IOComponent Class Reference

This Component uses the Orocos Device Interface for making IO available to other components through data ports and methods. More...

#include <IOComponent.hpp>

List of all members.

Public Member Functions
	IOComponent (const std::string &name="IOComponent")
	Create an IOComponent.
virtual bool	configureHook ()
virtual void	updateHook ()
	First read the inputs, then write the outputs.
bool	addAnalogInInterface (const std::string &Portname, const std::string &devicename)
	Add an AnalogInInterface device interface.
bool	removeAnalogInInterface (const std::string &Portname)
	Remove an AnalogInInterface device interface.
bool	addAnalogInput (const std::string &Portname, const std::string &devicename, int channel)
	Add an AnalogInput device.
bool	removeAnalogInput (const std::string &Portname)
	Remove a previously added AnalogInput.
bool	addInputChannel (int virt_channel, const std::string &devicename, int channel)
	Add an analog Channel to InputValues.
bool	removeInputChannel (int virt_channel)
	Remove a previously added analog Channel.
bool	addDigitalInput (const std::string &name, const std::string &devicename, int channel, bool invert=false)
	Add an DigitalInput device.
bool	removeDigitalInput (const std::string &name)
	Remove a previously added Digital Input.
bool	addAnalogOutInterface (const std::string &Portname, const std::string &devicename)
	Add an AnalogOutInterface device interface.
bool	removeAnalogOutInterface (const std::string &Portname)
	Remove an AnalogOutInterface device interface.
bool	addAnalogOutput (const std::string &portname, const std::string &devicename, int channel)
	Add an AnalogOutput which reads from an Output DataObject.
bool	removeAnalogOutput (const std::string &name)
	Remove a previously added AnalogOutput.
bool	addOutputChannel (int virt_channel, const std::string &devicename, int channel)
	Add a virtual channel to OutputValues for writing an analog value.
bool	removeOutputChannel (int virt_channel)
	Remove the use of a virtual channel.
bool	addDigitalInInterface (const std::string &name, const std::string &devicename)
	Add a complete DigitalInInterface.
bool	addDigitalOutInterface (const std::string &name, const std::string &devicename)
	Add a complete DigitalOutInterface.
bool	removeDigitalInInterface (const std::string &name)
	Remove a complete DigitalInInterface.
bool	removeDigitalOutInterface (const std::string &name)
	Remove a complete DigitalOutInterface.
bool	addDigitalOutput (const std::string &name, const std::string &devicename, int channel, bool invert=false)
	Add a single DigitalOutput.
bool	removeDigitalOutput (const std::string &name)
	Remove a previously added DigitalOutput.
Scripting Methods
Runtime methods to inspect the IO values.
void	switchOn (const std::string &name)
	Is a DigitalOutput or DigitalInput on ?
bool	isOn (const std::string &name) const
	Is a DigitalOutput or DigitalInput on ?
void	switchOff (const std::string &name)
	Switch off a DigitalOutput.
double	value (const std::string &name) const
	Return the value of an AnalogInput or AnalogOutput.
int	rawValue (const std::string &name) const
	Return the raw sensor value of an AnalogInput or AnalogOutput.
int	getInputChannels () const
	Return the number of Channels this component reads from.
int	getOutputChannels () const
	Return the number of Channels this component writes to.
Protected Types
typedef std::map< std::string, DigitalInput * >	DInMap
	Each digital input/output becomes an object with methods in the component interface.
typedef std::map< std::string, DigitalOutput * >	DOutMap
typedef std::map< std::string, boost::tuple< AnalogInput , WriteDataPort< unsigned int > , WriteDataPort< double > * > >	AInMap
	Each analog input/output becomes a port and a raw_port in the component interface.
typedef std::map< std::string, std::pair< AnalogOutput , ReadDataPort< double > > >	AOutMap
typedef std::map< std::string, boost::tuple < AnalogInInterface , WriteDataPort< std::vector < double > > > >	AInInterfaceMap
typedef std::map< std::string, std::pair< AnalogOutInterface , ReadDataPort< std::vector < double > > > >	AOutInterfaceMap
Protected Member Functions
void	createAPI ()
void	write_a_in_to_do (const AInMap::value_type &dd)
	Write Analog input to DataObject.
void	write_to_aout (const AOutMap::value_type &dd)
	Write to Data to digital output.
void	read_ai (const AInInterfaceMap::value_type &dd)
	Write Analog input to DataObject.
void	write_ao (const AOutInterfaceMap::value_type &dd)
Protected Attributes
Property< int >	max_inchannels
Property< int >	max_outchannels
std::vector< AnalogInput * >	inchannels
	The 'Channels' provide an array of measured analog inputs.
std::vector< AnalogOutput * >	outchannels
std::vector< double >	chan_meas
std::vector< double >	chan_out
WriteDataPort< std::vector < double > >	inChannelPort
ReadDataPort< std::vector < double > >	outChannelPort
DInMap	d_in
DOutMap	d_out
AInMap	a_in
AOutMap	a_out
AInInterfaceMap	ai_interface
AOutInterfaceMap	ao_interface
std::vector< double >	workvect
int	usingInChannels
int	usingOutChannels

