cDSAUpdater Class Reference

Class to create an updater thread for continuously updating tactile sensor data. More...

#include <dsaboost.h>

List of all members.

Public Member Functions
	cDSAUpdater (cDSA *_ts, int _error_threshold=DEFAULT_ERROR_THRESHOLD)
void	interrupt ()
	interrupt the updater thread
Static Public Attributes
static int const	DEFAULT_ERROR_THRESHOLD = 16
	default error threshold, see parameter error_threshold in CTOR

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Detailed Description

Class to create an updater thread for continuously updating tactile sensor data.

Uses boost::thread from the boost library (http://www.boost.org)!

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Constructor & Destructor Documentation

cDSAUpdater::cDSAUpdater	(	cDSA *	_ts,
		int	_error_threshold = DEFAULT_ERROR_THRESHOLD
	)

CTOR: start an updater thread for the connected tactile sensor _ts

Make remote DSA send frames. Create a thread that updates _ts->frame continuously

Parameters:

_ts

- ptr to already initialized cDSA tactile sensor object

_error_threshold

- the number of errors that causes a "reset" of the connection to the remote DSA: communication errors with the remote DSACON32m controllers are counted, every error increments the error level, every correct communication decrements the error level (down to 0) if the error level rises above ERROR_THRESHOLD then the connection is closed and the reopened. This is usefull to recover from emergency stop since the hands loose power temporarily in that case.

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Member Function Documentation

void cDSAUpdater::interrupt

(

)

[inline]

interrupt the updater thread

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Member Data Documentation

int const cDSAUpdater::DEFAULT_ERROR_THRESHOLD = 16 [static]

default error threshold, see parameter error_threshold in CTOR

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The documentation for this class was generated from the following files:

• demo/dsaboost.h
• demo/dsaboost.cpp