Interface to digital and analog I/O and switched power outputs on MTX core (used in Pioneer LX and other MTX-based robots). More...

#include <ArMTXIO.h>

Public Types
enum	Direction { DIGITAL_INPUT, DIGITAL_OUTPUT, INVALID }

Public Member Functions
	ArMTXIO (const char *dev="/dev/mtx")
	Constructor. More...

bool	closeIO (void)
	tries to close the device. Returns false if operation failed More...

bool	getAnalogValue (int port, double *val)

bool	getAnalogValue (double *val)
	This returns a conversion of the bits to a decimal value, currently assumed to be in the 0-5V range. More...

bool	getAnalogValueRaw (int port, int *val)

bool	getAnalogValueRaw (int *val)

bool	getBumperInput (unsigned char *val)
	gets the bumper Input Monitoring Reg

unsigned char	getCompatibilityCode ()
	gets the Compatibility Code

bool	getDigitalInputBit (int bank, int bit)
	Get one bit of an input bank. bank and bit are 0-indexed.

unsigned char	getFirmwareRevision ()
	gets the Firmware Revision

unsigned char	getFirmwareVersion ()
	gets the Firmware Version

unsigned char	getFPGAType ()
	gets the MTX FPGA Type

bool	getLIDARSafety (unsigned char *val)
	gets the LIDAR Safety Status Register

bool	getLightPole (unsigned char *val)
	get the Light Pole IO Output Control Register

bool	getLPCTimeUSec (ArTypes::UByte4 *timeUSec)

ArRetFunctor1< bool, ArTypes::UByte4 * > *	getLPCTimeUSecCB (void)

bool	getMotionPowerStatus (unsigned char *val)
	gets the motion power status

bool	getPowerStatus1 (unsigned char *val)
	gets the Power Status Register

bool	getPowerStatus2 (unsigned char *val)
	gets the Power Status Register 2

bool	isAnalogSupported (void)
	returns true if analog values are supported

bool	isEnabled (void)
	returns true if the device is opened and operational

int	lock (void)
	Lock global (shared) mutex for all ArMTXIO instances. More...

bool	setDigitalOutputBit (int bank, int bit)
	Set one bit of an output bank. bank and bit are 0-indexed.

bool	setLightPole (unsigned char *val)
	sets the Light Pole IO Output Control Register

bool	setPowerOutput (int bank, int bit, bool on)
	Set one power output. bank and bit are 0-indexed.

int	tryLock ()
	Try to lock without blocking (see ArMutex::tryLock())

int	unlock (void)
	Unlock global (shared) mutex for all ArMTXIO instances. More...

virtual	~ArMTXIO (void)
	Destructor. More...


Direction	getDigitalBankDirection (int bank)
	Get/set value of digital IO banks (see class description above) Banks are 0-indexed.

bool	setDigitalBankOutputs (int bank, unsigned char val)

bool	getDigitalBankInputs (int bank, unsigned char *val)
	Returns the bits of the digital input bank. More...

bool	getDigitalBankOutputs (int bank, unsigned char *val)
	Returns the state of the bits as they are currently set in the outputs. More...


bool	setPeripheralPowerBankOutputs (int bank, unsigned char val)
	get/set value of power output controls (see robot manual for information on what components and user outputs are controlled). More...

bool	getPeripheralPowerBankOutputs (int bank, unsigned char *val)


bool	getDigitalIOInputMon1 (unsigned char *val)
	gets the values of digital input/output monitoring registers 1 & 2 More...

bool	getDigitalIOInputMon2 (unsigned char *val)
	Returns the bits of the digital IO Input Monitoring 1. More...

bool	getDigitalIOOutputMon1 (unsigned char *val)

bool	getDigitalIOOutputMon2 (unsigned char *val)


bool	setSemaphore1 (unsigned char *val)
	gets/sets the Semaphore Registers

bool	getSemaphore1 (unsigned char *val)

bool	setSemaphore2 (unsigned char *val)

bool	getSemaphore2 (unsigned char *val)

bool	setSemaphore3 (unsigned char *val)

bool	getSemaphore3 (unsigned char *val)

bool	setSemaphore4 (unsigned char *val)

bool	getSemaphore4 (unsigned char *val)


bool	getESTOPStatus1 (unsigned char *val)
	gets the ESTOP status Registers

bool	getESTOPStatus2 (unsigned char *val)

bool	getESTOPStatus3 (unsigned char *val)

bool	getESTOPStatus4 (unsigned char *val)

bool	compareESTOPStatus4HighNibbleAgainst (int val)
	Compares the high nibble of this byte against the passed in val, returns true if it matches.


