OpenEL implemented in C++
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.
This document explains about Package contents and How to use OpenEL version 3.2.x.
openel -+- include
+- lib
+- sample
+- LICENSE
+- README.md (This file)
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
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
-Iopenel/include/surface -Iopenel/include/device/your_component
Include the header file named "openEL.h" to use OpenEL API
For examples,
#include
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
-Lopenel/lib -Lopenel//lib/device/your_component
Link the library file named "libopenel.a" to use OpenEL API.
For examples,
gcc -o sample sample.c -lopenel
See sample/simLinux/Makefile for details.
$ 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