#include <SVHFingerManager.h>

Public Types
enum	Hints { eHT_DEVICE_NOT_FOUND, eHT_CONNECTION_FAILED, eHT_NOT_RESETTED, eHT_NOT_CONNECTED, eHT_RESET_FAILED, eHT_CHANNEL_SWITCHED_OF, eHT_DANGEROUS_CURRENTS, eHT_DIMENSION }
	The Hints enum provides mapping to hints that can be sent to the web-diagnostic interface. More...
enum	MovementState { eST_DEACTIVATED, eST_RESETTING, eST_RESETTED, eST_ENABLED, eST_PARTIALLY_ENABLED, eST_FAULT, eST_DIMENSION }
	The MovementState enum indicated the overall state of the hand. Currently only used for updating the status websocket. More...
Public Member Functions
bool	connect (const std::string &dev_name="/dev/ttyUSB0", const unsigned int &_retry_count=3)
	Open connection to SCHUNK five finger hand. Wait until expected return packages are received.
void	disableChannel (const SVHChannel &channel)
	disable controller of channel
void	disconnect ()
	disconnect SCHUNK five finger hand
bool	enableChannel (const SVHChannel &channel)
	enable controller of channel
bool	getCurrent (const SVHChannel &channel, double &current)
	returns current value of channel
bool	getCurrentSettings (const SVHChannel &channel, SVHCurrentSettings &current_settings)
	returns actual current controller settings of channel
std::vector< SVHCurrentSettings >	getDefaultCurrentSettings ()
	get default current settings. These are either values previously set from calling software or hardcoded defaults
std::vector< SVHPositionSettings >	getDefaultPositionSettings (const bool &reset=false)
	get default position settings. These are either values previously set from calling software or hardcoded defaults reset true if the Positions settins are to be used during reset (reduced speed)
SVHFirmwareInfo	getFirmwareInfo ()
	getFirmwareInfo Requests the firmware information from the harware, waits a bit and returns the last one read
bool	getPosition (const SVHChannel &channel, double &position)
	returns position value of channel (will not acces hardware but return latest value)
bool	getPositionSettings (const SVHChannel &channel, SVHPositionSettings &position_settings)
	returns actual position controller settings of channel
bool	isConnected ()
	returns connected state of finger manager
bool	isEnabled (const SVHChannel &channel)
	returns true, if current channel has been enabled
bool	isHomed (const SVHChannel &channel)
	returns true, if current channel has been resetted
bool	requestControllerFeedback (const SVHChannel &channel)
	send request controller feedback paket
bool	requestControllerFeedbackAllChannels ()
	sends request controller feedback packet for all channels
void	requestControllerState ()
bool	resetChannel (const SVHChannel &channel)
	reset function for channel
bool	setAllTargetPositions (const std::vector< double > &positions)
	set all target positions at once
bool	setCurrentSettings (const SVHChannel &channel, const SVHCurrentSettings &current_settings)
	overwrite current parameters
void	setDefaultHomeSettings ()
	initialize the homing settings with hardcoded defaults. These can be overwritten by the setHomeSettings function
bool	setHomeSettings (const SVHChannel &channel, const SVHHomeSettings &home_settings)
	setHomeSettings set the home Settings which are maily used doring reset and provide the soft limit for the fingers
void	setMovementState (const MovementState &state)
	setMovementState Updates the movement state of the overll hand indicating the overall status
bool	setPositionSettings (const SVHChannel &channel, const SVHPositionSettings &position_settings)
	overwrite position parameters
void	setResetSpeed (const float &speed)
	setResetSpeed Set the speed percentage during reset
void	setResetTimeout (const int &resetTimeout)
	setResetTimeout Helper function to set the timout durind rest of fingers
bool	setTargetPosition (const SVHChannel &channel, double position, double current)
	set target position of a channel
	SVHFingerManager (const std::vector< bool > &disable_mask=std::vector< bool >(9, false), const uint32_t &reset_timeout=5)
virtual	~SVHFingerManager ()
Private Member Functions
int32_t	convertRad2Ticks (const SVHChannel &channel, const double &position)
	Converts joint positions of a specific channel from RAD to ticks factoring in the offset of the channels.
double	convertTicks2Rad (const SVHChannel &channel, const int32_t &ticks)
	Converts joint positions of a specific channel from ticks to RAD factoring in the offset of the channels.
bool	currentSettingsAreSafe (const SVHChannel &channel, const SVHCurrentSettings &current_settings)
	currentSettingsAreSafe helper function to check for the most important values of the current settings
bool	isInsideBounds (const SVHChannel &channel, const int32_t &target_position)
	Check bounds of target positions.
Private Attributes
SVHControllerFeedback	debug_feedback
bool	m_connected
	holds the connected state
bool	m_connection_feedback_given
	Helper variable to check if feedback was printed (will be replaced by a better solution in the future)
SVHController *	m_controller
	pointer to svh controller
std::vector< SVHCurrentSettings >	m_current_settings
	Vector of current controller parameters for each finger (as given by external config)
std::vector< bool >	m_current_settings_given
	Information about the validity of externaly given values for the current settings (easier to use this way)
SVHFeedbackPollingThread *	m_feedback_thread
	pointer to svh controller
std::vector< SVHHomeSettings >	m_home_settings
	Vector of home settings for each finger (as given by external config)
int8_t	m_homing_timeout
	vector storing reset flags for each finger
std::vector< bool >	m_is_homed
	vector storing reset flags for each channel
std::vector< bool >	m_is_switched_off
	vector storing information if a finger is enabled. In Case it is all request for it will be granted but not executed on hardware
MovementState	m_movement_state
	Overall movement State to indicate what the hand is doing at the moment.
std::vector< int32_t >	m_position_home
	home position after complete reset of each channel
std::vector< int32_t >	m_position_max
	max position vector for each channel
std::vector< int32_t >	m_position_min
	min position vector for each channel
std::vector< SVHPositionSettings >	m_position_settings
	Vector of position controller parameters for each finger (as given by external config)
std::vector< bool >	m_position_settings_given
	Information about the validity of externaly given values for the position settings (easier to use this way)
std::vector< double >	m_reset_current_factor
	Vector containing factors for the currents at reset. Vector containing factors for the currents at reset. A hard stop is found if the maxCurrent (first 2 CurrentSettingsValues) x the reset factor was reached. 0.75 by default Beware. Setting this value very high might result in damage to the motors during reset.
std::vector< SVHChannel >	m_reset_order
	vector storing the reset order of the channels
float	m_reset_speed_factor
	Factor for determining the finger speed during reset. Only 0.0-1.0 is allowed.
uint32_t	m_reset_timeout
	Time in seconds after which the a reset is aborted if no change in current is observable.
std::string	m_serial_device
	m_serial_device Device handle of the device to use, is overwritten if connect is called with an argument
std::vector< double >	m_ticks2rad
	position conversion factor (ticks to RAD) for each channel
boost::shared_ptr < icl_comm::websocket::WsBroadcaster >	m_ws_broadcaster
	Websocket handle for updating diagnostic backend (OPTIONAL)

