructor & Destructor Documentation

carma::loberotator::LoberotatorMaster::LoberotatorMaster	(	int	holdoff,
		double	autoWriteDelayInS,
		double	syautoWriteDelayInS
	)

Constructor for emulation mode Runs without accessing any hardware, directing all canbus writes to dev/null.

Automatically does simulation.

Parameters

holdoff	delay (msec) to send commands to the XAC after halfsec tick
autoWriteDelayInS	Monitor system autowrite delay in seconds.
syautoWriteDelayInS	Switchyeard monitor system autowrite delay in seconds.

carma::loberotator::LoberotatorMaster::LoberotatorMaster	(	int	board,
		int	bus,
		int	holdoff,
		bool	simulate,
		double	autoWriteDelayInS,
		double	syautoWriteDelayInS
	)

LoberotatorMaster constructor.

Parameters

board	Janz modulBus board designator (0 - 15).
bus	Janz modulBus slot # of CAN card to use (0 or 1).
simulate	Produce simulated monitor packets
holdoff	delay (msec) to send commands to the XAC after halfsec tick
autoWriteDelayInS	Monitor system autowrite delay in seconds.
syautoWriteDelayInS	Switchyeard monitor system autowrite delay in seconds.

virtual carma::loberotator::LoberotatorMaster::~LoberotatorMaster ( )

protectedvirtual

Destructor.

By declaring the LoberotatorMaster destructor as protected we force a user to only allocate it on the heap. This is done in order for proper use with CORBA reference counting.

Member Function Documentation

carma::loberotator::Loberotator& carma::loberotator::LoberotatorMaster::getGlobalLoberotator ( )

Get 'global' (node 0 control device) loberotator.

carma::switchyard::Switchyard& carma::loberotator::LoberotatorMaster::getLlSwitchyard ( )

Retrieve reference to LL Switchyard instance.

carma::switchyard::Switchyard& carma::loberotator::LoberotatorMaster::getLoSwitchyard ( )

Retrieve reference to LO Switchyard instance.

bool carma::loberotator::LoberotatorMaster::isDone ( )

Query to see if the System::quit() method has been invoked.

This routine is for debug use to explicitly determine if a user has invoked the carma::loberotator::System::quit() method

void carma::loberotator::LoberotatorMaster::updateStatus ( )

protectedvirtual

Update the status of the Loberotator CAN Master.

This routine is responsible for retrieving values specific to the state of the CanMaster object and the CANbus(ses) themselves such as number of online nodes, CANbus errors, etc. It retrieves these values and places them into the monitor stream. The method is called internally my the canbus::Master base class every half second as described in carma::canbus::Master.

Implements carma::canbus::Master.

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

carma/loberotator/LoberotatorMaster.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation