SDH::cDSA is the end user interface class to access the DSACON32m, the tactile sensor controller of the SDH. More...

#include <dsa.h>

Classes
struct	sContactInfo
	Structure to hold info about the contact of one sensor patch. More...
struct	sControllerInfo
	A data structure describing the controller info about the remote DSACON32m controller. More...
struct	sMatrixInfo
	A data structure describing a single sensor matrix connected to the remote DSACON32m controller. More...
struct	sResponse
	data structure for storing responses from the remote DSACON32m controller More...
struct	sSensitivityInfo
	Structure to hold info about the sensitivity settings of one sensor patch. More...
struct	sSensorInfo
	A data structure describing the sensor info about the remote DSACON32m controller. More...
struct	sTactileSensorFrame
	A data structure describing a full tactile sensor frame read from the remote DSACON32m controller. More...
Public Types
enum	eDSAErrorCode { E_SUCCESS, E_NOT_AVAILABLE, E_NO_SENSOR, E_NOT_INITIALIZED, E_ALREADY_RUNNING, E_FEATURE_NOT_SUPPORTED, E_INCONSISTENT_DATA, E_TIMEOUT, E_READ_ERROR, E_WRITE_ERROR, E_INSUFFICIENT_RESOURCES, E_CHECKSUM_ERROR, E_CMD_NOT_ENOUGH_PARAMS, E_CMD_UNKNOWN, E_CMD_FORMAT_ERROR, E_ACCESS_DENIED, E_ALREADY_OPEN, E_CMD_FAILED, E_CMD_ABORTED, E_INVALID_HANDLE, E_DEVICE_NOT_FOUND, E_DEVICE_NOT_OPENED, E_IO_ERROR, E_INVALID_PARAMETER, E_INDEX_OUT_OF_BOUNDS, E_CMD_PENDING, E_OVERRUN, E_RANGE_ERROR }
	error codes returned by the remote DSACON32m tactile sensor controller More...
typedef UInt16	tTexel
	data type for a single 'texel' (tactile sensor element)
Public Member Functions
	cDSA (int debug_level=0, int port=1, char const *device_format_string="/dev/ttyS%d")
void	Close (void) throw (cDSAException, cSDHErrorCommunication)
	Set the framerate of the remote DSACON32m controller to 0 and close connection to it.
unsigned long	GetAgeOfFrame (sTactileSensorFrame *frame_p)
double	GetContactArea (int m)
sContactInfo	GetContactInfo (int m)
sControllerInfo const &	GetControllerInfo (void) const
	Return a reference to the sControllerInfo read from the remote DSACON32m controller.
sTactileSensorFrame const &	GetFrame () const
	return a reference to the latest tactile sensor frame without reading from remote DSACON32m
int	GetMatrixIndex (int fi, int part)
sMatrixInfo const &	GetMatrixInfo (int m) const
	Return a reference to the sMatrixInfo of matrix m read from the remote DSACON32m controller.
sSensitivityInfo	GetMatrixSensitivity (int matrix_no) throw (cDSAException, cSDHErrorCommunication)
UInt16	GetMatrixThreshold (int matrix_no) throw (cDSAException, cSDHErrorCommunication)
sSensorInfo const &	GetSensorInfo (void) const
	Return a reference to the sSensorInfo read from the remote DSACON32m controller.
tTexel	GetTexel (int m, int x, int y) const
void	Open (void) throw (cDSAException, cSDHErrorCommunication)
	(Re-)open connection to DSACON32m controller, this is called by the constructor automatically, but is still usefull to call after a call to Close()
struct cDSA::sControllerInfo	SDH__attribute__ ((__packed__))
struct cDSA::sSensorInfo	SDH__attribute__ ((__packed__))
struct cDSA::sMatrixInfo	SDH__attribute__ ((__packed__))
struct cDSA::sSensitivityInfo	SDH__attribute__ ((__packed__))
void	SetFramerate (UInt16 framerate, bool do_RLE=true, bool do_data_acquisition=true) throw (cDSAException, cSDHErrorCommunication)
void	SetFramerateRetries (UInt16 framerate, bool do_RLE=true, bool do_data_acquisition=true, unsigned int retries=0, bool ignore_exceptions=false) throw (cDSAException, cSDHErrorCommunication)
void	SetMatrixSensitivity (int matrix_no, double sensitivity, bool do_all_matrices=false, bool do_reset=false, bool do_persistent=false) throw (cDSAException, cSDHErrorCommunication)
void	SetMatrixThreshold (int matrix_no, UInt16 threshold, bool do_all_matrices=false, bool do_reset=false, bool do_persistent=false) throw (cDSAException, cSDHErrorCommunication)
sTactileSensorFrame const &	UpdateFrame ()
	read the tactile sensor frame from remote DSACON32m and return a reference to it. A command to query the frame (periodically) must have been sent before.
	~cDSA ()
	Destructur: clean up and delete dynamically allocated memory.
Static Public Member Functions
static char const *	ErrorCodeToString (eDSAErrorCode error_code)
static char const *	ErrorCodeToString (UInt16 error_code)
Public Attributes
struct VCC_EXPORT cDSA::sTactileSensorFrame	SDH__attribute__
Protected Member Functions
void	ParseFrame (sResponse response, sTactileSensorFrame frame_p) throw (cDSAException*)
void	QueryControllerInfo (sControllerInfo _controller_info) throw (cDSAException, cSDHErrorCommunication*)
void	QueryMatrixInfo (sMatrixInfo _matrix_info, int matrix_no) throw (cDSAException, cSDHErrorCommunication*)
void	QueryMatrixInfos (void) throw (cDSAException, cSDHErrorCommunication)
void	QuerySensorInfo (sSensorInfo _sensor_info) throw (cDSAException, cSDHErrorCommunication*)
void	ReadControllerInfo (sControllerInfo _controller_info) throw (cDSAException, cSDHErrorCommunication*)
void	ReadFrame (sTactileSensorFrame frame_p) throw (cDSAException, cSDHErrorCommunication*)
void	ReadMatrixInfo (sMatrixInfo _matrix_info) throw (cDSAException, cSDHErrorCommunication*)
void	ReadResponse (sResponse response, UInt8 command_id) throw (cDSAException, cSDHErrorCommunication*)
void	ReadSensorInfo (sSensorInfo _sensor_info) throw (cDSAException, cSDHErrorCommunication*)
struct cDSA::sResponse	SDH__attribute__ ((__packed__))
void	WriteCommand (UInt8 command)
void	WriteCommandWithPayload (UInt8 command, UInt8 payload, UInt16 payload_len) throw (cDSAException, cSDHErrorCommunication*)
Protected Attributes
double	calib_pressure
double	calib_voltage
	see calib_pressure
cRS232	comm_interface
	the serial RS232 communication interface to use
tTexel	contact_area_cell_threshold
	threshold of texel cell value for detecting contacts with GetContactArea
tTexel	contact_force_cell_threshold
	threshold of texel cell value for detecting forces with GetContactForce
sControllerInfo	controller_info
	the controller info read from the remote DSACON32m controller
cDBG	dbg
	A stream object to print coloured debug messages.
bool	do_RLE
	flag, true if data should be sent Run Length Encoded by the remote DSACON32m controller
double	force_factor
	additional calibration factor for forces in GetContactForce
sTactileSensorFrame	frame
	the latest frame received from the remote DSACON32m controller
sMatrixInfo *	matrix_info
	the matrix infos read from the remote DSACON32m controller
int	nb_cells
	The total number of sensor cells.
long	read_timeout_us
	default timeout used for reading in us
sSensorInfo	sensor_info
	the sensor info read from the remote DSACON32m controller
UInt32	start_dsa
cSimpleTime	start_pc
int *	texel_offset
	an array with the offsets of the first texel of all matrices into the whole frame
Private Member Functions
void	FlushInput (long timeout_us_first, long timeout_us_subsequent)
void	ReadAndCheckErrorResponse (char const msg, UInt8 command_id) throw (cDSAException, cSDHErrorCommunication*)
double	VoltageToPressure (double voltage)
Private Attributes
bool	acquiring_single_frame
	flag, true if user requested acquiring of a single frame. Needed for DSACON32m firmware-bug workaround.
Friends
VCC_EXPORT std::ostream &	operator<< (std::ostream &stream, cDSA::sResponse const &response)

Detailed Description

SDH::cDSA is the end user interface class to access the DSACON32m, the tactile sensor controller of the SDH.

Class to communicate with the tactile sensor controller DSACON32m of the SDH

Bug:: cDSAException: Checksum Error on Windows console While communicating with the tactile sensor controller a "cDSAException: Checksum Error" might be thrown once in a while. This seems to happen only when the program is started from a native windows command console (cmd.exe), but not e.g. when the program is started from a cygwin console. Strange. Workaround is to catch the exception and ignore the frame.
=> Resolved in SDHLibrary-C++ v0.0.2.1
Problem was an overrun of the windows input buffer, e.g. on heavy processor load.

Definition at line 128 of file dsa.h.

Member Typedef Documentation

typedef UInt16 cDSA::tTexel

data type for a single 'texel' (tactile sensor element)

Definition at line 132 of file dsa.h.

Member Enumeration Documentation

enum cDSA::eDSAErrorCode

error codes returned by the remote DSACON32m tactile sensor controller

Enumerator:

E_SUCCESS
E_NOT_AVAILABLE
E_NO_SENSOR
E_NOT_INITIALIZED
E_ALREADY_RUNNING
E_FEATURE_NOT_SUPPORTED
E_INCONSISTENT_DATA
E_TIMEOUT
E_READ_ERROR
E_WRITE_ERROR
E_INSUFFICIENT_RESOURCES
E_CHECKSUM_ERROR
E_CMD_NOT_ENOUGH_PARAMS
E_CMD_UNKNOWN
E_CMD_FORMAT_ERROR
E_ACCESS_DENIED
E_ALREADY_OPEN
E_CMD_FAILED
E_CMD_ABORTED
E_INVALID_HANDLE
E_DEVICE_NOT_FOUND
E_DEVICE_NOT_OPENED
E_IO_ERROR
E_INVALID_PARAMETER
E_INDEX_OUT_OF_BOUNDS
E_CMD_PENDING
E_OVERRUN
E_RANGE_ERROR

Definition at line 135 of file dsa.h.

Constructor & Destructor Documentation

cDSA::cDSA	(	int	debug_level = `0`,
		int	port = `1`,
		char const *	device_format_string = `"/dev/ttyS%d"`
	)

Constructor for cDSA. This constructs a cDSA object to communicate with the remote DSACON32m controller within the SDH.

The connection is opened and established, and the sensor, controller and matrix info is queried from the remote DSACON32m controller. This initialization may take up to 9 seconds, since the DSACON32m controller needs > 8 seconds for "booting". If the SDH is already powered for some time then this will be much quicker.

Parameters:

debug_level	- the level of debug messages to be printed: if > 0 (1,2,3...) then debug messages of cDSA itself are printed if > 1 (2,3,...) then debug messages of the low level communication interface object are printed too
port	- the RS232 port to use for communication. (port 0 = ttyS0 = COM1, port 1 = ttyS1 = COM2, ...)
device_format_string	- a format string (C string) for generating the device name, like "/dev/ttyS%d" (default) or "/dev/ttyUSB%d". Must contain a d where the port number should be inserted. This char array is duplicated on construction. When compiled with VCC (MS-Visual C++) then this is not used.

cDSA::~cDSA ( )

Destructur: clean up and delete dynamically allocated memory.

Member Function Documentation

void cDSA::Close ( void ) throw (cDSAException*, cSDHErrorCommunication*)

Set the framerate of the remote DSACON32m controller to 0 and close connection to it.

static char const* cDSA::ErrorCodeToString ( eDSAErrorCode error_code ) [static]

Return a short string description for error_code

Parameters:

error_code - error code as returned from the remote DSACON32m tactile sensor controller

Returns:: short string description for error_code

static char const* cDSA::ErrorCodeToString ( UInt16 error_code ) [inline, static]

Definition at line 681 of file dsa.h.

void cDSA::FlushInput	(	long	timeout_us_first,
		long	timeout_us_subsequent
	)		`[private]`

Cleanup communication line: read all available bytes with timeout_us_first timeout in us for first byte and timeout_us_subsequent timeoutin us for subsequent bytes

Parameters:

timeout_us_first	- timeout in us for first byte
timeout_us_subsequent	- timeout in us for subsequent bytes

The push mode of the DSACON32m must be switched off on call since else the method will not return.

unsigned long cDSA::GetAgeOfFrame ( sTactileSensorFrame * frame_p ) [inline]

return age of frame in ms (time in ms from frame sampling until now)

Definition at line 656 of file dsa.h.

double cDSA::GetContactArea ( int m )

sContactInfo cDSA::GetContactInfo ( int m )

sControllerInfo const& cDSA::GetControllerInfo ( void ) const [inline]

Return a reference to the sControllerInfo read from the remote DSACON32m controller.

Definition at line 468 of file dsa.h.

sTactileSensorFrame const& cDSA::GetFrame ( ) const [inline]

return a reference to the latest tactile sensor frame without reading from remote DSACON32m

Definition at line 490 of file dsa.h.

int cDSA::GetMatrixIndex	(	int	fi,
		int	part
	)		`[inline]`

return the matrix index of the sensor matrix attached to finger with index fi [1..3] and part [0,1] = [proximal,distal]

Definition at line 647 of file dsa.h.

sMatrixInfo const& cDSA::GetMatrixInfo ( int m ) const [inline]

Return a reference to the sMatrixInfo of matrix m read from the remote DSACON32m controller.

Definition at line 482 of file dsa.h.

sSensitivityInfo cDSA::GetMatrixSensitivity ( int matrix_no ) throw (cDSAException*, cSDHErrorCommunication*)

Send command to get matrix sensitivity. Returns sensitivities of matrix no matrix_no.

A struct is returned containing the members error_code - see DSACON32 Command Set Reference Manual adj_flags - see DSACON32 Command Set Reference Manual cur_sens - the currently set sensitivity as float [0.0 .. 1.0] (0.0 is minimum, 1.0 is maximum sensitivity) fact_sens - the factory sensitivity as float [0.0 .. 1.0] (0.0 is minimum, 1.0 is maximum sensitivity)

Raises a cDSAException in case of invalid responses from the remote DSACON32m controller.

Bug:: With DSACON32m firmware R218 and before this did not work, instead the factory default (0.5) was always reported
=> Resolved in DSACON32m firmware R268

UInt16 cDSA::GetMatrixThreshold ( int matrix_no ) throw (cDSAException*, cSDHErrorCommunication*)

Send command to get matrix threshold. Returns threshold of matrix no matrix_no.

Returns:: threshold - the currently set threshold as integer [0 .. 4095] (0 is minimum, 4095 is maximum threshold)

Raises a cDSAException in case of invalid responses from the remote DSACON32m controller.

Remarks:: Getting the matrix threshold is only possible if the DSACON32m firmware is R268 or above.

sSensorInfo const& cDSA::GetSensorInfo ( void ) const [inline]

Return a reference to the sSensorInfo read from the remote DSACON32m controller.

