Classes | |
| class | SVHControlCommand |
| ControlCommands are given as a single target position for the position controller (given in ticks) More... | |
| class | SVHControlCommandAllChannels |
| Structure for transmitting all controllcommands at once. More... | |
| class | SVHController |
| This class controls the the SCHUNK five finger hand. More... | |
| struct | SVHControllerFeedback |
| The SVHControllerFeedback saves the feedback of a single motor. More... | |
| struct | SVHControllerFeedbackAllChannels |
| The SVHControllerFeedbackAllChannes saves the feedback of a all motors. More... | |
| struct | SVHControllerState |
| The SVHControllerState indicates the current state of the MeCoVis controller IC which is used in the SVH. More... | |
| struct | SVHCurrentSettings |
| The SVHCurrentSettings save the current controller paramters for a single motor. More... | |
| struct | SVHEncoderSettings |
| The SVHEncoderSettings hold the settings for the encoder scaling of each channel. More... | |
| class | SVHFeedbackPollingThread |
| Thread for periodically requesting feedback messages from the SCHUNK five finger hand. More... | |
| class | SVHFingerManager |
| struct | SVHFirmwareInfo |
| The SVHFirmwareInfo holds the data of a firmware response from the hardware. More... | |
| struct | SVHHomeSettings |
| data sctructure for home positions More... | |
| struct | SVHPositionSettings |
| The SVHPositionSettings save the position controller paramters for a single motor. More... | |
| class | SVHReceiveThread |
| Thread for receiving messages from the serial device. More... | |
| class | SVHSerialInterface |
| Basic communication handler for the SCHUNK five finger hand. More... | |
| struct | SVHSerialPacket |
| The SerialPacket holds the (non generated) header and data of one message to the SVH-Hardware. More... | |
Typedefs | |
| typedef boost::function< void(const SVHSerialPacket &packet, unsigned int packet_count)> | ReceivedPacketCallback |
| definition of boost function callback for received packages | |
Enumerations | |
| enum | SVHChannel { eSVH_ALL = -1, eSVH_THUMB_FLEXION = 0, eSVH_THUMB_OPPOSITION, eSVH_INDEX_FINGER_DISTAL, eSVH_INDEX_FINGER_PROXIMAL, eSVH_MIDDLE_FINGER_DISTAL, eSVH_MIDDLE_FINGER_PROXIMAL, eSVH_RING_FINGER, eSVH_PINKY, eSVH_FINGER_SPREAD, eSVH_DIMENSION } |
| Channel indicates which motor to use in command calls. WARNING: DO NOT CHANGE THE ORDER OF THESE as it represents the hardware mapping. More... | |
Functions | |
| DECLARE_LOG_STREAM (DriverSVH) | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHSerialPacket &data) |
| overload stream operator to easily serialize raw packet data | |
| std::ostream & | operator<< (std::ostream &o, const SVHSerialPacket &sp) |
| Output Stream operator for easy printing of packet data. | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, SVHFirmwareInfo &data) |
| overload stream operator to easily serialize firmware data | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHEncoderSettings &data) |
| overload stream operator to easily serialize encoder scaling data | |
| std::ostream & | operator<< (std::ostream &o, const SVHEncoderSettings &es) |
| Output Stream operator for easy output of the encoder scalings. | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHControllerState &data) |
| overload stream operator to easily serialize controller state data | |
| std::ostream & | operator<< (std::ostream &o, const SVHFirmwareInfo &fw) |
| Output Stream operator for easy output of the firmware information. | |
| std::ostream & | operator<< (std::ostream &o, const SVHControllerState &cs) |
| Output Stream operator to easily output controller state data. | |
| std::ostream & | operator<< (std::ostream &o, const SVHHomeSettings &hs) |
| Output stream operator to easily print position settings. | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHControlCommand &data) |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHControllerFeedback &data) |
| Overload stream operator to easily serialize feedback data. | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHCurrentSettings &data) |
| overload stream operator to easily serialize current settings data | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHPositionSettings &data) |
| overload stream operator to easily serialize position settings data | |
| std::ostream & | operator<< (std::ostream &o, const SVHControlCommand &cc) |
| Output Stream operator for fast debugging. | |
| std::ostream & | operator<< (std::ostream &o, const SVHControllerFeedback &cf) |
