openel-cpp

OpenEL implemented in C++

OpenEL

OpenEL(Open Embedded Library) is a unified API(Application Programming Interface) for actuators and sensors. The specifications and implementation have been developed by JASA(Japan Embedded Systems Technology Association) since 2011.

Specification

https://openel.github.io/

About this document

This document explains about Package contents and How to use OpenEL version 3.2.x.

Package contents

<pre> openel -+- include +- lib +- sample +- LICENSE +- README.md (This file) </pre> <pre> include --- Header files for OpenEL lib --- Library files for OpenEL sample --- A sample program which use OpenEL API LICENSE --- License file README.md --- This file </pre>

How to use OpenEL API

Header file

When you compile a program which use OpenEL API, set PATH to openel/include/surface and openel/include/device/your_component directory to use the header file(openEL.h etc.) for OpenEL.

For examples, when you use gcc

<pre> -Iopenel/include/surface -Iopenel/include/device/your_component </pre>

Include the header file named "openEL.h" to use OpenEL API

For examples,

<pre> 　#include <openEL.h> </pre>

Library files

When you compile a program which use OpenEL API, set LIBRARY PATH to openel/lib/surface and openel/lib/device/your_component to link the library file for OpenEL.

For examples, when you use gcc

<pre> -Lopenel/lib -Lopenel//lib/device/your_component </pre>

Link the library file named "libopenel.a" to use OpenEL API.

For examples,

<pre> 　gcc -o sample sample.c -lopenel </pre>

See sample/simLinux/Makefile for details.

