This file contains interface to SDH::cDSA, a class to communicate with the tactile sensors of the SDH. More...
#include "sdhlibrary_settings.h"
#include <assert.h>
#include "sdhexception.h"
#include "dbg.h"
#include "rs232-cygwin.h"
#include "simpletime.h"
#include "crc.h"
Classes | |
class | SDH::cDSAException |
Derived exception class for low-level DSA related exceptions. More... | |
class | SDH::cDSA |
SDH::cDSA is the end user interface class to access the DSACON32m, the tactile sensor controller of the SDH. More... | |
struct | SDH::cDSA::sControllerInfo |
A data structure describing the controller info about the remote DSACON32m controller. More... | |
struct | SDH::cDSA::sSensorInfo |
A data structure describing the sensor info about the remote DSACON32m controller. More... | |
struct | SDH::cDSA::sMatrixInfo |
A data structure describing a single sensor matrix connected to the remote DSACON32m controller. More... | |
struct | SDH::cDSA::sSensitivityInfo |
Structure to hold info about the sensitivity settings of one sensor patch. More... | |
struct | SDH::cDSA::sTactileSensorFrame |
A data structure describing a full tactile sensor frame read from the remote DSACON32m controller. More... | |
struct | SDH::cDSA::sContactInfo |
Structure to hold info about the contact of one sensor patch. More... | |
struct | SDH::cDSA::sResponse |
data structure for storing responses from the remote DSACON32m controller More... | |
Namespaces | |
namespace | SDH |
Defines | |
#define | DSA_MAX_PREAMBLE_SEARCH (2*3*(6*(14+13)) + 16) |
Functions | |
sResponse (UInt8 *_payload, int _max_payload_size) | |
constructor to init pointer and max size | |
VCC_EXPORT std::ostream & | SDH::operator<< (std::ostream &stream, cDSA::sControllerInfo const &controller_info) |
VCC_EXPORT std::ostream & | SDH::operator<< (std::ostream &stream, cDSA::sSensorInfo const &sensor_info) |
VCC_EXPORT std::ostream & | SDH::operator<< (std::ostream &stream, cDSA::sMatrixInfo const &matrix_info) |
std::ostream & | SDH::operator<< (std::ostream &stream, cDSA::sResponse const &response) |
VCC_EXPORT std::ostream & | SDH::operator<< (std::ostream &stream, cDSA const &dsa) |
Variables | |
UInt16 | error_code |
0000h, if successful, otherwise error code | |
UInt32 | serial_no |
UInt8 | hw_version |
UInt16 | sw_version |
UInt8 | status_flags |
UInt8 | feature_flags |
UInt8 | senscon_type |
UInt8 | active_interface |
UInt32 | can_baudrate |
UInt16 | can_id |
UInt16 | nb_matrices |
UInt16 | generated_by |
UInt8 | hw_revision |
float | texel_width |
float | texel_height |
UInt16 | cells_x |
UInt16 | cells_y |
UInt8 | uid [6] |
UInt8 | reserved [2] |
float | matrix_center_x |
float | matrix_center_y |
float | matrix_center_z |
float | matrix_theta_x |
float | matrix_theta_y |
float | matrix_theta_z |
float | fullscale |
UInt8 | adj_flags |
float | cur_sens |
float | fact_sens |
UInt8 | packet_id |
UInt16 | size |
UInt8 * | payload |
Int32 | max_payload_size |
This file contains interface to SDH::cDSA, a class to communicate with the tactile sensors of the SDH.
Copyright (c) 2008 SCHUNK GmbH & Co. KG
#define DSA_MAX_PREAMBLE_SEARCH (2*3*(6*(14+13)) + 16) |
SDH__attribute__::sResponse | ( | UInt8 * | _payload, |
int | _max_payload_size | ||
) |
constructor to init pointer and max size
UInt8 active_interface |
UInt8 adj_flags |
Bit vector indicating the sensitivity adjustment options:
UInt32 can_baudrate |
UInt16 can_id |
UInt16 cells_x |
UInt16 cells_y |
float cur_sens |
Currently set sensitivity value. Floating point value. 0 is minimum sensitivity, 1.0 is maximum sensitivity.
UInt16 error_code |
0000h, if successful, otherwise error code
float fact_sens |
Sensitivity value that is used, if a factory restore command is issued. Floating point value. 0 is minimum sensitivity, 1.0 is maximum sensitivity.
UInt8 feature_flags |
float fullscale |
UInt16 generated_by |
UInt8 hw_revision |
UInt8 hw_version |
float matrix_center_x |
float matrix_center_y |
float matrix_center_z |
float matrix_theta_x |
float matrix_theta_y |
float matrix_theta_z |
Int32 max_payload_size |
UInt16 nb_matrices |
UInt8 packet_id |
UInt8* payload |
UInt8 reserved[2] |
UInt8 senscon_type |
UInt32 serial_no |
UInt16 size |
UInt8 status_flags |
UInt16 sw_version |
float texel_height |
float texel_width |
UInt8 uid[6] |