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

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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

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Define Documentation

#define DSA_MAX_PREAMBLE_SEARCH   (2*3*(6*(14+13)) + 16)

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Function Documentation

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

constructor to init pointer and max size

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Variable Documentation

UInt8 active_interface

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.

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]