| Output stream operator for easy output of feedback data. | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, const SVHControlCommandAllChannels &data) |
| overload stream operator to easily serialize control commands for all channels | |
| icl_comm::ArrayBuilder & | operator<< (icl_comm::ArrayBuilder &ab, SVHControllerFeedbackAllChannels &data) |
| Overload stream operator to easily serialize all channel feedback data. | |
| std::ostream & | operator<< (std::ostream &o, const SVHPositionSettings &ps) |
| Output stream operator to easily print position settings. | |
| std::ostream & | operator<< (std::ostream &o, const SVHCurrentSettings &cs) |
| Output stream operator for easy output of current settings. | |
| std::ostream & | operator<< (std::ostream &o, const SVHControlCommandAllChannels &cc) |
| Output Stream operator of all channels control command. | |
| std::ostream & | operator<< (std::ostream &o, const SVHControllerFeedbackAllChannels &cf) |
| Output stream operator for easy output of all channel feedback data. | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHSerialPacket &data) |
| overload stream operator to easily deserialize raw packet data | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHEncoderSettings &data) |
| overload stream operator to easily serialize encoder scaling data | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHFirmwareInfo &data) |
| overload stream operator to easily serialize firmware data | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHControllerState &data) |
| overload stream operator to easily serialize controller state data | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHControlCommand &data) |
| overload stream operator to easily deserialize control commands for one channel | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHControllerFeedback &data) |
| Overload stream operator to easily deserialize feedback data. | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHPositionSettings &data) |
| overload stream operator to easily deserialize position settings data | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHCurrentSettings &data) |
| overload stream operator to easily serialize current settings data | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHControlCommandAllChannels &data) |
| overload stream operator to easily deserialize control commands for all channels | |
| icl_comm::ArrayBuilder & | operator>> (icl_comm::ArrayBuilder &ab, SVHControllerFeedbackAllChannels &data) |
| Overload stream operator to easily deserialize all channel feedback data. | |
| REGISTER_LOG_STREAM (DriverSVH) | |
Variables | |
| const size_t | cDEFAULT_PACKET_SIZE = 48 |
| Default packet payload size in bytes. | |
| const size_t | cPACKET_APPENDIX_SIZE = 8 |
| The packet overhead size in bytes. | |
| const uint8_t | PACKET_HEADER1 = 0x4C |
| Header sync byte 1. | |
| const uint8_t | PACKET_HEADER2 = 0xAA |
| Header sync byte 2. | |
| const uint8_t | SVH_GET_CONTROL_FEEDBACK = 0x00 |
| Request the position and current of a channel to be sent. | |
| const uint8_t | SVH_GET_CONTROL_FEEDBACK_ALL = 0x02 |
| Requests the positions and currents of ALL channels. | |
| const uint8_t | SVH_GET_CONTROLLER_STATE = 0x08 |
| Requests the state of the controller (active,faults,enabled channels) | |
| const uint8_t | SVH_GET_CURRENT_SETTINGS = 0x06 |
| Requests the active settings of the current controller. | |
| const uint8_t | SVH_GET_ENCODER_VALUES = 0x0A |
| Request the current encoder scalings. | |
| const uint8_t | SVH_GET_FIRMWARE_INFO = 0x0C |
| Request the firmware info to be transmitted. | |
| const uint8_t | SVH_GET_POSITION_SETTINGS = 0x04 |
| Requests the active settings of the position controller. | |
| const uint8_t | SVH_SET_CONTROL_COMMAND = 0x01 |
| Sets the target position of a channel. | |
| const uint8_t | SVH_SET_CONTROL_COMMAND_ALL = 0x03 |
| Sends the target position to ALL the channels. | |
| const uint8_t | SVH_SET_CONTROLLER_STATE = 0x09 |
| Sets new controller states (enable channels, clear faults) | |
| const uint8_t | SVH_SET_CURRENT_SETTINGS = 0x07 |
| Sets new settings for the current controller. | |
| const uint8_t | SVH_SET_ENCODER_VALUES = 0x0B |
| Set new encoder scalings. | |
| const uint8_t | SVH_SET_POSITION_SETTINGS = 0x05 |
| Sets new settings for the position controller. | |
| typedef boost::function<void (const SVHSerialPacket& packet, unsigned int packet_count)> driver_svh::ReceivedPacketCallback |
definition of boost function callback for received packages
Definition at line 51 of file SVHReceiveThread.h.
