#include <serial_glove.hpp>

Public Member Functions
	CybergloveSerial (std::string serial_port, boost::function< void(std::vector< float >, bool)> callback)
int	get_nb_msgs_received ()
int	set_filtering (bool value)
int	set_frequency (std::string frequency)
int	set_transmit_info (bool value)
int	start_stream ()
	~CybergloveSerial ()
Static Public Attributes
static const unsigned short	glove_size = 22
Private Member Functions
void	stream_callback (char *world, int length)
Private Attributes
bool	button_on
boost::function< void(std::vector < float >, bool)>	callback_function
boost::shared_ptr < cereal::CerealPort >	cereal_port
int	current_value
int	glove_pos_index
std::vector< float >	glove_positions
	A vector containing the current joints positions.
bool	light_on
int	nb_msgs_received
bool	no_errors
	Did we get any garbage in the received message?

Detailed Description

This class uses the Cereal Port ROS package to connect to and interact with the Cyberglove.

Definition at line 99 of file serial_glove.hpp.

Constructor & Destructor Documentation

cyberglove::CybergloveSerial::CybergloveSerial	(	std::string	serial_port,
		boost::function< void(std::vector< float >, bool)>	callback
	)

Initializes the connection with the cyberglove through the given serial port.

Parameters:

serial_port	the path to the serial port, /dev/ttyS0 by default
callback	a pointer to a callback function, which will be called each time a complete joint message is received.

Definition at line 42 of file serial_glove.cpp.

cyberglove::CybergloveSerial::~CybergloveSerial ( )

Definition at line 59 of file serial_glove.cpp.

Member Function Documentation

int cyberglove::CybergloveSerial::get_nb_msgs_received ( )

We keep the count of all the messages received for the glove.

Returns:: the number of received messages.

Definition at line 191 of file serial_glove.cpp.

int cyberglove::CybergloveSerial::set_filtering ( bool value )

Turns on or off the filtering (done directly in the cyberglove). By default the filtering is activated. We recommend turning it off if you want to do oversampling, to get the fastest rate (the rate is divided by 2-3 if the filtering is on)

Parameters:

value true if you want to turn it on.

Returns:: 0 if success

Definition at line 66 of file serial_glove.cpp.

int cyberglove::CybergloveSerial::set_frequency ( std::string frequency )

Set the transmit frequency for the cyberglove.

Parameters:

frequency use the elements of the struct cyberglove_freq::CybergloveFreq

Returns:: 0 if success

Definition at line 106 of file serial_glove.cpp.

int cyberglove::CybergloveSerial::set_transmit_info ( bool value )

Turns on or off the status transmission: if it's on, then a char is added to the message to describe the current status of the glove. For this status byte, the bit 1 corresponds to the button status, and the bit 2 corresponds to the light status.

Parameters:

value true if you want to turn it on.

Returns:: 0 if success

Definition at line 86 of file serial_glove.cpp.

int cyberglove::CybergloveSerial::start_stream ( )

Start streaming the data from the cyberglove, calling the callback function each time the full message is received.

Returns:: 0 if success

Definition at line 116 of file serial_glove.cpp.

void cyberglove::CybergloveSerial::stream_callback	(	char *	world,
		int	length
	)		`[private]`

The callback function for the raw data coming from the serial port, bound to the cereal_port callback. The data received here is not received message by messages: it's a stream of data, coming at different intervals (the whole messages are received at a given frequency though)

Parameters: