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--- eeros_architecture:hal:start [2017/04/16 20:22] – [Inputs and Outputs of the Safety System] graf
+++ eeros_architecture:hal:start [2017/11/30 19:42] – [Hardware Abstraction Layer] graf
@@ Line 1: / Line 1: @@
 ====== Hardware Abstraction Layer ======
 The HAL provides an interface between the robot control system (consisting of control system, safety system, and sequencer) and the hardware of the robot. Any signal from a hardware input or output must pass through the HAL.
+  * [[eeros_architecture:hal:using_hal|]]
+  * [[eeros_architecture:hal:configuration_file|]]
+    * [[eeros_architecture:hal:scaling|]]
+    * [[eeros_architecture:hal:scaling_multi|]]
+    * [[eeros_architecture:hal:config_ros|]]
+  * [[eeros_architecture:hal:feature_functions|]]
+  * [[eeros_architecture:hal:hardware_libraries|]]
+    * [[eeros_architecture:hal:hardware_libraries_sim|]]
+  * [[eeros_architecture:hal:input_devices|]]
 ===== Configuration of the HAL =====
-The inputs and outputs of the system are given by a specific hardware setup. This can vary widely among different systems. To account for many possible hardware settings we use a configuration file. This file describes the current hardware together with the necessary library to access them, see [[coming soon]].
+The inputs and outputs of the system are given by a specific hardware setup. This can vary widely among different systems. To account for many possible hardware settings we use a configuration file. This file describes the current hardware together with the necessary library to access them, see [[Configuration File]].
 The configuration given in the file can be loaded as follows:
 <code cpp>
@@ Line 14: / Line 22: @@
   HAL& hal = HAL::instance();
   hal.readConfigFromFile(&argc, argv);
+</code>
+Now, you can pass the configuration file with
+<code>
+$ ./myApplication --config     /path/to/config/NameOfConfigurationFile
+$ ./myApplication -c           /path/to/config/NameOfConfigurationFile    // short version
+$ ./myApplication --configFile /path/to/config/NameOfConfigurationFile    // also possible
+$ ./myApplication -f           /path/to/config/NameOfConfigurationFile    // short version
 </code>
 This call causes the following actions:
@@ Line 20: / Line 35: @@
   * for each channel an appropriate object is created with the id given in the configuration file
   * these objects will be registered in the HAL manager
-===== Using HAL Objects =====
+===== Available HAL Objects =====
-Hal objects are all the input and output channels given in the configuration above. You can use these objects either from the safety system or the control system.
+All input objects of the HAL have a common type base type ''InputInterface'' while the output objects have a common type ''OutputInterface''. Digital inputs or outputs are of type ''Input<bool>'' or ''Output<bool>'' respectively. Analog inputs or outputs are of type ''ScalableInput<double>'' or ''ScalableOutput<double>'' respectively. \\
-==== Inputs and Outputs of the Safety System ====
+The following functions are available:
-The safety system can check for each of its safety levels whether the level of certain channels meet given criterias. Such channels are called critical inputs and outputs and have to be defined as such, see [[eeros_architecture:safety_system:properties#Critical Inputs and Outputs|]]. If the criterias are not met you can choose what action has to be taken, see [[eeros_architecture:safety_system:io_actions|]]. \\
-The safety system will get a handle to tha HAL object with:
 <code cpp>
-  eeros::hal::Input<bool>* emergency = hal.getLogicInput("emergency");
+  OutputInterface* getOutput(std::string name, bool exclusive = true);
-</code>
+  Output<bool>* getLogicOutput(std::string name, bool exclusive = true);
-Here, you get a reference to an digital input representing the emergency button. Please make sure that the id ("emergency") is the same as given in the configuration file.
+  ScalableOutput<double>* getScalableOutput(std::string name, bool exclusive = true);
+  InputInterface* getInput(std::string name, bool exclusive = true);
+  Input<bool>* getLogicInput(std::string name, bool exclusive = true);
+  ScalableInput<double>* getScalableInput(std::string name, bool exclusive = true);
-  * Define inputs and outputs:
-To access the digital I/O hardware within the comedi framework, you have to define the inputs and outputs and add them to the HAL.
-<code c>
-  ComediDevice* comedi0 = new ComediDevice("/dev/comedi0");
-  ComediDevice* comedi1 = new ComediDevice("/dev/comedi1");
-  hal.addSystemInput(new ComediFqd("q0", comedi0, 11, 8, 10, 9, 6.28318530718 / (4 * 4096.0), 0, 0));
-  hal.addSystemOutput(new ComediDigOut("watchdog", comedi1, 2, 22));
-  hal.addSystemOutput(new ComediDigOut("enable0", comedi0, 2, 24));
-  hal.addSystemOutput(new ComediDigOut("brake0", comedi1, 2, 4, true));
 </code>
-  * **Note:** The class //SystemInput<T>// and //SystemOutput<T>// are template classes. If you define a input or an output as boolean or double, it should really be a boolean (on or off) or a double (e.g. voltage) on the hardware.