bool	getDigitalOutputControl1 (unsigned char *val)
	gets/sets Digital IO Output Control Registers 1 & 2

bool	setDigitalOutputControl1 (unsigned char *val)

bool	getDigitalOutputControl2 (unsigned char *val)

bool	setDigitalOutputControl2 (unsigned char *val)


bool	getPeripheralPower1 (unsigned char *val)
	gets/sets the Peripheral Power Control Regs 1 & 2 These control power to core and robot components, and to user/auxilliary power outputs. More...

bool	setPeripheralPower1 (unsigned char *val)

bool	getPeripheralPower2 (unsigned char *val)

bool	setPeripheralPower2 (unsigned char *val)

bool	getPeripheralPower3 (unsigned char *val)

bool	setPeripheralPower3 (unsigned char *val)


bool	getLIDARControl (unsigned char *val)
	gets/sets the LIDAR Control Reg

bool	setLIDARControl (unsigned char *val)


bool	getAnalogIOBlock1 (int analog, unsigned short *val)
	gets analog Block 1 & 2

bool	getAnalogIOBlock2 (int analog, unsigned short *val)

bool	setAnalogIOBlock2 (int analog, unsigned short *val)

Protected Member Functions
bool	getLPCTimer0 (unsigned char *val)

bool	getLPCTimer1 (unsigned char *val)

bool	getLPCTimer2 (unsigned char *val)

bool	getLPCTimer3 (unsigned char *val)

Protected Attributes
bool	myAnalogEnabled

unsigned char	myCompatibilityCode

unsigned char	myDigitalBank1

unsigned char	myDigitalBank2

unsigned char	myDigitalBank3

unsigned char	myDigitalBank4

ArRetFunctorC< bool, ArMTXIO >	myDisconnectCB

bool	myEnabled

int	myFD

unsigned char	myFirmwareRevision

unsigned char	myFirmwareVersion

unsigned char	myFPGAType

ArRetFunctor1C< bool, ArMTXIO, ArTypes::UByte4 * >	myLPCTimeUSecCB

int	myNumBanks

Static Protected Attributes
static ArMutex	ourMutex

Detailed Description

Interface to digital and analog I/O and switched power outputs on MTX core (used in Pioneer LX and other MTX-based robots).

On Linux this class uses the mtx driver to interface with the MTX digital and analog IO, and control switched power outputs.

The mtx driver module must be loaded for this interface to work.

The mtx interface (/dev/mtx) is opened automatically in the ArMTXIO constructor. If successful, isEnabled() will then return true.

The MTX IO is organized as two sets of 8-bit "banks" of inputs, and two 8-bit "banks" of outputs.

To read the state input, use getDigitalIOInputMon1() and getDigitalIOInputMon2(), or getDigitalBankInputs() with bank index 0 or 1.

To set state of output, use setDigitalOutputControl1() and setDigitalOutputControl2(), or setDigitalBankOutputs() with bank index 2 or 3.

Multile ArMTXIO objects may be instatiated; a shared may be locked and unlocked by calling lock() and unlock().

Note: Available on Linux only

Examples:: mtxIO.cpp, and mtxPowerControl.cpp.

Constructor & Destructor Documentation

◆ ArMTXIO()

ArMTXIO::ArMTXIO ( const char * dev = "/dev/mtx" )

Constructor.

Constructor for the ArMTXIO class.

This will open the device named by dev (the default is "/dev/amrio" if the argument is omitted). It will find the number of digital banks and set the to inputs. It will also attempt to take an analog reading, which will fail if there is not analog chip present. If the conversion fails it will disable the analog portion of the code.

Check isEnabled() to see if the device was properly opened during construction.