Channel indicates which motor to use in command calls. WARNING: DO NOT CHANGE THE ORDER OF THESE as it represents the hardware mapping.
Definition at line 56 of file SVHController.h.
| driver_svh::DECLARE_LOG_STREAM | ( | DriverSVH | ) |
| icl_comm::ArrayBuilder & driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHSerialPacket & | data | ||
| ) |
overload stream operator to easily serialize raw packet data
Definition at line 33 of file SVHSerialPacket.cpp.
| std::ostream & driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHSerialPacket & | sp | ||
| ) |
Output Stream operator for easy printing of packet data.
Definition at line 47 of file SVHSerialPacket.cpp.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| SVHFirmwareInfo & | data | ||
| ) | [inline] |
overload stream operator to easily serialize firmware data
Definition at line 54 of file SVHFirmwareInfo.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHEncoderSettings & | data | ||
| ) | [inline] |
overload stream operator to easily serialize encoder scaling data
Definition at line 61 of file SVHEncoderSettings.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHEncoderSettings & | es | ||
| ) | [inline] |
Output Stream operator for easy output of the encoder scalings.
Definition at line 77 of file SVHEncoderSettings.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHControllerState & | data | ||
| ) | [inline] |
overload stream operator to easily serialize controller state data
Definition at line 79 of file SVHControllerState.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHFirmwareInfo & | fw | ||
| ) | [inline] |
Output Stream operator for easy output of the firmware information.
Definition at line 95 of file SVHFirmwareInfo.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHControllerState & | cs | ||
| ) | [inline] |
Output Stream operator to easily output controller state data.
Definition at line 104 of file SVHControllerState.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHHomeSettings & | hs | ||
| ) | [inline] |
Output stream operator to easily print position settings.
Definition at line 114 of file SVHHomeSettings.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHControlCommand & | data | ||
| ) | [inline] |
overload stream operator to easily serialize control commands for one channel slightly uneccessary at this point but put in anayway for the time it`s needed
Definition at line 122 of file SVHControlCommand.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHControllerFeedback & | data | ||
| ) | [inline] |
Overload stream operator to easily serialize feedback data.
Definition at line 125 of file SVHControllerFeedback.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHCurrentSettings & | data | ||
| ) | [inline] |
overload stream operator to easily serialize current settings data
Definition at line 127 of file SVHCurrentSettings.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHPositionSettings & | data | ||
| ) | [inline] |
overload stream operator to easily serialize position settings data
Definition at line 127 of file SVHPositionSettings.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHControlCommand & | cc | ||
| ) | [inline] |
Output Stream operator for fast debugging.
Definition at line 137 of file SVHControlCommand.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHControllerFeedback & | cf | ||
| ) | [inline] |
Output stream operator for easy output of feedback data.
Definition at line 142 of file SVHControllerFeedback.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| const SVHControlCommandAllChannels & | data | ||
| ) | [inline] |
overload stream operator to easily serialize control commands for all channels
Definition at line 144 of file SVHControlCommand.h.
| icl_comm::ArrayBuilder& driver_svh::operator<< | ( | icl_comm::ArrayBuilder & | ab, |
| SVHControllerFeedbackAllChannels & | data | ||
| ) | [inline] |
Overload stream operator to easily serialize all channel feedback data.
Definition at line 150 of file SVHControllerFeedback.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHPositionSettings & | ps | ||
| ) | [inline] |
Output stream operator to easily print position settings.
Definition at line 159 of file SVHPositionSettings.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHCurrentSettings & | cs | ||
| ) | [inline] |
Output stream operator for easy output of current settings.
Definition at line 161 of file SVHCurrentSettings.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHControlCommandAllChannels & | cc | ||
| ) | [inline] |
Output Stream operator of all channels control command.
Definition at line 167 of file SVHControlCommand.h.
| std::ostream& driver_svh::operator<< | ( | std::ostream & | o, |
| const SVHControllerFeedbackAllChannels & | cf | ||
| ) | [inline] |
Output stream operator for easy output of all channel feedback data.
