cand.cc File Reference

CAN-ORTE bridge. More...

#include <cstring>
#include <iostream>
#include <cstdlib>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <poll.h>
#include <af_can.h>
#include <canutils.h>
#include <can_ids.h>
#include <can_msg_masks.h>
#include <can_msg_def.h>
#include <sharp.h>
#include <orte.h>
#include <roboorte_robottype.h>
#include "cand.h"

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Functions
int	cand_init ()
int	set_pwr_ctrl (struct robottype_orte_data *orte_data)
int	send_can_msg (struct robottype_orte_data *orte_data)
int	set_motor_speed (struct robottype_orte_data *orte_data)
int	set_jaws_cmd (struct robottype_orte_data *orte_data)
int	set_lift_cmd (struct robottype_orte_data *orte_data)
int	can_send (canid_t id, unsigned char length, unsigned char *data)
void	cand_parse_frame (struct robottype_orte_data *orte, struct can_frame frame)
	Parse frame ID and react as required.
void	rcv_pwr_ctrl_cb (const ORTERecvInfo *info, void *vinstance, void *recvCallBackParam)
void	rcv_can_msg_cb (const ORTERecvInfo *info, void *vinstance, void *recvCallBackParam)
void	rcv_motion_speed_cb (const ORTERecvInfo *info, void *vinstance, void *recvCallBackParam)
void	rcv_jaws_cmd_cb (const ORTERecvInfo *info, void *vinstance, void *recvCallBackParam)
void	rcv_lift_cmd_cb (const ORTERecvInfo *info, void *vinstance, void *recvCallBackParam)
int	main (int argc, char *argv[])

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Detailed Description

CAN-ORTE bridge.

Date:

08/04/08

Copyright: (c) 2008 CTU Dragons CTU FEE - Department of Control Engineering License: GNU GPL v.2

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Function Documentation

int can_send	(	canid_t	id,
		unsigned char	length,
		unsigned char *	data
	)

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int cand_init

(

)

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void cand_parse_frame	(	struct robottype_orte_data *	orte,
		struct can_frame	frame
	)

Parse frame ID and react as required.

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int main	(	int	argc,
		char *	argv[]
	)

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void rcv_can_msg_cb	(	const ORTERecvInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

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void rcv_jaws_cmd_cb	(	const ORTERecvInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

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void rcv_lift_cmd_cb	(	const ORTERecvInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

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void rcv_motion_speed_cb	(	const ORTERecvInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

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void rcv_pwr_ctrl_cb	(	const ORTERecvInfo *	info,
		void *	vinstance,
		void *	recvCallBackParam
	)

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int send_can_msg

(

struct robottype_orte_data *

orte_data

)

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int set_jaws_cmd

(

struct robottype_orte_data *

orte_data

)

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int set_lift_cmd

(

struct robottype_orte_data *

orte_data

)

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int set_motor_speed

(

struct robottype_orte_data *

orte_data

)

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int set_pwr_ctrl

(

struct robottype_orte_data *

orte_data

)

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