Definition at line 475 of file dsa.h.

tTexel cDSA::GetTexel	(	int	m,
		int	x,
		int	y
	)		const

Return texel value at column x row y of matrix m of the last frame

void cDSA::Open ( void ) throw (cDSAException*, cSDHErrorCommunication*)

(Re-)open connection to DSACON32m controller, this is called by the constructor automatically, but is still usefull to call after a call to Close()

void cDSA::ParseFrame	(	sResponse *	response,
		sTactileSensorFrame *	frame_p
	)		throw (cDSAException*) `[protected]`

Parse a full frame response from remote DSA

void cDSA::QueryControllerInfo ( sControllerInfo * _controller_info ) throw (cDSAException*, cSDHErrorCommunication*) [protected]

Send command to resquest controller info from remote DSACON32m. Read and parse the response from the remote DSACON32m.

void cDSA::QueryMatrixInfo	(	sMatrixInfo *	_matrix_info,
		int	matrix_no
	)		throw (cDSAException, cSDHErrorCommunication) `[protected]`

Send command to request matrix info from remote DSACON32m. Read and parse the response from the remote DSACON32m.

void cDSA::QueryMatrixInfos ( void ) throw (cDSAException*, cSDHErrorCommunication*) [protected]

Query all matrix infos

void cDSA::QuerySensorInfo ( sSensorInfo * _sensor_info ) throw (cDSAException*, cSDHErrorCommunication*) [protected]

Send command to request sensor info from remote DSACON32m. Read and parse the response from the remote DSACON32m.

void cDSA::ReadAndCheckErrorResponse	(	char const *	msg,
		UInt8	command_id
	)		throw (cDSAException, cSDHErrorCommunication) `[private]`

void cDSA::ReadControllerInfo ( sControllerInfo * _controller_info ) throw (cDSAException*, cSDHErrorCommunication*) [protected]

Read and parse a controller info response from the remote DSA

void cDSA::ReadFrame ( sTactileSensorFrame * frame_p ) throw (cDSAException*, cSDHErrorCommunication*) [protected]

read and parse a full frame response from remote DSA

void cDSA::ReadMatrixInfo ( sMatrixInfo * _matrix_info ) throw (cDSAException*, cSDHErrorCommunication*) [protected]

Read and parse a matrix info response from the remote DSA

void cDSA::ReadResponse	(	sResponse *	response,
		UInt8	command_id
	)		throw (cDSAException, cSDHErrorCommunication) `[protected]`

Read any response from the remote DSACON32m, expect the command_id as command id

tries to find the preamble within the next at most DSA_MAX_PREAMBLE_SEARCH bytes from the device
reads the packet id and size
reads all data indicated by the size read
if there is enough space in the payload of the response then the received data is stored there if there is not enough space in the payload of the response then the data is received but forgotten (to keep the communication line clear)
if sent, the CRC checksum is read and the data is checked. For invalid data an exception is thrown

void cDSA::ReadSensorInfo ( sSensorInfo * _sensor_info ) throw (cDSAException*, cSDHErrorCommunication*) [protected]

Read and parse a sensor info response from the remote DSA

struct cDSA::sControllerInfo cDSA::SDH__attribute__ ( (__packed__) )

struct cDSA::sSensorInfo cDSA::SDH__attribute__ ( (__packed__) )

struct cDSA::sMatrixInfo cDSA::SDH__attribute__ ( (__packed__) )

struct cDSA::sSensitivityInfo cDSA::SDH__attribute__ ( (__packed__) )

struct cDSA::sResponse cDSA::SDH__attribute__ ( (__packed__) ) [protected]

void cDSA::SetFramerate	(	UInt16	framerate,
		bool	do_RLE = `true`,
		bool	do_data_acquisition = `true`
	)		throw (cDSAException, cSDHErrorCommunication)

Set the framerate for querying full frames.

Parameters:

framerate	- rate of frames.
do_RLE	- flag, if true then use RLE (run length encoding) for sending frames
do_data_acquisition	- flag, enable or disable data acquisition. Must be true if you want to get new frames

Use framerate=0 and do_data_acquisition=false to make the remote DSACON32m in SDH stop sending frames
Use framerate=0 and do_data_acquisition=true to read a single frame
Use framerate>0 and do_data_acquisition=true to make the remote DSACON32m in SDH send frames at the highest possible rate (for now: 30 FPS (frames per second)).