Definition at line 183 of file SVHControllerFeedback.h.
| icl_comm::ArrayBuilder & driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHSerialPacket & | data | ||
| ) |
overload stream operator to easily deserialize raw packet data
Definition at line 39 of file SVHSerialPacket.cpp.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHEncoderSettings & | data | ||
| ) | [inline] |
overload stream operator to easily serialize encoder scaling data
Definition at line 69 of file SVHEncoderSettings.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHFirmwareInfo & | data | ||
| ) | [inline] |
overload stream operator to easily serialize firmware data
Definition at line 74 of file SVHFirmwareInfo.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHControllerState & | data | ||
| ) | [inline] |
overload stream operator to easily serialize controller state data
Definition at line 91 of file SVHControllerState.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHControlCommand & | data | ||
| ) | [inline] |
overload stream operator to easily deserialize control commands for one channel
Definition at line 130 of file SVHControlCommand.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHControllerFeedback & | data | ||
| ) | [inline] |
Overload stream operator to easily deserialize feedback data.
Definition at line 134 of file SVHControllerFeedback.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHPositionSettings & | data | ||
| ) | [inline] |
overload stream operator to easily deserialize position settings data
Definition at line 143 of file SVHPositionSettings.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHCurrentSettings & | data | ||
| ) | [inline] |
overload stream operator to easily serialize current settings data
Definition at line 143 of file SVHCurrentSettings.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHControlCommandAllChannels & | data | ||
| ) | [inline] |
overload stream operator to easily deserialize control commands for all channels
Definition at line 156 of file SVHControlCommand.h.
| icl_comm::ArrayBuilder& driver_svh::operator>> | ( | icl_comm::ArrayBuilder & | ab, |
| SVHControllerFeedbackAllChannels & | data | ||
| ) | [inline] |
Overload stream operator to easily deserialize all channel feedback data.
Definition at line 167 of file SVHControllerFeedback.h.
| driver_svh::REGISTER_LOG_STREAM | ( | DriverSVH | ) |
| const size_t driver_svh::cDEFAULT_PACKET_SIZE = 48 |
Default packet payload size in bytes.
Definition at line 42 of file SVHSerialPacket.h.
| const size_t driver_svh::cPACKET_APPENDIX_SIZE = 8 |
The packet overhead size in bytes.
Definition at line 41 of file SVHSerialPacket.h.
| const uint8_t driver_svh::PACKET_HEADER1 = 0x4C |
Header sync byte 1.
Definition at line 45 of file SVHSerialPacket.h.
| const uint8_t driver_svh::PACKET_HEADER2 = 0xAA |
Header sync byte 2.
Definition at line 46 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_GET_CONTROL_FEEDBACK = 0x00 |
Request the position and current of a channel to be sent.
Definition at line 49 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_GET_CONTROL_FEEDBACK_ALL = 0x02 |
Requests the positions and currents of ALL channels.
Definition at line 51 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_GET_CONTROLLER_STATE = 0x08 |
Requests the state of the controller (active,faults,enabled channels)
Definition at line 57 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_GET_CURRENT_SETTINGS = 0x06 |
Requests the active settings of the current controller.
Definition at line 55 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_GET_ENCODER_VALUES = 0x0A |
Request the current encoder scalings.
Definition at line 59 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_GET_FIRMWARE_INFO = 0x0C |
Request the firmware info to be transmitted.
Definition at line 61 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_GET_POSITION_SETTINGS = 0x04 |
Requests the active settings of the position controller.
Definition at line 53 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_SET_CONTROL_COMMAND = 0x01 |
Sets the target position of a channel.
Definition at line 50 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_SET_CONTROL_COMMAND_ALL = 0x03 |
Sends the target position to ALL the channels.
Definition at line 52 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_SET_CONTROLLER_STATE = 0x09 |
Sets new controller states (enable channels, clear faults)
Definition at line 58 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_SET_CURRENT_SETTINGS = 0x07 |
Sets new settings for the current controller.
Definition at line 56 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_SET_ENCODER_VALUES = 0x0B |
Set new encoder scalings.
Definition at line 60 of file SVHSerialPacket.h.
| const uint8_t driver_svh::SVH_SET_POSITION_SETTINGS = 0x05 |
Sets new settings for the position controller.
Definition at line 54 of file SVHSerialPacket.h.