Classes | Defines | Functions | Variables
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"
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Go to the source code of this file.

Classes

class  cDSA
 SDH::cDSA is the end user interface class to access the DSACON32m, the tactile sensor controller of the SDH. More...
class  cDSAException
 Derived exception class for low-level DSA related exceptions. More...
struct  cDSA::sContactInfo
 Structure to hold info about the contact of one sensor patch. More...
struct  cDSA::sControllerInfo
 A data structure describing the controller info about the remote DSACON32m controller. More...
struct  cDSA::sMatrixInfo
 A data structure describing a single sensor matrix connected to the remote DSACON32m controller. More...
struct  cDSA::sResponse
 data structure for storing responses from the remote DSACON32m controller More...
struct  cDSA::sSensitivityInfo
 Structure to hold info about the sensitivity settings of one sensor patch. More...
struct  cDSA::sSensorInfo
 A data structure describing the sensor info about the remote DSACON32m controller. More...
struct  cDSA::sTactileSensorFrame
 A data structure describing a full tactile sensor frame read from the remote DSACON32m controller. More...

Defines

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

Functions

VCC_EXPORT std::ostream & operator<< (std::ostream &stream, cDSA::sControllerInfo const &controller_info)
VCC_EXPORT std::ostream & operator<< (std::ostream &stream, cDSA::sSensorInfo const &sensor_info)
VCC_EXPORT std::ostream & operator<< (std::ostream &stream, cDSA::sMatrixInfo const &matrix_info)
VCC_EXPORT std::ostream & operator<< (std::ostream &stream, cDSA::sResponse const &response)
VCC_EXPORT std::ostream & operator<< (std::ostream &stream, cDSA const &dsa)
 sResponse (UInt8 *_payload, int _max_payload_size)
 constructor to init pointer and max size

Variables

UInt8 active_interface
UInt8 adj_flags
UInt32 can_baudrate
UInt16 can_id
UInt16 cells_x
UInt16 cells_y
float cur_sens
UInt16 error_code
 0000h, if successful, otherwise error code
float fact_sens
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
UInt8payload
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]

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


Definition in file dsa.h.


Define Documentation

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

Definition at line 61 of file dsa.h.


Function Documentation

VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sControllerInfo const &  controller_info 
)
VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sSensorInfo const &  sensor_info 
)
VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sMatrixInfo const &  matrix_info 
)
VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sResponse const &  response 
)
VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA const &  dsa 
)
SDH__attribute__::sResponse ( UInt8 _payload,
int  _max_payload_size 
)

constructor to init pointer and max size

Definition at line 283 of file dsa.h.


Variable Documentation

Definition at line 175 of file dsa.h.

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

Definition at line 218 of file dsa.h.

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float cur_sens

Currently set sensitivity value. Floating point value. 0 is minimum sensitivity, 1.0 is maximum sensitivity.

Definition at line 222 of file dsa.h.

0000h, if successful, otherwise error code

Definition at line 168 of file dsa.h.

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.

Definition at line 224 of file dsa.h.

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float fullscale

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float texel_height

Definition at line 204 of file dsa.h.

float texel_width

Definition at line 203 of file dsa.h.

UInt8 uid[6]

Definition at line 207 of file dsa.h.



schunk_sdh
Author(s): Florian Weisshardt
autogenerated on Mon Oct 6 2014 07:29:15