ArBatteryMTX Class Reference

#include <ArBatteryMTX.h>

Inherits ArASyncTask.

Public Types
enum	ErrorFlags {   ERROR_BATTERY_OVERVOLTAGE =0x0001, ERROR_BATTERY_UNDERVOLTAGE =0x0002, ERROR_OVERCURRENT =0x0004, ERROR_BLOWNFUSE =0x0008,   ERROR_RTC_ERROR =0x0010, ERROR_OVER_TEMPERATURE =0x0020, ERROR_MASTER_SWITCH_FAULT =0x0040, ERROR_SRAM_ERROR =0x0080,   ERROR_CHARGER_OUT_OF_VOLTAGE_RANGE =0x0100, ERROR_CHARGER_CIRCUIT_FAULT =0x0200 }
enum	Headers { HEADER1 =0xfa, HEADER2 =0xba }
enum	StatusFlags {   STATUS_ON_CHARGER =0x0001, STATUS_CHARGING =0x0002, STATUS_BALANCING_ENGAGED =0x0004, STATUS_CHARGER_ON =0x0008,   STATUS_BATTERY_POWERING_OFF =0x0010, STATUS_MASTER_SWITCH_ON =0x0020, STATUS_CHARGE_SWITCH_ON =0x0040, STATUS_COMMANDED_SHUTDOWN =0x0080,   STATUS_OFF_BUTTON_PRESSED =0x0100, STATUS_ON_BUTTON_PRESSED =0x0200, STATUS_USER_BUTTON_PRESSED =0x0400 }
Public Types inherited from ArThread
typedef std::map< ThreadType, ArThread * >	MapType
enum	Status {   STATUS_FAILED =1, STATUS_NORESOURCE, STATUS_NO_SUCH_THREAD, STATUS_INVALID,   STATUS_JOIN_SELF, STATUS_ALREADY_DETATCHED }
typedef pthread_t	ThreadType