Detailed Description

This Component uses the Orocos Device Interface for making IO available to other components through data ports and methods.

The 'InputValues' is what this component reads in from the hardware.
The 'OutputValues' is what this component writes to the hardware.

The component must be running in order to write values on its output ports to hardware or providing read values on its input ports.

It can handle the RTT::AnalogInInterface, RTT::AnalogOutInterface, RTT::DigitalInInterface and RTT::DigitalOutInterface objects. The analog IO is made available as Data ports and methods, while the digital IO is available only through methods.

The Comedi package contains implementations of these interfaces and thus devices supported by comedi can be added to this component.

This component uses the nameservers of the RTT::AnalogInInterface, RTT::AnalogOutInterface, RTT::DigitalInInterface and RTT::DigitalOutInterface classes, thus you must register your device with a name.

Definition at line 47 of file IOComponent.hpp.

Member Function Documentation

bool addAnalogInInterface	(	const std::string &	Portname,
		const std::string &	devicename
	)			`[inline]`

Add an AnalogInInterface device interface.

A DataPort is created which contains the value of all the inputs.

Parameters:

	Portname	The name of the interface, which will also be given to the DataPort.
	devicename	The AnalogInInterface for reading the input.

Definition at line 137 of file IOComponent.hpp.

bool addAnalogInput	(	const std::string &	Portname,
		const std::string &	devicename,
		int	channel
	)			`[inline]`

Add an AnalogInput device.

A DataPort is created which contains the converted value of the input. The raw value of the channel can be read through the DataPort Portname + "_raw".

Parameters:

	Portname	The name of the DataObject.
	devicename	The AnalogInInterface for reading the input.
	channel	The channel of the input.

Definition at line 201 of file IOComponent.hpp.

bool addAnalogOutInterface	(	const std::string &	Portname,
		const std::string &	devicename
	)			`[inline]`

Add an AnalogOutInterface device interface.

A DataPort is created which contains the value of all the inputs.

Parameters:

	Portname	The name of the interface, which will also be given to the DataPort.
	devicename	The AnalogOutInterface for reading the input.

Definition at line 340 of file IOComponent.hpp.

bool addAnalogOutput	(	const std::string &	portname,
		const std::string &	devicename,
		int	channel
	)			`[inline]`

Add an AnalogOutput which reads from an Output DataObject.

Parameters:

	portname	The portname of the DataObject to read.
	devicename	The Analog Device to write to.
	channel	The channel of the Device to write to.

Returns:: true on success, false otherwise

Definition at line 401 of file IOComponent.hpp.

bool addDigitalInInterface	(	const std::string &	name,
		const std::string &	devicename
	)			`[inline]`

Add a complete DigitalInInterface.

Parameters:

	name	The base name of the DigitalInputs. Their name will be appended with a number.
	devicename	The Device to read from.

Definition at line 494 of file IOComponent.hpp.

bool addDigitalInput	(	const std::string &	name,
		const std::string &	devicename,
		int	channel,
		bool	invert = `false`
	)			`[inline]`

Add an DigitalInput device.

No DataObject is created, but the input is available through the execution interface.

Parameters:

	name	The name of the Digital Input.
	devicename	The DigitalInInterface for reading the input.
	channel	The channel of the input.
	invert	True if the input must be inverted, false(default) otherwise.

Definition at line 299 of file IOComponent.hpp.

bool addDigitalOutInterface	(	const std::string &	name,
		const std::string &	devicename
	)			`[inline]`

Add a complete DigitalOutInterface.

Parameters:

	name	The base name of the DigitalOutputs. Their name will be appended with a number.
	devicename	The Device to write to.

