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

sdh/dsa.h File Reference

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"
Include dependency graph for dsa.h:
This graph shows which files directly or indirectly include this file:

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

Detailed Description

This file contains interface to 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 DSA_MAX_PREAMBLE_SEARCH   (2*3*(6*(14+13)) + 16)

Function Documentation

SDH__attribute__::sResponse ( UInt8 *  _payload,
int  _max_payload_size 
)

constructor to init pointer and max size


Variable Documentation

UInt8 adj_flags

Bit vector indicating the sensitivity adjustment options:

  • D7...2 reserved
  • D1 1: user can change the sensitivity 0: sensitivity cannot be changed by the user
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.

float fullscale
UInt16 generated_by
UInt8 hw_revision
UInt8 hw_version
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]