◆ ~ArMTXIO()

ArMTXIO::~ArMTXIO ( void )

virtual

Destructor.

Attempt to close the device if it was opened

Member Function Documentation

◆ closeIO()

bool ArMTXIO::closeIO ( void )

tries to close the device. Returns false if operation failed

Close the device when Aria exits.

◆ getAnalogValue() [1/2]

bool ArMTXIO::getAnalogValue	(	int	port,
		double *	val
	)

inline

Note: not yet implemented.

◆ getAnalogValue() [2/2]

bool ArMTXIO::getAnalogValue ( double * val )

This returns a conversion of the bits to a decimal value, currently assumed to be in the 0-5V range.

Returns an analog value converted from the raw reading to a scale if 0-5V.

Parameters

val	the address of the double to store the reading in

Returns: true if a reading was acquired. false otherwise

◆ getAnalogValueRaw()

bool ArMTXIO::getAnalogValueRaw	(	int	port,
		int *	val
	)

inline

Note: not yet implemented

◆ getDigitalBankInputs()

bool ArMTXIO::getDigitalBankInputs	(	int	bank,
		unsigned char *	val
	)

Returns the bits of the digital input bank.

Returns: true if the ioctl call was succcessfull, false otherwise

◆ getDigitalBankOutputs()

bool ArMTXIO::getDigitalBankOutputs	(	int	bank,
		unsigned char *	val
	)

Returns the state of the bits as they are currently set in the outputs.

Parameters

bank	which bank to check
val	the byte to write the values into

Returns: true if the request was satisfied, false otherwise

◆ getDigitalIOInputMon1()

bool ArMTXIO::getDigitalIOInputMon1 ( unsigned char * val )

gets the values of digital input/output monitoring registers 1 & 2

Returns the bits of the digital IO Input Monitoring 1.

Returns: true if the ioctl call was succcessfull, false otherwise

◆ getDigitalIOInputMon2()

bool ArMTXIO::getDigitalIOInputMon2 ( unsigned char * val )

Returns the bits of the digital IO Input Monitoring 1.

Returns: true if the ioctl call was succcessfull, false otherwise

◆ getPeripheralPower1()

bool ArMTXIO::getPeripheralPower1 ( unsigned char * val )

gets/sets the Peripheral Power Control Regs 1 & 2 These control power to core and robot components, and to user/auxilliary power outputs.

Refer to robot manual for information on which components and outputs are controlled by which bits in the peripheral power bitmasks.

◆ lock()

int ArMTXIO::lock ( void )

inline

Lock global (shared) mutex for all ArMTXIO instances.

This allows multiple access to MTX IO (through multiple ArMTXIO objects).

Examples:: mtxIO.cpp, and mtxPowerControl.cpp.

◆ setDigitalBankOutputs()

bool ArMTXIO::setDigitalBankOutputs	(	int	bank,
		unsigned char	val
	)

Parameters

bank	the bank number to use for mtx only 2 & 3 are outputs
val	the status of the 8-bits in a single byte.

◆ setPeripheralPowerBankOutputs()

bool ArMTXIO::setPeripheralPowerBankOutputs	(	int	bank,
		unsigned char	val
	)

get/set value of power output controls (see robot manual for information on what components and user outputs are controlled).

Banks are 0-indexed.

◆ unlock()

int ArMTXIO::unlock ( void )

inline

Unlock global (shared) mutex for all ArMTXIO instances.

This allows multiple access to MTX IO (through multiple ArMTXIO objects).

Examples:: mtxIO.cpp, and mtxPowerControl.cpp.

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

ArMTXIO.h
ArMTXIO.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArMTXIO()

◆ ~ArMTXIO()

Member Function Documentation

◆ closeIO()

◆ getAnalogValue() [1/2]

◆ getAnalogValue() [2/2]

◆ getAnalogValueRaw()

◆ getDigitalBankInputs()

◆ getDigitalBankOutputs()

◆ getDigitalIOInputMon1()

◆ getDigitalIOInputMon2()

◆ getPeripheralPower1()

◆ lock()

◆ setDigitalBankOutputs()

◆ setPeripheralPowerBankOutputs()

◆ unlock()