Sample program for Linux

<pre> $ cd sample/simLinux $ make $ ./sample openEL Start HalInit Motor1 HAL-ID 1 0 1 1 HalInit Motor2 HAL-ID 1 0 2 2 HalInit Sensor1 HAL-ID 2 0 16 1 PROPERTY - Name : MOTOR_100a PROPERTY - fnc00 : HalInit PROPERTY - fnc01 : HalReInit PROPERTY - fnc02 : HalFinalize PROPERTY - fnc03 : HalAddObserver PROPERTY - fnc04 : HalRemoveObserver PROPERTY - fnc05 : HalGetProperty PROPERTY - fnc06 : HalGetTime PROPERTY - fnc07 : HalActuatorSetValue PROPERTY - fnc08 : HalActuatorGetValue PROPERTY - Name : MOTOR_200 PROPERTY - fnc00 : HalInit PROPERTY - fnc01 : HalReInit PROPERTY - fnc02 : HalFinalize PROPERTY - fnc03 : HalAddObserver PROPERTY - fnc04 : HalRemoveObserver PROPERTY - fnc05 : HalGetProperty PROPERTY - fnc06 : HalGetTime PROPERTY - fnc07 : HalActuatorSetValue PROPERTY - fnc08 : HalActuatorGetValue PROPERTY - Name : SENSOR_100 PROPERTY - fnc00 : HalInit PROPERTY - fnc01 : HalReInit PROPERTY - fnc02 : HalFinalize PROPERTY - fnc03 : HalAddObserver PROPERTY - fnc04 : HalRemoveObserver PROPERTY - fnc05 : HalGetProperty PROPERTY - fnc06 : HalGetTime PROPERTY - fnc07 : HalSensorGetTimedValue PROPERTY - fnc08 : HalSensorGetTimedValueList motor01 getTime ret=1 motor02 getTime ret=1 sensor01 getTime ret=0 Sensor time = 0 timer 1 , 10 , 1 : 0.000 0.628 3.079 3.079 0(tmSen) timer 2 , 20 , 1 : 0.020 1.253 3.079 3.079 0(tmSen) timer 3 , 30 , 2 : 0.079 1.874 2.955 2.955 0(tmSen) timer 4 , 40 , 2 : 0.177 2.487 2.955 2.955 0(tmSen) timer 5 , 50 , 3 : 0.314 3.090 2.833 2.833 0(tmSen) timer 6 , 60 , 3 : 0.489 3.681 2.833 2.833 0(tmSen) timer 7 , 70 , 4 : 0.702 4.258 2.712 2.712 1(tmSen) timer 8 , 80 , 4 : 0.952 4.818 2.712 2.712 1(tmSen) timer 9 , 90 , 5 : 1.237 5.358 2.593 2.593 1(tmSen) timer 10 , 100 , 5 : 1.557 5.878 2.593 2.593 1(tmSen) timer 11 , 110 , 6 : 1.910 6.374 2.474 2.474 1(tmSen) timer 12 , 120 , 6 : 2.295 6.845 2.474 2.474 1(tmSen) timer 13 , 130 , 7 : 2.710 7.290 2.356 2.356 1(tmSen) timer 14 , 140 , 7 : 3.155 7.705 2.356 2.356 1(tmSen) timer 15 , 150 , 8 : 3.626 8.090 2.238 2.238 1(tmSen) timer 16 , 160 , 8 : 4.122 8.443 2.238 2.238 1(tmSen) timer 17 , 170 , 9 : 4.642 8.763 2.120 2.120 2(tmSen) timer 18 , 180 , 9 : 5.182 9.048 2.120 2.120 2(tmSen) timer 19 , 190 , 10 : 5.742 9.298 2.000 2.000 2(tmSen) timer 20 , 200 , 10 : 6.319 9.511 2.000 2.000 2(tmSen) (omit) timer 96 , 960 , 48 : 0.489 -2.487 -2.821 -2.821 9(tmSen) timer 97 , 970 , 49 : 0.314 -1.874 -2.950 -2.950 10(tmSen) timer 98 , 980 , 49 : 0.177 -1.253 -2.950 -2.950 10(tmSen) timer 99 , 990 , 50 : 0.079 -0.628 -3.078 -3.078 10(tmSen) timer 100 , 1000 , 50 : 0.020 -0.000 -3.078 -3.078 10(tmSen) notify_event201a : 1 notify_event201b : 1 timer 101 , 1010 , 51 : 0.000 -0.000 -3.142 -3.142 10(tmSen) timer 102 , 1020 , 51 : 0.000 -0.000 -3.142 -3.142 10(tmSen) timer 103 , 1030 , 52 : 0.000 -0.000 -3.142 -3.142 10(tmSen) timer 104 , 1040 , 52 : 0.000 -0.000 -3.142 -3.142 10(tmSen) timer 105 , 1050 , 53 : 0.000 -0.000 -3.142 -3.142 10(tmSen) timer 106 , 1060 , 53 : 0.000 -0.000 -3.142 -3.142 10(tmSen) timer 107 , 1070 , 54 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 108 , 1080 , 54 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 109 , 1090 , 55 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 110 , 1100 , 55 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 111 , 1110 , 56 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 112 , 1120 , 56 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 113 , 1130 , 57 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 114 , 1140 , 57 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 115 , 1150 , 58 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 116 , 1160 , 58 : 0.000 -0.000 -3.142 -3.142 11(tmSen) timer 117 , 1170 , 59 : 0.000 -0.000 -3.142 -3.142 12(tmSen) timer 118 , 1180 , 59 : 0.000 -0.000 -3.142 -3.142 12(tmSen) timer 119 , 1190 , 60 : 0.000 -0.000 -3.142 -3.142 12(tmSen) notify_error201a : 202 notify_error201b : 202 timer 120 , 1200 , 60 : 0.000 -0.000 -3.142 -3.142 12(tmSen) timer 121 , 1210 , 61 : 0.000 -0.000 -3.142 -3.142 12(tmSen) timer 122 , 1220 , 61 : 0.000 -0.000 -3.142 -3.142 12(tmSen) timer 123 , 1230 , 62 : 0.000 -0.000 -3.142 -3.142 12(tmSen) timer 124 , 1240 , 62 : 0.000 -0.000 -3.142 -3.142 12(tmSen) (omit) timer 296 , 2960 , 148 : 0.000 -0.000 -3.142 -3.142 29(tmSen) timer 297 , 2970 , 149 : 0.000 -0.000 -3.142 -3.142 30(tmSen) timer 298 , 2980 , 149 : 0.000 -0.000 -3.142 -3.142 30(tmSen) timer 299 , 2990 , 150 : 0.000 -0.000 -3.142 -3.142 30(tmSen) timer 300 , 3000 , 150 : 0.000 0.000 -3.142 -3.142 30(tmSen) Sensor time = 30 openEL End </pre>