#include <ati_force_torque_hw_rs485.h>

Inheritance diagram for ATIForceTorqueSensorHWRS485:

Public Member Functions
	ATIForceTorqueSensorHWRS485 ()

	ATIForceTorqueSensorHWRS485 (std::string device_path, int device_baudrate, int base_identifier)

bool	Close ()

virtual bool	init ()

virtual bool	initCommunication (int type, std::string path, int baudrate, int base_identifier)

bool	ReadFTCalibrationData (const unsigned int calibrationNumber=1)

virtual bool	readFTData (int statusCode, double &Fx, double &Fy, double &Fz, double &Tx, double &Ty, double &Tz)

bool	ReadSessionID (uint16_t &sessionID) const

bool	ReadStatusWord () const

bool	Reset ()

bool	SetActiveGain (const uint16_t ag0, const uint16_t ag1, const uint16_t ag2, const uint16_t ag3, const uint16_t ag4, const uint16_t ag5) const

bool	SetActiveOffset (const uint16_t ao0, const uint16_t ao1, const uint16_t ao2, const uint16_t ao3, const uint16_t ao4, const uint16_t ao5) const

bool	SetBaudRate (const int value, const bool setVolatile=true)

void	SetCalibMatrix (const float(&matrix)[6][6])

bool	SetSessionID (const uint16_t sessionID)

bool	StartStreaming ()

bool	StopStreaming ()

void	StrainGaugeToForce (const int &sg0, const int &sg1, const int &sg2, const int &sg3, const int &sg4, const int &sg5)

virtual	~ATIForceTorqueSensorHWRS485 ()

Public Member Functions inherited from hardware_interface::ForceTorqueSensorHW
	ForceTorqueSensorHW ()

	ForceTorqueSensorHW (int type, std::string path, int baudrate, int base_identifier)

virtual bool	readDiagnosticADCVoltages (int index, short int &value)

virtual	~ForceTorqueSensorHW ()

Protected Member Functions
bool	initRS485 ()

bool	OpenRawConnection ()

bool	ReadData ()

void	ReadDataLoop ()

bool	SendStopSequence ()

bool	SetStorageLock (const bool lock) const

bool	ValidateFTData (const uint8_t(&buf)[26]) const

Private Attributes
unsigned int	bufferSize = 0

long unsigned int	bytesRead

std::string	forceUnitStr

ros::Time	lastValidTimeStamp

GageVector	m_buffer

std::mutex	m_buffer_mutex

long unsigned int	m_bufferTimeout = 10000000

CalibrationData	m_calibrationData

bool	m_isStreaming = false

uint8_t	m_ModbusBaseIdentifier

int	m_ModbusBaudrate

modbus_t *	m_modbusCtrl

Eigen::MatrixXf	m_mXCalibMatrix

boost::thread	m_readThread

int	m_rs485

std::string	m_RS485Device

Eigen::MatrixXf	m_vForceData

ros::Time	readStart

uint8_t	streamBuf [26]

std::string	torqueUnitStr

Detailed Description

Definition at line 130 of file ati_force_torque_hw_rs485.h.

Constructor & Destructor Documentation

ATIForceTorqueSensorHWRS485::ATIForceTorqueSensorHWRS485 ( )

By default, the baudrate is set to 1.250.000

Definition at line 73 of file ati_force_torque_hw_rs485.cpp.

ATIForceTorqueSensorHWRS485::ATIForceTorqueSensorHWRS485	(	std::string	device_path,
		int	device_baudrate,
		int	base_identifier
	)

Parameters

device_path
device_baudrate
base_identifier

Definition at line 84 of file ati_force_torque_hw_rs485.cpp.

ATIForceTorqueSensorHWRS485::~ATIForceTorqueSensorHWRS485 ( )

virtual

Standard destructor. Closes all active connections

Definition at line 94 of file ati_force_torque_hw_rs485.cpp.

Member Function Documentation

bool ATIForceTorqueSensorHWRS485::Close ( )

Closes the current modbus communication with the sensor

Returns: Returns true if the operation was successful

Definition at line 640 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::init ( )

virtual

Initializes communication with the sensor using the current configuration, reads calibration data and sets the calibration matrix Use initCommunication(...) prior to this, in order to set the communication parameters

Returns: True, if the initialization was successful

Reimplemented from hardware_interface::ForceTorqueSensorHW.

Definition at line 124 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::initCommunication	(	int	type,
		std::string	path,
		int	baudrate,
		int	base_identifier
	)

virtual

Sets the parameters used for Modbus communication

Parameters

type	Not used in this implementation
path	Device path on the system
baudrate	Baudrate, with which to communicate. Will only accept 1250000, 115200 or 19200
base_identifier	Sensor ID. Default value is 0xA

Returns: True, if all parameters were valid

Reimplemented from hardware_interface::ForceTorqueSensorHW.