Detailed Description

This class manages controller parameters and the finger reset.

Definition at line 63 of file SVHFingerManager.h.

Member Enumeration Documentation

enum driver_svh::SVHFingerManager::Hints

The Hints enum provides mapping to hints that can be sent to the web-diagnostic interface.

Enumerator:

eHT_DEVICE_NOT_FOUND
eHT_CONNECTION_FAILED
eHT_NOT_RESETTED
eHT_NOT_CONNECTED
eHT_RESET_FAILED
eHT_CHANNEL_SWITCHED_OF
eHT_DANGEROUS_CURRENTS
eHT_DIMENSION

Definition at line 84 of file SVHFingerManager.h.

enum driver_svh::SVHFingerManager::MovementState

The MovementState enum indicated the overall state of the hand. Currently only used for updating the status websocket.

Enumerator:

eST_DEACTIVATED
eST_RESETTING
eST_RESETTED
eST_ENABLED
eST_PARTIALLY_ENABLED
eST_FAULT
eST_DIMENSION

Definition at line 70 of file SVHFingerManager.h.

Constructor & Destructor Documentation

driver_svh::SVHFingerManager::SVHFingerManager	(	const std::vector< bool > &	disable_mask = `std::vector<bool>(9,false)`,
		const uint32_t &	reset_timeout = `5`
	)

Constructs a finger manager for the SCHUNK five finger hand.

Parameters:

autostart	if set to true, the driver will immediately connect to the hardware and try to reset all fingers
dev_name	the dev to use for autostart. Default is /dev/ttyUSB0

Definition at line 42 of file SVHFingerManager.cpp.

driver_svh::SVHFingerManager::~SVHFingerManager ( ) [virtual]

Definition at line 113 of file SVHFingerManager.cpp.

Member Function Documentation

bool driver_svh::SVHFingerManager::connect	(	const std::string &	dev_name = `"/dev/ttyUSB0"`,
		const unsigned int &	_retry_count = `3`
	)

Open connection to SCHUNK five finger hand. Wait until expected return packages are received.

Parameters:

dev_name	file handle of the serial device e.g. "/dev/ttyUSB0"
_retry_count	The number of times a connection is tried to be established if at least one package was received

Returns:: true if connection was succesful

Definition at line 127 of file SVHFingerManager.cpp.

int32_t driver_svh::SVHFingerManager::convertRad2Ticks	(	const SVHChannel &	channel,
		const double &	position
	)		`[private]`

Converts joint positions of a specific channel from RAD to ticks factoring in the offset of the channels.

Parameters:

channel	Channel to Convert for (each one has different offset)
position	The desired position given in RAD

Returns:: The tick value corresponing to the RAD input

Definition at line 1308 of file SVHFingerManager.cpp.

double driver_svh::SVHFingerManager::convertTicks2Rad	(	const SVHChannel &	channel,
		const int32_t &	ticks
	)		`[private]`

Converts joint positions of a specific channel from ticks to RAD factoring in the offset of the channels.

Parameters:

channel	Channel to Convert for (each one has different offset)
ticks	The current position in ticks

Returns:: the RAD Value corresponding to the tick value of a given channel

Definition at line 1325 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::currentSettingsAreSafe	(	const SVHChannel &	channel,
		const SVHCurrentSettings &	current_settings
	)		`[private]`

currentSettingsAreSafe helper function to check for the most important values of the current settings

Parameters:

channel	the channel the settings are meant for
current_settings	the settings to evaluate

Returns:: true if they are "reasonable safe". Only the most vile settings will be rejected!

Definition at line 1033 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::disableChannel ( const SVHChannel & channel )

disable controller of channel

Parameters:

channel channel to disable

Definition at line 627 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::disconnect ( )

disconnect SCHUNK five finger hand

Definition at line 288 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::enableChannel ( const SVHChannel & channel )

enable controller of channel

Parameters:

channel channel to enable

Returns:: true if the enabling was successful

Definition at line 580 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getCurrent	(	const SVHChannel &	channel,
		double &	current
	)

returns current value of channel

Parameters:

channel	channel to get the current of
current	current of the given channel in [mA]

Returns:: bool true if a valid result was requested (i.e. an existing channel)

Definition at line 790 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getCurrentSettings	(	const SVHChannel &	channel,
		SVHCurrentSettings &	current_settings
	)

returns actual current controller settings of channel

Parameters:

channel	channel to get the current controller settings for
current_settings	settings currently active for the current controller

Returns:: true if a valid result was requested (i.e. an existing channel)

Definition at line 1007 of file SVHFingerManager.cpp.

std::vector< SVHCurrentSettings > driver_svh::SVHFingerManager::getDefaultCurrentSettings ( )

get default current settings. These are either values previously set from calling software or hardcoded defaults

Definition at line 1192 of file SVHFingerManager.cpp.

std::vector< SVHPositionSettings > driver_svh::SVHFingerManager::getDefaultPositionSettings ( const bool & reset = false )

get default position settings. These are either values previously set from calling software or hardcoded defaults reset true if the Positions settins are to be used during reset (reduced speed)

returns parameters for position settings either the default ones or parameters that have been set from outside

Definition at line 1229 of file SVHFingerManager.cpp.

SVHFirmwareInfo driver_svh::SVHFingerManager::getFirmwareInfo ( )

getFirmwareInfo Requests the firmware information from the harware, waits a bit and returns the last one read

Returns:: the last firmware information read (this may not be the one currently requested)

Definition at line 1367 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getPosition	(	const SVHChannel &	channel,
		double &	position
	)

returns position value of channel (will not acces hardware but return latest value)

Parameters:

channel	channel to get the position of
position	position the given channel ist at

Returns:: bool true if a valid result was requested (i.e. an existing channel)

Definition at line 679 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getPositionSettings	(	const SVHChannel &	channel,
		SVHPositionSettings &	position_settings
	)

returns actual position controller settings of channel

Parameters:

channel	channel to get the position settings for
position_settings	settings currently active for the position controller

Returns:: true if a valid result was requested (i.e. an existing channel)

Definition at line 1020 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::isConnected ( ) [inline]

returns connected state of finger manager

Returns:: bool true if the finger manager is connected to the hardware

Definition at line 121 of file SVHFingerManager.h.

bool driver_svh::SVHFingerManager::isEnabled ( const SVHChannel & channel )

returns true, if current channel has been enabled

Parameters:

channel channel to check if it is enabled

Returns:: true if the channel is enabled, false otherwise

Definition at line 931 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::isHomed ( const SVHChannel & channel )

returns true, if current channel has been resetted

Parameters:

channel

Returns:

Definition at line 967 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::isInsideBounds	(	const SVHChannel &	channel,
		const int32_t &	target_position
	)		`[private]`

Check bounds of target positions.

Parameters:

channel
target_position

Returns:

Definition at line 1342 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::requestControllerFeedback ( const SVHChannel & channel )

send request controller feedback paket

Parameters:

channel channel to request the feedback for

Returns:: true if the request was successfully send to the hardware

Definition at line 666 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::requestControllerFeedbackAllChannels ( )

sends request controller feedback packet for all channels

Returns:: true if the request was successfully send to the hardware

void driver_svh::SVHFingerManager::requestControllerState ( )

requests the current controller state to be updated

Note:: This is a debuging function. Should not be called by users

Definition at line 1357 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::resetChannel ( const SVHChannel & channel )

reset function for channel

reset function for a single finger

Parameters:

channel Channel to reset

Returns:: true if the reset was successful

Definition at line 325 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setAllTargetPositions ( const std::vector< double > & positions )

set all target positions at once

Parameters:

positions Vector of positions to set as targets given in [rad]. Only the first eSVH_CHANNEL_DIMENSION (9) values will be considered. If less values are given all others are set to zero

Returns:: true if a valid and wellformed Target position for all fingers was given and send to the HW (i.e. inside the bound limits etc.)

Definition at line 806 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setCurrentSettings	(	const SVHChannel &	channel,
		const SVHCurrentSettings &	current_settings
	)

overwrite current parameters

Parameters:

channel	channel to set the current settings for
current_settings	settings of the current controller for a specific channel

Returns:: true if a valid channel was selected

Definition at line 1078 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setDefaultHomeSettings ( )

initialize the homing settings with hardcoded defaults. These can be overwritten by the setHomeSettings function

Definition at line 1165 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setHomeSettings	(	const SVHChannel &	channel,
		const SVHHomeSettings &	home_settings
	)

setHomeSettings set the home Settings which are maily used doring reset and provide the soft limit for the fingers

Parameters:

channel	channel to set the home settings for
home_settings	settings indicating the movement range of a finger, its reset direction and idle position

Returns:: true if a valid channel was selected

Definition at line 1140 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setMovementState ( const MovementState & state )

setMovementState Updates the movement state of the overll hand indicating the overall status

Parameters:

state current movement state

Note:: this is only used for monitoring purposes at the moment, driverwise there is no need to call it but it is used by web frontends

Definition at line 995 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setPositionSettings	(	const SVHChannel &	channel,
		const SVHPositionSettings &	position_settings
	)

overwrite position parameters

Parameters:

channel	channel to set the positoon settings for
position_settings	settings of the position controller to be used

Returns:: true if a valid channel was selected

Definition at line 1115 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setResetSpeed ( const float & speed )

setResetSpeed Set the speed percentage during reset

Parameters:

speed percent of the normal speed used during reset Allowed values 0.0-1.0

Definition at line 1295 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setResetTimeout ( const int & resetTimeout )

setResetTimeout Helper function to set the timout durind rest of fingers

Parameters:

resetTimeout timeout in Seconds. Values smaler than 0 will be interpreted as 0

Definition at line 1362 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setTargetPosition	(	const SVHChannel &	channel,
		double	position,
		double	current
	)

set target position of a channel

Parameters:

channel	channel to set the target position for
position	target position in [rad]
current	max current to use for that position

Note:: CURRENTLY NOT SUPPORTED!! WILL BE IGNORED

Returns:: true if a valid target position was given and it could be sent to the hardware

Definition at line 868 of file SVHFingerManager.cpp.