Bug:: SCHUNK-internal bugzilla ID: Bug 680
With DSACON32m firmware R276 and after and SDHLibrary-C++ v0.0.1.15 and before stopping of the sending did not work.
=> Resolved in SDHLibrary-C++ v0.0.1.16

Bug:: SCHUNK-internal bugzilla ID: Bug 680
With DSACON32m firmware before R276 and SDHLibrary-C++ v0.0.1.16 and before acquiring of single frames did not work
=> Resolved in SDHLibrary-C++ v0.0.1.17

Bug:: SCHUNK-internal bugzilla ID: Bug 703
With DSACON32m firmware R288 and before and SDHLibrary-C++ v0.0.2.1 and before tactile sensor frames could not be read reliably in single frame mode.
=> Resolved in DSACON32m firmware 2.9.0.0
=> Resolved in SDHLibrary-C++ v0.0.2.1 with workaround for older DSACON32m firmwares

void cDSA::SetFramerateRetries	(	UInt16	framerate,
		bool	do_RLE = `true`,
		bool	do_data_acquisition = `true`,
		unsigned int	retries = `0`,
		bool	ignore_exceptions = `false`
	)		throw (cDSAException, cSDHErrorCommunication)

Set the framerate for querying full frames.

Parameters:

framerate	- rate of frames. 0 will make the remote DSACON32m in SDH stop sending frames, any value > 0 will make the remote DSACON32m in SDH send frames at the highest possible rate (for now: 30 FPS (frames per second)).
do_RLE	- flag, if true then use RLE (run length encoding) for sending frames
do_data_acquisition	- flag, enable or disable data acquisition. Must be true if you want to get new frames
retries	- number of times the sending will be retried in case of an error (like timeout while waiting for response)
ignore_exceptions	- flag, if true then exceptions are ignored in case of error. After retries tries the function just returns even in case of an error

void cDSA::SetMatrixSensitivity	(	int	matrix_no,
		double	sensitivity,
		bool	do_all_matrices = `false`,
		bool	do_reset = `false`,
		bool	do_persistent = `false`
	)		throw (cDSAException, cSDHErrorCommunication)

Send command to set matrix sensitivity to sensitivity as float [0.0 .. 1.0] (0.0 is minimum, 1.0 is maximum sensitivity). If do_all_matrices is true then the sensitivity is set for all matrices. If do_reset is true then the sensitivity is reset to the factory default. If do_persistent is true then the sensitivity is saved persistently to configuration memory and will thus remain after the next power off/power on cycle and will become the new factory default value. If do_persistent is false (default) then the value will be reset to default on the next power off/power on cycle

Warning:: PLEASE NOTE: the maximum write endurance of the configuration memory is about 100.000 times!

Raises a cDSAException in case of invalid responses from the remote DSACON32m controller.

Remarks:: Setting the matrix sensitivity persistently is only possible if the DSACON32m firmware is R268 or above.

void cDSA::SetMatrixThreshold	(	int	matrix_no,
		UInt16	threshold,
		bool	do_all_matrices = `false`,
		bool	do_reset = `false`,
		bool	do_persistent = `false`
	)		throw (cDSAException, cSDHErrorCommunication)

Send command to set matrix threshold to threshold as integer [0 .. 4095] (0 is minimum, 4095 is maximum threshold). If do_all_matrices is true then the threshold is set for all matrices. If do_reset is true then the threshold is reset to the factory default. If do_persistent is true then the threshold is saved persistently to configuration memory and will thus remain after the next power off/power on cycle and will become the new factory default value. If do_persistent is false (default) then the value will be reset to default on the next power off/power on cycle

Warning:: PLEASE NOTE: the maximum write endurance of the configuration memory is about 100.000 times!

Raises a cDSAException in case of invalid responses from the remote DSACON32m controller.

Remarks:: Getting the matrix threshold is only possible if the DSACON32m firmware is R268 or above.

sTactileSensorFrame const& cDSA::UpdateFrame ( ) [inline]

read the tactile sensor frame from remote DSACON32m and return a reference to it. A command to query the frame (periodically) must have been sent before.

Definition at line 497 of file dsa.h.

double cDSA::VoltageToPressure ( double voltage ) [private]