Definition at line 106 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::initRS485 ( )

protected

Openes modbus connection to the sensor

Returns: Returns true, if the operation was successful

Definition at line 175 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::OpenRawConnection ( )

protected

Definition at line 770 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::ReadData ( )

protected

Reads a set of force torque measurements in the form of a GageVector from the connected sensor and stores it in the local m_buffer variable

Returns: Returns true, if the operation was successful. Returns false if the checksum was invalid or no data was received

Definition at line 853 of file ati_force_torque_hw_rs485.cpp.

void ATIForceTorqueSensorHWRS485::ReadDataLoop ( )

protected

Definition at line 833 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::ReadFTCalibrationData ( const unsigned int calibrationNumber = 1 )

Reads the calibration data from the FT sensor and stores it

@param calibrationNumber: The register number of the calibration data to read. Can be set to a value between 1 and 16, according to 8.3.2

Returns: Returns true, if the operation was successful

Definition at line 250 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::readFTData	(	int	statusCode,
		double &	Fx,
		double &	Fy,
		double &	Fz,
		double &	Tx,
		double &	Ty,
		double &	Tz
	)

virtual

Parameters

statusCode
Fx
Fy
Fz
Tx
Ty
Tz

Returns

Reimplemented from hardware_interface::ForceTorqueSensorHW.

Definition at line 689 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::ReadSessionID ( uint16_t & sessionID ) const

Parameters

sessionID

Returns

Definition at line 667 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::ReadStatusWord ( ) const

Reads the current status from the sensor This should be done after an error occurred, to determine the exact cause of the problem The result will then be printed to the console

Returns: Returns true if the status word could be read successfully

Definition at line 492 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::Reset ( )

Closes the current connection (if open) and opens a new connection

Returns: Returns true if the operation was successful

Definition at line 624 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::SendStopSequence ( )

protected

Definition at line 952 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::SetActiveGain	(	const uint16_t	ag0,
		const uint16_t	ag1,
		const uint16_t	ag2,
		const uint16_t	ag3,
		const uint16_t	ag4,
		const uint16_t	ag5
	)		const

Transmits the active gain values to the sensor. You need to unlock the storage lock first before being able to set the values

Parameters

ag0
ag1
ag2
ag3
ag4
ag5

Returns

Definition at line 459 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::SetActiveOffset	(	const uint16_t	ao0,
		const uint16_t	ao1,
		const uint16_t	ao2,
		const uint16_t	ao3,
		const uint16_t	ao4,
		const uint16_t	ao5
	)		const

Transmits the active offset values to the sensor. You need to unlock the storage lock first before being able to set the values

Parameters

ao0
ao1
ao2
ao3
ao4
ao5

Returns

Definition at line 476 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::SetBaudRate	(	const int	value,
		const bool	setVolatile = `true`
	)

Set the communication baudrate of the sensor If the baudrate change was successful, resets the communication and creates a new connection using the given baudrate

Parameters

value	The baurate (in baud/sec). Allowed values are: 1250000, 115200, 19200
setVolatile	if this flag is set, the baudrate will only be changed for this current session. If not, the sensor's baudrate will be changed permanently

Returns: Returns true if the operation was successful

Definition at line 570 of file ati_force_torque_hw_rs485.cpp.

void ATIForceTorqueSensorHWRS485::SetCalibMatrix ( const float(&) matrix[6][6] )

Sets the calibration matrix

Parameters

matrix the new calibration matrix as a floating point array

Definition at line 992 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::SetSessionID ( const uint16_t sessionID )

Parameters

sessionID

Returns

Definition at line 648 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::SetStorageLock ( const bool lock ) const

protected

Sets the storage mode of the connected sensor (according to specifications in 8.3.1. of the sensor's use manual)

Parameters

lock	True, to lock the sensor's storage, false to unlock it

Returns: Returns true, if the operation was successful

Definition at line 424 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::StartStreaming ( )

Returns

Definition at line 730 of file ati_force_torque_hw_rs485.cpp.

bool ATIForceTorqueSensorHWRS485::StopStreaming ( )

Returns

Definition at line 938 of file ati_force_torque_hw_rs485.cpp.

void ATIForceTorqueSensorHWRS485::StrainGaugeToForce	(	const int &	sg0,
		const int &	sg1,
		const int &	sg2,
		const int &	sg3,
		const int &	sg4,
		const int &	sg5
	)