Member Data Documentation

SVHControllerFeedback driver_svh::SVHFingerManager::debug_feedback [private]

Definition at line 419 of file SVHFingerManager.h.

bool driver_svh::SVHFingerManager::m_connected [private]

holds the connected state

Definition at line 322 of file SVHFingerManager.h.

bool driver_svh::SVHFingerManager::m_connection_feedback_given [private]

Helper variable to check if feedback was printed (will be replaced by a better solution in the future)

Definition at line 325 of file SVHFingerManager.h.

SVHController* driver_svh::SVHFingerManager::m_controller [private]

pointer to svh controller

Definition at line 316 of file SVHFingerManager.h.

std::vector<SVHCurrentSettings> driver_svh::SVHFingerManager::m_current_settings [private]

Vector of current controller parameters for each finger (as given by external config)

Definition at line 358 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_current_settings_given [private]

Information about the validity of externaly given values for the current settings (easier to use this way)

Definition at line 360 of file SVHFingerManager.h.

SVHFeedbackPollingThread* driver_svh::SVHFingerManager::m_feedback_thread [private]

pointer to svh controller

Definition at line 319 of file SVHFingerManager.h.

std::vector<SVHHomeSettings> driver_svh::SVHFingerManager::m_home_settings [private]

Vector of home settings for each finger (as given by external config)

Definition at line 368 of file SVHFingerManager.h.

int8_t driver_svh::SVHFingerManager::m_homing_timeout [private]

vector storing reset flags for each finger

Definition at line 328 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_is_homed [private]

vector storing reset flags for each channel

Definition at line 343 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_is_switched_off [private]

vector storing information if a finger is enabled. In Case it is all request for it will be granted but not executed on hardware

Definition at line 346 of file SVHFingerManager.h.

MovementState driver_svh::SVHFingerManager::m_movement_state [private]

Overall movement State to indicate what the hand is doing at the moment.

Definition at line 349 of file SVHFingerManager.h.

std::vector<int32_t> driver_svh::SVHFingerManager::m_position_home [private]

home position after complete reset of each channel

Definition at line 340 of file SVHFingerManager.h.

std::vector<int32_t> driver_svh::SVHFingerManager::m_position_max [private]

max position vector for each channel

Definition at line 337 of file SVHFingerManager.h.

std::vector<int32_t> driver_svh::SVHFingerManager::m_position_min [private]

min position vector for each channel

Definition at line 334 of file SVHFingerManager.h.

std::vector<SVHPositionSettings> driver_svh::SVHFingerManager::m_position_settings [private]

Vector of position controller parameters for each finger (as given by external config)

Definition at line 363 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_position_settings_given [private]

Information about the validity of externaly given values for the position settings (easier to use this way)

Definition at line 365 of file SVHFingerManager.h.

std::vector<double> driver_svh::SVHFingerManager::m_reset_current_factor [private]

Vector containing factors for the currents at reset. Vector containing factors for the currents at reset. A hard stop is found if the maxCurrent (first 2 CurrentSettingsValues) x the reset factor was reached. 0.75 by default Beware. Setting this value very high might result in damage to the motors during reset.

Definition at line 384 of file SVHFingerManager.h.

std::vector<SVHChannel> driver_svh::SVHFingerManager::m_reset_order [private]

vector storing the reset order of the channels

Definition at line 376 of file SVHFingerManager.h.

float driver_svh::SVHFingerManager::m_reset_speed_factor [private]

Factor for determining the finger speed during reset. Only 0.0-1.0 is allowed.

Definition at line 352 of file SVHFingerManager.h.

uint32_t driver_svh::SVHFingerManager::m_reset_timeout [private]

Time in seconds after which the a reset is aborted if no change in current is observable.

Definition at line 355 of file SVHFingerManager.h.

std::string driver_svh::SVHFingerManager::m_serial_device [private]

m_serial_device Device handle of the device to use, is overwritten if connect is called with an argument