Public Member Functions
void	addBatteryPoweringOffCancelledCB (ArFunctor *functor, int position=51)
	Adds a callback for when the battery is powering off.
void	addBatteryPoweringOffCB (ArFunctor *functor, int position=51)
	Adds a callback for when the battery is powering off.
void	addDisconnectOnErrorCB (ArFunctor *functor, int position=51)
	Adds a callback for when disconnection happens because of an error.
	ArBatteryMTX (int batteryBoardNum=0, const char *name="MTXBattery", ArDeviceConnection *conn=NULL, ArRobot *robot=NULL)
	Constructor.
virtual bool	blockingConnect (bool sendTracking, bool recvTracking)
bool	checkLostConnection (void)
	check for lost connections More...
virtual bool	disconnect (void)
void	disconnectOnError (void)
	disconnect
int	getAsyncConnectState (void)
int	getBoardNum (void)
int	getCapacityEstimate (void) const
int	getCellCapacity (int cellNum) const
int	getCellCharge (int cellNum) const
int	getCellFlag (int cellNum) const
double	getCellImbalance (void) const
ArRobotPacket	getCellPacket ()
double	getCellVoltage (int cellNum) const
double	getChargeCurrent (void) const
double	getChargeEstimate (void) const
	Charge estimate (in percentage, 0-100)
int	getChargeRemainingEstimate (void) const
ArRobot::ChargeState	getChargeState (void) const
int	getChargeStateAsInt (void) const
virtual double	getConnectionTimeoutSeconds (void)
	Gets the number of seconds without a response until connection assumed lost.
double	getCurrentDraw (void) const
	Current draw (amps, negative is charging)
long long	getCurrentTime (void) const
int	getCycleCount (void) const
const char *	getDefaultPortType (void)
	Gets the default port type for the battery.
const char *	getDefaultTcpPort (void)
	Gets the default port type for the battery.
double	getDelay (void) const
ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance receives packets from.
double	getDisChargeCurrent (void) const
int	getErrorFlags (void) const
int	getFirmwareVersion (void) const
double	getFuseVoltage (void) const
int	getId (void) const
double	getImbalanceQuality (void) const
long long	getLastChargeTime (void) const
ArTime	getLastReadingTime (void)
	Gets the time data was last receieved.
virtual const char *	getName (void) const
int	getNumCells (void) const
ArRobotPacketReceiver *	getPacketReceiver (void)
	Very Internal call that gets the packet sender, shouldn't be used.
ArRobotPacketSender *	getPacketSender (void)
	Very Internal call that gets the packet sender, shouldn't be used.
double	getPackVoltage (void) const
	volts
double	getPaddleVolts (void) const
int	getReadingCount (void)
	Gets the number of battery readings received in the last second.
double	getReserveChargeValue (void) const
int	getSerialNumber (void) const
int	getStatusFlags (void) const
double	getTemperature (void) const
double	getVoltage (void) const
bool	haveRequestedCellInfoPackets (void)
	See if we've requested packets.
bool	haveRequestedSysInfoPackets (void)
	See if we've requested packets.
virtual void	internalGotReading (void)
virtual bool	isConnected (void)
virtual bool	isTryingToConnect (void)
virtual int	lockDevice ()
	Lock this device.
void	log (ArLog::LogLevel level=ArLog::Normal)
void	logBatteryInfo (ArLog::LogLevel level=ArLog::Normal)
void	logCellInfo (ArLog::LogLevel level=ArLog::Normal)
bool	onCharger (void) const
void	remBatteryPoweringOffCancelledCB (ArFunctor *functor)
	Removes a callback for when the battery is powering off.
void	remBatteryPoweringOffCB (ArFunctor *functor)
	Removes a callback for when the battery is powering off.
void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error.
void	requestContinuousCellInfoPackets (void)
	Request a continous stream of packets.
void	requestContinuousSysInfoPackets (void)
	Request a continous stream of packets.
bool	sendBasicInfo (unsigned char dataValue)
bool	sendCellInfo (unsigned char dataValue)
bool	sendEmergencyPowerOff ()
bool	sendPowerOff ()
bool	sendPowerOffCancel ()
bool	sendResetCellData ()
bool	sendSetBalanceValue (unsigned short hundredthOfPercent)
bool	sendSetPowerOffDelay (unsigned int msDelay)
bool	sendSetRealTimeClock (unsigned int secSinceEpoch)
bool	sendSetReserveValue (unsigned short hundredthOfPercent)
bool	sendStartCharging ()
bool	sendStopCharging ()
bool	sendSystemInfo (unsigned char dataValue)
virtual void	setConnectionTimeoutSeconds (double seconds)
	Sets the numter of seconds without a response until connection assumed lost.
void	setDeviceConnection (ArDeviceConnection *conn)
	Sets the device this instance receives packets from.
void	setInfoLogLevel (ArLog::LogLevel infoLogLevel)
virtual void	setRobot (ArRobot *robot)
	Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task. More...
void	stopCellInfoPackets (void)
	Stop the stream of packets.
void	stopSysInfoPackets (void)
	Stop the stream of packets.
virtual int	tryLockDevice ()
	Try to lock this device.
virtual int	unlockDevice ()
	Unlock this device.
void	updateBasicInfo (unsigned char *buf)
void	updateCellInfo (unsigned char *buf)
void	updateSystemInfo (unsigned char *buf)
virtual	~ArBatteryMTX ()
	Destructor.
Public Member Functions inherited from ArASyncTask
	ArASyncTask ()
	Constructor.
virtual int	create (bool joinable=true, bool lowerPriority=true)
	Create the task and start it going.
virtual const char *	getThreadActivity (void)
	Gets a string that describes what the thread is doing, or NULL if it doesn't know. More...
virtual void	run (void)
	Run without creating a new thread. More...
virtual void	runAsync (void)
	Run in its own thread.
virtual void *	runInThisThread (void *arg=0)
	Internal function used with system threading system to run the new thread. More...
virtual void	stopRunning (void)
	Stop the thread.
virtual	~ArASyncTask ()
	Destructor.
Public Member Functions inherited from ArThread
	ArThread (bool blockAllSignals=true)
	Constructor.
	ArThread (ThreadType thread, bool joinable, bool blockAllSignals=true)
	Constructor - starts the thread.
	ArThread (ArFunctor *func, bool joinable=true, bool blockAllSignals=true)
	Constructor - starts the thread.
virtual void	cancel (void)
	Cancel the thread.
virtual int	detach (void)
	Detatch the thread so it cant be joined.
bool	getBlockAllSignals (void)
	Do we block all process signals at startup?
virtual ArFunctor *	getFunc (void) const
	Get the functor that the thread runs.
virtual bool	getJoinable (void) const
	Get the joinable status of the thread.
virtual ThreadType	getOSThread (void) const
	Get the underlying os thread type.
pid_t	getPID (void)
virtual bool	getRunning (void) const
	Get the running status of the thread.
virtual bool	getRunningWithLock (void)
	Get the running status of the thread, locking around the variable.
virtual const ThreadType *	getThread (void) const
	Get the underlying thread type.
virtual const char *	getThreadName (void)
	Gets the name of the thread.
pid_t	getTID (void)
virtual bool	isThreadFinished () const
	Returns whether the thread has been completed and can be deleted. More...
virtual bool	isThreadStarted () const
	Returns whether the thread has been started. More...
virtual int	join (void **ret=NULL)
	Join on the thread.
int	lock (void)
	Lock the thread instance. More...
virtual void	logThreadInfo (void)
	Logs the information about this thread.
virtual void	setRunning (bool running)
	Set the running value on the thread.
virtual void	setThreadName (const char *name)
	Sets the name of the thread.
virtual void	threadFinished (void)
	Marks the thread as finished and logs useful debugging information. More...
virtual void	threadStarted (void)
	Marks the thread as started and logs useful debugging information. More...
int	tryLock (void)
	Try to lock the thread instance without blocking. More...
int	unlock (void)
	Unlock the thread instance. More...
virtual	~ArThread ()
	Destructor.

Protected Types
enum	CellFlags { BALANCER_IS_ON =0x01, OVER_VOLTAGE =0x02, UNDER_VOLTAGE =0x04 }
enum	Commands {   BASIC_INFO =0x00, SYSTEM_INFO =0x01, CELL_INFO =0x02, POWER_OFF_REQUEST =0x10,   POWER_OFF_CANCEL =0x11, STOP_CHARGING =0x12, START_CHARGING =0x13, SET_POWER_OFF_DELAY =0x20,   SET_REAL_TIME_CLOCK =0x21, RESET_CELL_DATA =0x22, SET_RESERVE_VALUE =0x23, SET_BALANCE_VALUE =0x24,   EMERGENCY_OFF =0xff }
enum	Data { STOP_SENDING =0x00, SEND_ONCE =0x01, SEND_CONTINUOUS =0x02 }
enum	Sizes { BASIC_INFO_SIZE =16, SYSTEM_INFO_SIZE =60, CELL_INFO_SIZE =95 }

Protected Member Functions
virtual void	batterySetName (const char *name)
void	checkAndSetCurrentErrors (ErrorFlags errorFlag, const char *errorString)
void	clear (void)
void	failedToConnect (void)
bool	getBasicInfo ()
bool	getCellInfo ()
bool	getSystemInfo ()
void	interpBasicInfo (void)
void	interpErrors (void)
virtual void *	runThread (void *arg)
void	sensorInterp (void)
Protected Member Functions inherited from ArThread
virtual int	doJoin (void **ret=NULL)

Protected Attributes
ArRetFunctorC< bool, ArBatteryMTX >	myAriaExitCB
int	myAsyncConnectState
ArCallbackList	myBatteryPoweringOffCancelledCBList
ArCallbackList	myBatteryPoweringOffCBList
int	myBoardNum
unsigned int	myCapacityEstimate
double	myCellImbalance
std::map< int, CellInfo * >	myCellNumToInfoMap
ArRobotPacket	myCellPacket
double	myChargeCurrent
double	myChargeEstimate
unsigned int	myChargeRemainingEstimate
ArRobot::ChargeState	myChargeState
ArDeviceConnection *	myConn
double	myCurrentDraw
long long	myCurrentTime
unsigned int	myCycleCount
ArMutex	myDataMutex
std::string	myDefaultPortType
std::string	myDefaultTcpPort
double	myDelay
ArMutex	myDeviceMutex
double	myDisChargeCurrent
ArCallbackList	myDisconnectOnErrorCBList
int	myErrorCount
unsigned short	myErrorFlags
std::string	myErrorString
unsigned char	myFirmwareVersion
bool	myFirstErrorFlagsCheck
double	myFuseVoltage
bool	myHaveSetRTC
unsigned char	myId
double	myImbalanceQuality
ArLog::LogLevel	myInfoLogLevel
bool	myIsConnected
long long	myLastChargeTime
int	myLastErrorCount
unsigned short	myLastErrorFlags
std::string	myLastErrorString
ArTime	myLastReading
int	myLastStatusFlags
ArLog::LogLevel	myLogLevel
std::string	myName
unsigned char	myNumCells
bool	myOnCharger
std::list< ArRobotPacket * >	myPackets
ArMutex	myPacketsMutex
double	myPackVoltage
double	myPaddleVolts
ArTime	myPrevBatteryIntTime
ArFunctorC< ArBatteryMTX >	myProcessCB
unsigned short	myRawCellImbalance
unsigned short	myRawChargeCurrent
unsigned short	myRawChargeEstimate
unsigned short	myRawCurrentDraw
unsigned int	myRawDelay
unsigned short	myRawDisChargeCurrent
unsigned short	myRawFuseVoltage
unsigned short	myRawImbalanceQuality
unsigned short	myRawPackVoltage
unsigned short	myRawPaddleVolts
unsigned short	myRawReserveChargeValue
unsigned short	myRawTemperature
unsigned short	myRawVoltage
int	myReadingCount
int	myReadingCurrentCount
ArRobotPacketReceiver *	myReceiver
bool	myRecvTracking
bool	myRequestedCellInfoBatteryPackets
bool	myRequestedSysInfoBatteryPackets
double	myReserveChargeValue
ArRobot *	myRobot
bool	myRobotRunningAndConnected
ArRobotPacketSender *	mySender
bool	mySendTracking
ArFunctorC< ArBatteryMTX >	mySensorInterpTask
unsigned int	mySerialNumber
bool	myStartConnect
unsigned short	myStatusFlags
double	myTemperature
time_t	myTimeLastReading
double	myTimeoutSeconds
bool	myTryingToConnect
unsigned char	myVersion
double	myVoltage
Protected Attributes inherited from ArThread
bool	myBlockAllSignals
bool	myFinished
ArFunctor *	myFunc
bool	myJoinable
ArMutex	myMutex
std::string	myName
pid_t	myPID
bool	myRunning
	State variable to denote when the thread should continue or exit.
bool	myStarted
ArStrMap	myStrMap
ThreadType	myThread
pid_t	myTID

Additional Inherited Members
Static Public Member Functions inherited from ArThread
static void	cancelAll (void)
	Cancel all threads.
static ArLog::LogLevel	getLogLevel (void)
	Gets the logging level for thread information.
static ThreadType	getThisOSThread (void)
	Get the underlying os thread type of this thread.
static const ThreadType *	getThisThread (void)
	Get the underlying thread type of this thread.
static const char *	getThisThreadName (void)
	Gets the name of the this thread.
static void	init (void)
	Initialize the internal book keeping structures. More...
static void	joinAll (void)
	Join on all threads.
static ThreadType	osSelf (void)
	Returns the os self of the current thread. More...
static ArThread *	self (void)
	Returns the instance of your own thread (the current one) More...
static void	setLogLevel (ArLog::LogLevel level)
	Sets the logging level for thread information.
static void	shutdown ()
	Shuts down and deletes the last remaining thread; call after joinAll.
static void	stopAll ()
	Stop all threads.
static void	yieldProcessor (void)
	Yield the processor to another thread.
Static Protected Member Functions inherited from ArThread
static void	addThreadToMap (ThreadType pt, ArThread *at)
static ArThread *	findThreadInMap (ThreadType t)
static void	removeThreadFromMap (ThreadType t)
Static Protected Attributes inherited from ArThread
static ArLog::LogLevel	ourLogLevel = ArLog::Verbose
static MapType	ourThreads
static ArMutex	ourThreadsMutex
static std::string	ourUnknownThreadName = "unknown"

Detailed Description

Since

2.8.0

Member Function Documentation

checkLostConnection()

bool ArBatteryMTX::checkLostConnection

(

void

)

check for lost connections

This will check if the battery has lost connection.

If there is no robot it is a straightforward check of last reading time against getConnectionTimeoutSeconds. If there is a robot then it will not start the check until the battery is running and connected.

setRobot()

void ArBatteryMTX::setRobot ( ArRobot *  robot )

virtual

Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task.

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

• ArBatteryMTX.h
• ArBatteryMTX.cpp