Definition at line 525 of file IOComponent.hpp.

bool addDigitalOutput	(	const std::string &	name,
		const std::string &	devicename,
		int	channel,
		bool	invert = `false`
	)			`[inline]`

Add a single DigitalOutput.

Parameters:

	name	The name of the DigitalOutput.
	devicename	The Device to write to.
	channel	The channel/bit of the device to use
	invert	Invert the output or not.

Definition at line 606 of file IOComponent.hpp.

bool addInputChannel	(	int	virt_channel,
		const std::string &	devicename,
		int	channel
	)			`[inline]`

Add an analog Channel to InputValues.

A std::vector<double> DataPort ( "InputValues") is used which contains the converted value of the input.

Parameters:

	virt_channel	The virtual channel (in software).
	devicename	The AnalogInInterface for reading the input.
	channel	The physical channel of the input (in hardware).

Definition at line 256 of file IOComponent.hpp.

References IOComponent::inchannels.

bool addOutputChannel	(	int	virt_channel,
		const std::string &	devicename,
		int	channel
	)			`[inline]`

Add a virtual channel to OutputValues for writing an analog value.

A std::vector<double> DataPort ( "OutputValues") is used to which the value of the output can be written.

Parameters:

	virt_channel	The position in OutputValues
	devicename	The Device to write the data to.
	channel	The channel of the Device to use.

Returns:: true on success, false otherwise.

Definition at line 454 of file IOComponent.hpp.

bool isOn ( const std::string & name ) const [inline]

Is a DigitalOutput or DigitalInput on ?

Parameters:

name

The DigitalOutput or DigitalInput to inspect.

Returns:: true if on, false otherwise.

Definition at line 659 of file IOComponent.hpp.

int rawValue ( const std::string & name ) const [inline]

Return the raw sensor value of an AnalogInput or AnalogOutput.

Parameters:

name

The name of the AnalogInput or AnalogOutput

Returns:: The raw value.

Definition at line 708 of file IOComponent.hpp.

bool removeAnalogInInterface ( const std::string & Portname ) [inline]

Remove an AnalogInInterface device interface.

The DataPort which contains the value of all the inputs is removed.

Parameters:

Portname

The name of the interface to remove

Definition at line 171 of file IOComponent.hpp.

bool removeAnalogOutInterface ( const std::string & Portname ) [inline]

Remove an AnalogOutInterface device interface.

The DataPort which contains the value of all the inputs is removed.

Parameters:

Portname

The name of the interface to remove

Definition at line 374 of file IOComponent.hpp.

bool removeAnalogOutput ( const std::string & name ) [inline]

Remove a previously added AnalogOutput.

Parameters:

name

The name of the DataObject to which it was connected

Returns:: true on success, false otherwise

Definition at line 427 of file IOComponent.hpp.

bool removeDigitalInInterface ( const std::string & name ) [inline]

Remove a complete DigitalInInterface.

Parameters:

name

The base name of the DigitalInputs to remove.

Definition at line 555 of file IOComponent.hpp.

bool removeDigitalOutInterface ( const std::string & name ) [inline]

Remove a complete DigitalOutInterface.

Parameters:

name

The base name of the DigitalOutputs to remove.

Definition at line 579 of file IOComponent.hpp.

bool removeDigitalOutput ( const std::string & name ) [inline]

Remove a previously added DigitalOutput.

Parameters:

name

The name of the DigitalOutput

Definition at line 628 of file IOComponent.hpp.

bool removeOutputChannel ( int virt_channel ) [inline]

Remove the use of a virtual channel.

Parameters:

virt_channel

The number of the channel to remove

Definition at line 477 of file IOComponent.hpp.

void switchOff ( const std::string & name ) [inline]

Switch off a DigitalOutput.

Parameters:

name

The name of the output to switch off.

Definition at line 675 of file IOComponent.hpp.

void switchOn ( const std::string & name ) [inline]

Is a DigitalOutput or DigitalInput on ?

Parameters:

name

The DigitalOutput or DigitalInput to inspect.

Returns:: true if on, false otherwise.

Definition at line 644 of file IOComponent.hpp.

double value ( const std::string & name ) const [inline]

Return the value of an AnalogInput or AnalogOutput.

Parameters:

name

The name of the AnalogInput or AnalogOutput

Returns:: The physical value.

Definition at line 690 of file IOComponent.hpp.

Referenced by IOComponent::updateHook().

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

IOComponent Class Reference

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation