Client class for EZN64 USB control. More...

#include <ezn64_usb_control.h>

Public Member Functions
bool	acknowledgeErrorCallback (schunk_ezn64::acknowledge_error::Request &req, schunk_ezn64::acknowledge_error::Response &res)
	AcknowledgeError service callback.
	EZN64_usb (ros::NodeHandle *nh)
	Construct a client for EZN64 USB control.
bool	getErrorCallback (schunk_ezn64::get_error::Request &req, schunk_ezn64::get_error::Response &res)
	GetError service callback.
bool	getPositionCallback (schunk_ezn64::get_position::Request &req, schunk_ezn64::get_position::Response &res)
	GetPosition service callback.
bool	referenceCallback (schunk_ezn64::reference::Request &req, schunk_ezn64::reference::Response &res)
	Reference service callback.
bool	setPositionCallback (schunk_ezn64::set_position::Request &req, schunk_ezn64::set_position::Response &res)
	SetPosition service callback.
bool	stopCallback (schunk_ezn64::stop::Request &req, schunk_ezn64::stop::Response &res)
	Stop service callback.
void	timerCallback (const ros::TimerEvent &event)
	Timer callback to read USB input buffer periodically.
	~EZN64_usb ()
Public Attributes
ros::Publisher	joint_pub
	Gripper joint state publisher.
Static Public Attributes
static const float	TF_UPDATE_PERIOD = 0.1
	TF update period in seconds.
Private Member Functions
void	acknowledgeError (libusb_device_handle *handle)
	Send CMD_ACK(0x8b) command to the gripper.
int	close_ezn64_dev (libusb_device_handle handle, libusb_context usb_context)
	Function closing communication with USB device.
libusb_device *	find_ezn64_dev (int VendorID, int ProductID)
	Function looking for gripper controller in list of available USB devices. In case of success, pointer to device is returned.
void	float_to_IEEE_754 (float position, unsigned int *output_array)
	Conversion from float to 4bytes.
uint8_t	getError (libusb_device_handle *handle)
	Read actual error by GET STATE(0x95) command.
void	getPeriodicPositionUpdate (libusb_device_handle *handle, float period)
	Set periodic position reading by GET_STATE(0x95) command.
float	getPosition (libusb_device_handle *handle)
	Read actual position by GET_STATE(0x95) command.
float	IEEE_754_to_float (uint8_t *raw)
	Conversion from 4 bytes to float.
libusb_device_handle *	open_ezn64_dev (libusb_device *dev)
	Function openning communication with USB device.
void	print_libusb_dev (libusb_device *dev)
	Funtion printing information about active gripper USB interface.
void	reference (libusb_device_handle *handle)
	Send CMD REFERENCE(0x92) command to the gripper.
void	setPosition (libusb_device_handle *handle, float goal_position)
	Send MOV_POS(0x80) command to the gripper.
void	stop (libusb_device_handle *handle)
	Send CMD_STOP(0x91) to stop moving gripper.
std::vector< uint8_t >	usb_read (libusb_device_handle *handle)
	Function reading data from USB inpput buffer.
void	usb_write (libusb_device_handle *handle, std::vector< uint8_t > output)
	Function writing data to USB output buffer.
Private Attributes
float	act_position_
libusb_device *	ezn64_dev_
uint8_t	ezn64_error_
libusb_device_handle *	ezn64_handle_
sensor_msgs::JointState	ezn64_joint_state_
int	gripper_id_
int	product_id_
double	update_frequency
libusb_context *	usb_context_
int	vendor_id_
Static Private Attributes
static const int	INPUT_BUFFER_SIZE = 512
static const int	LIBUSB_ENDPOINT = 129
static const int	LIBUSB_TIMEOUT = 1000
static const int	LIBUSB_VERBOSITY_LEVEL = 3
static const double	MAX_GRIPPER_POS_LIMIT = 12
static const double	MIN_GRIPPER_POS_LIMIT = 0
static const int	URDF_SCALE_FACTOR = 1000
static const double	WAIT_FOR_RESPONSE_INTERVAL = 0.5

Detailed Description

Client class for EZN64 USB control.

Definition at line 54 of file ezn64_usb_control.h.

Constructor & Destructor Documentation

schunk_ezn64::EZN64_usb::EZN64_usb ( ros::NodeHandle * nh )

Construct a client for EZN64 USB control.

Definition at line 40 of file ezn64_usb_control_lib.cpp.

schunk_ezn64::EZN64_usb::~EZN64_usb ( )

Definition at line 77 of file ezn64_usb_control_lib.cpp.

Member Function Documentation

void schunk_ezn64::EZN64_usb::acknowledgeError ( libusb_device_handle * handle ) [private]

Send CMD_ACK(0x8b) command to the gripper.

Definition at line 174 of file ezn64_usb_control_lib.cpp.

bool schunk_ezn64::EZN64_usb::acknowledgeErrorCallback	(	schunk_ezn64::acknowledge_error::Request &	req,
		schunk_ezn64::acknowledge_error::Response &	res
	)

AcknowledgeError service callback.

Definition at line 327 of file ezn64_usb_control_lib.cpp.

int schunk_ezn64::EZN64_usb::close_ezn64_dev	(	libusb_device_handle *	handle,
		libusb_context *	usb_context
	)		`[private]`

Function closing communication with USB device.

Definition at line 461 of file ezn64_usb_control_lib.cpp.

libusb_device * schunk_ezn64::EZN64_usb::find_ezn64_dev	(	int	VendorID,
		int	ProductID
	)		`[private]`

Function looking for gripper controller in list of available USB devices. In case of success, pointer to device is returned.

Definition at line 399 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::float_to_IEEE_754	(	float	position,
		unsigned int *	output_array
	)		`[private]`

Conversion from float to 4bytes.

Definition at line 625 of file ezn64_usb_control_lib.cpp.

uint8_t schunk_ezn64::EZN64_usb::getError ( libusb_device_handle * handle ) [private]

Read actual error by GET STATE(0x95) command.

Definition at line 95 of file ezn64_usb_control_lib.cpp.

bool schunk_ezn64::EZN64_usb::getErrorCallback	(	schunk_ezn64::get_error::Request &	req,
		schunk_ezn64::get_error::Response &	res
	)

GetError service callback.

Definition at line 311 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::getPeriodicPositionUpdate	(	libusb_device_handle *	handle,
		float	period
	)		`[private]`

Set periodic position reading by GET_STATE(0x95) command.

Definition at line 250 of file ezn64_usb_control_lib.cpp.

float schunk_ezn64::EZN64_usb::getPosition ( libusb_device_handle * handle ) [private]

Read actual position by GET_STATE(0x95) command.

Definition at line 206 of file ezn64_usb_control_lib.cpp.

bool schunk_ezn64::EZN64_usb::getPositionCallback	(	schunk_ezn64::get_position::Request &	req,
		schunk_ezn64::get_position::Response &	res
	)

GetPosition service callback.

Definition at line 319 of file ezn64_usb_control_lib.cpp.

float schunk_ezn64::EZN64_usb::IEEE_754_to_float ( uint8_t * raw ) [private]

Conversion from 4 bytes to float.

Definition at line 608 of file ezn64_usb_control_lib.cpp.

libusb_device_handle * schunk_ezn64::EZN64_usb::open_ezn64_dev ( libusb_device * dev ) [private]

Function openning communication with USB device.

Definition at line 443 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::print_libusb_dev ( libusb_device * dev ) [private]

Funtion printing information about active gripper USB interface.

Definition at line 555 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::reference ( libusb_device_handle * handle ) [private]

Send CMD REFERENCE(0x92) command to the gripper.

Definition at line 83 of file ezn64_usb_control_lib.cpp.

bool schunk_ezn64::EZN64_usb::referenceCallback	(	schunk_ezn64::reference::Request &	req,
		schunk_ezn64::reference::Response &	res
	)

Reference service callback.

Definition at line 285 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::setPosition	(	libusb_device_handle *	handle,
		float	goal_position
	)		`[private]`

Send MOV_POS(0x80) command to the gripper.

Definition at line 185 of file ezn64_usb_control_lib.cpp.

bool schunk_ezn64::EZN64_usb::setPositionCallback	(	schunk_ezn64::set_position::Request &	req,
		schunk_ezn64::set_position::Response &	res
	)

SetPosition service callback.

