SDHLibrary-CPP 0.0.2.10SCHUNK GmbH & Co. KG
C++ access library for SCHUNK Dextrous Hand SDH

sdh/dsa.cpp File Reference

This file contains definition of SDH::cDSA, a class to communicate with the tactile sensors of the SDH. More...

#include "sdhlibrary_settings.h"
#include <assert.h>
#include <iostream>
#include <iomanip>
#include "dsa.h"
#include "sdhbase.h"
#include "util.h"
#include "tcpserial.h"
Include dependency graph for dsa.cpp:

Namespaces

namespace  SDH

Defines

#define PRINT_MEMBER(_s, _var, _member)   (_s) << " " << #_member << "=" << _var._member << "\n"
#define PRINT_MEMBER_HEX(_s, _var, _member)   (_s) << " " << #_member << "=0x" << std::hex << int(_var._member) << std::dec << "\n"

Enumerations

enum  eDSAPacketID {
  eDSA_FULL_FRAME = 0x00, eDSA_QUERY_CONTROLLER_CONFIGURATION = 0x01, eDSA_QUERY_SENSOR_CONFIGURATION = 0x02, eDSA_QUERY_MATRIX_CONFIGURATION = 0x0B,
  eDSA_CONFIGURE_DATA_ACQUISITION = 0x03, eDSA_QUERY_CONTROLLER_FEATURES = 0x10, eDSA_READ_MATRIX_MASK = 0x04, eDSA_SET_DYNAMIC_MASK = 0xAB,
  eDSA_READ_DESCRIPTOR_STRING = 0x05, eDSA_LOOP = 0x06, eDSA_QUERY_CONTROLLER_STATE = 0x0a, eDSA_SET_PROPERTIES_SAMPLE_RATE = 0x0c,
  eDSA_SET_PROPERTIES_CONTROL_VECTOR_FOR_MATRIX = 0x0d, eDSA_GET_PROPERTIES_CONTROL_VECTOR_OF_MATRIX = 0x0e, eDSA_ADJUST_MATRIX_SENSITIVITY = 0x0f, eDSA_GET_SENSITIVITY_ADJUSTMENT_INFO = 0x12,
  eDSA_SET_MATRIX_THRESHOLD = 0x13, eDSA_GET_MATRIX_THRESHOLD = 0x14
}
 

Command ID for the DSACON32m tactile sensor controller according to DSACON32_Command_Set_Reference_Manual.pdf.

More...

Functions

std::ostream & SDH::operator<< (std::ostream &stream, cDSA::sResponse const &response)

Detailed Description

This file contains definition of SDH::cDSA, a class to communicate with the tactile sensors of the SDH.

General file information

Author:
Dirk Osswald
Date:
2008-06-09

Copyright

Copyright (c) 2008 SCHUNK GmbH & Co. KG



Define Documentation

#define PRINT_MEMBER (   _s,
  _var,
  _member 
)    (_s) << " " << #_member << "=" << _var._member << "\n"
#define PRINT_MEMBER_HEX (   _s,
  _var,
  _member 
)    (_s) << " " << #_member << "=0x" << std::hex << int(_var._member) << std::dec << "\n"

Enumeration Type Documentation

Command ID for the DSACON32m tactile sensor controller according to DSACON32_Command_Set_Reference_Manual.pdf.

Enumerator:
eDSA_FULL_FRAME 
eDSA_QUERY_CONTROLLER_CONFIGURATION 
eDSA_QUERY_SENSOR_CONFIGURATION 
eDSA_QUERY_MATRIX_CONFIGURATION 
eDSA_CONFIGURE_DATA_ACQUISITION 
eDSA_QUERY_CONTROLLER_FEATURES 
eDSA_READ_MATRIX_MASK 
eDSA_SET_DYNAMIC_MASK 
eDSA_READ_DESCRIPTOR_STRING 
eDSA_LOOP 
eDSA_QUERY_CONTROLLER_STATE 
eDSA_SET_PROPERTIES_SAMPLE_RATE 
eDSA_SET_PROPERTIES_CONTROL_VECTOR_FOR_MATRIX 
eDSA_GET_PROPERTIES_CONTROL_VECTOR_OF_MATRIX 
eDSA_ADJUST_MATRIX_SENSITIVITY 
eDSA_GET_SENSITIVITY_ADJUSTMENT_INFO 
eDSA_SET_MATRIX_THRESHOLD 
eDSA_GET_MATRIX_THRESHOLD