Definition at line 293 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::stop ( libusb_device_handle * handle ) [private]

Send CMD_STOP(0x91) to stop moving gripper.

Definition at line 270 of file ezn64_usb_control_lib.cpp.

bool schunk_ezn64::EZN64_usb::stopCallback	(	schunk_ezn64::stop::Request &	req,
		schunk_ezn64::stop::Response &	res
	)

Stop service callback.

Definition at line 341 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::timerCallback ( const ros::TimerEvent & event )

Timer callback to read USB input buffer periodically.

Definition at line 351 of file ezn64_usb_control_lib.cpp.

std::vector< uint8_t > schunk_ezn64::EZN64_usb::usb_read ( libusb_device_handle * handle ) [private]

Function reading data from USB inpput buffer.

Definition at line 512 of file ezn64_usb_control_lib.cpp.

void schunk_ezn64::EZN64_usb::usb_write	(	libusb_device_handle *	handle,
		std::vector< uint8_t >	output
	)		`[private]`

Function writing data to USB output buffer.

Definition at line 470 of file ezn64_usb_control_lib.cpp.

Member Data Documentation

float schunk_ezn64::EZN64_usb::act_position_ [private]

Definition at line 151 of file ezn64_usb_control.h.

libusb_device* schunk_ezn64::EZN64_usb::ezn64_dev_ [private]

Definition at line 156 of file ezn64_usb_control.h.

uint8_t schunk_ezn64::EZN64_usb::ezn64_error_ [private]

Definition at line 152 of file ezn64_usb_control.h.

libusb_device_handle* schunk_ezn64::EZN64_usb::ezn64_handle_ [private]

Definition at line 158 of file ezn64_usb_control.h.

sensor_msgs::JointState schunk_ezn64::EZN64_usb::ezn64_joint_state_ [private]

Definition at line 153 of file ezn64_usb_control.h.

int schunk_ezn64::EZN64_usb::gripper_id_ [private]

Definition at line 145 of file ezn64_usb_control.h.

const int schunk_ezn64::EZN64_usb::INPUT_BUFFER_SIZE = 512 [static, private]

Definition at line 164 of file ezn64_usb_control.h.

ros::Publisher schunk_ezn64::EZN64_usb::joint_pub

Gripper joint state publisher.

Definition at line 91 of file ezn64_usb_control.h.

const int schunk_ezn64::EZN64_usb::LIBUSB_ENDPOINT = 129 [static, private]

Definition at line 165 of file ezn64_usb_control.h.

const int schunk_ezn64::EZN64_usb::LIBUSB_TIMEOUT = 1000 [static, private]

Definition at line 166 of file ezn64_usb_control.h.

const int schunk_ezn64::EZN64_usb::LIBUSB_VERBOSITY_LEVEL = 3 [static, private]

Definition at line 167 of file ezn64_usb_control.h.

const double schunk_ezn64::EZN64_usb::MAX_GRIPPER_POS_LIMIT = 12 [static, private]

Definition at line 162 of file ezn64_usb_control.h.

const double schunk_ezn64::EZN64_usb::MIN_GRIPPER_POS_LIMIT = 0 [static, private]

Definition at line 161 of file ezn64_usb_control.h.

int schunk_ezn64::EZN64_usb::product_id_ [private]

Definition at line 147 of file ezn64_usb_control.h.

const float schunk_ezn64::EZN64_usb::TF_UPDATE_PERIOD = 0.1 [static]

TF update period in seconds.

Definition at line 94 of file ezn64_usb_control.h.

double schunk_ezn64::EZN64_usb::update_frequency [private]

Definition at line 148 of file ezn64_usb_control.h.

const int schunk_ezn64::EZN64_usb::URDF_SCALE_FACTOR = 1000 [static, private]

Definition at line 168 of file ezn64_usb_control.h.

libusb_context* schunk_ezn64::EZN64_usb::usb_context_ [private]

Definition at line 157 of file ezn64_usb_control.h.

int schunk_ezn64::EZN64_usb::vendor_id_ [private]

Definition at line 146 of file ezn64_usb_control.h.

const double schunk_ezn64::EZN64_usb::WAIT_FOR_RESPONSE_INTERVAL = 0.5 [static, private]

Definition at line 163 of file ezn64_usb_control.h.

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

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation