#include <netft_rdt_driver.h>

Public Member Functions
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)
	Add device diagnostics status wrapper. More...

void	getData (geometry_msgs::WrenchStamped &data)
	Get newest RDT data from netFT device. More...

	NetFTRDTDriver (const std::string &address)

bool	waitForNewData (void)
	Wait for new NetFT data to arrive. More...

	~NetFTRDTDriver ()

Protected Types
enum	{ RDT_PORT =49152 }

Protected Member Functions
void	recvThreadFunc (void)

void	startStreaming (void)
	Asks NetFT to start streaming data. More...

Protected Attributes
std::string	address_

boost::condition	condition_

unsigned	diag_packet_count_
	Packet count last time diagnostics thread published output. More...

double	force_scale_
	Scaling factor for converting raw force values from device into Newtons. More...

boost::asio::io_service	io_service_

ros::Time	last_diag_pub_time_
	Last time diagnostics was published. More...

uint32_t	last_rdt_sequence_
	to keep track of out-of-order or duplicate packet More...

unsigned	lost_packets_
	Count of lost RDT packets using RDT sequence number. More...

boost::mutex	mutex_

geometry_msgs::WrenchStamped	new_data_
	Newest data received from netft device. More...

unsigned	out_of_order_count_
	Counts number of out-of-order (or duplicate) received packets. More...

unsigned	packet_count_
	Count number of received <good> packets. More...

boost::thread	recv_thread_

std::string	recv_thread_error_msg_
	Set if recv thread exited because of error. More...

bool	recv_thread_running_
	True if recv loop is still running. More...

unsigned	seq_counter_
	Incremental counter for wrench header. More...

boost::asio::ip::udp::socket	socket_

volatile bool	stop_recv_thread_

uint32_t	system_status_
	to keep track of any error codes reported by netft More...

double	torque_scale_
	Scaling factor for converting raw torque values into Newton*meters. More...

Detailed Description

Definition at line 50 of file netft_rdt_driver.h.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
RDT_PORT

Definition at line 74 of file netft_rdt_driver.h.

Constructor & Destructor Documentation

netft_rdt_driver::NetFTRDTDriver::NetFTRDTDriver ( const std::string & address )

Definition at line 128 of file netft_rdt_driver.cpp.

netft_rdt_driver::NetFTRDTDriver::~NetFTRDTDriver ( )

Definition at line 177 of file netft_rdt_driver.cpp.

Member Function Documentation

void netft_rdt_driver::NetFTRDTDriver::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & d )

Add device diagnostics status wrapper.

Definition at line 294 of file netft_rdt_driver.cpp.

void netft_rdt_driver::NetFTRDTDriver::getData ( geometry_msgs::WrenchStamped & data )

Get newest RDT data from netFT device.

Definition at line 286 of file netft_rdt_driver.cpp.

void netft_rdt_driver::NetFTRDTDriver::recvThreadFunc ( void )

protected

Definition at line 224 of file netft_rdt_driver.cpp.

void netft_rdt_driver::NetFTRDTDriver::startStreaming ( void )

protected

Asks NetFT to start streaming data.

Definition at line 210 of file netft_rdt_driver.cpp.

bool netft_rdt_driver::NetFTRDTDriver::waitForNewData ( void )

Wait for new NetFT data to arrive.

Definition at line 195 of file netft_rdt_driver.cpp.

Member Data Documentation

std::string netft_rdt_driver::NetFTRDTDriver::address_

protected

Definition at line 75 of file netft_rdt_driver.h.

boost::condition netft_rdt_driver::NetFTRDTDriver::condition_

protected

Definition at line 81 of file netft_rdt_driver.h.

unsigned netft_rdt_driver::NetFTRDTDriver::diag_packet_count_

protected

Packet count last time diagnostics thread published output.

Definition at line 105 of file netft_rdt_driver.h.

double netft_rdt_driver::NetFTRDTDriver::force_scale_

protected

Scaling factor for converting raw force values from device into Newtons.

Definition at line 100 of file netft_rdt_driver.h.

boost::asio::io_service netft_rdt_driver::NetFTRDTDriver::io_service_

protected

Definition at line 77 of file netft_rdt_driver.h.

ros::Time netft_rdt_driver::NetFTRDTDriver::last_diag_pub_time_

protected

Last time diagnostics was published.

Definition at line 107 of file netft_rdt_driver.h.

uint32_t netft_rdt_driver::NetFTRDTDriver::last_rdt_sequence_

protected

to keep track of out-of-order or duplicate packet

Definition at line 110 of file netft_rdt_driver.h.

unsigned netft_rdt_driver::NetFTRDTDriver::lost_packets_

protected

Count of lost RDT packets using RDT sequence number.

Definition at line 93 of file netft_rdt_driver.h.

boost::mutex netft_rdt_driver::NetFTRDTDriver::mutex_

protected

Definition at line 79 of file netft_rdt_driver.h.

geometry_msgs::WrenchStamped netft_rdt_driver::NetFTRDTDriver::new_data_

protected

Newest data received from netft device.

Definition at line 89 of file netft_rdt_driver.h.

unsigned netft_rdt_driver::NetFTRDTDriver::out_of_order_count_

protected

Counts number of out-of-order (or duplicate) received packets.

Definition at line 95 of file netft_rdt_driver.h.

unsigned netft_rdt_driver::NetFTRDTDriver::packet_count_

protected

Count number of received <good> packets.

Definition at line 91 of file netft_rdt_driver.h.

boost::thread netft_rdt_driver::NetFTRDTDriver::recv_thread_

protected

Definition at line 80 of file netft_rdt_driver.h.

std::string netft_rdt_driver::NetFTRDTDriver::recv_thread_error_msg_

protected

Set if recv thread exited because of error.

Definition at line 86 of file netft_rdt_driver.h.

bool netft_rdt_driver::NetFTRDTDriver::recv_thread_running_

protected

True if recv loop is still running.

Definition at line 84 of file netft_rdt_driver.h.

unsigned netft_rdt_driver::NetFTRDTDriver::seq_counter_

protected

Incremental counter for wrench header.

Definition at line 97 of file netft_rdt_driver.h.

boost::asio::ip::udp::socket netft_rdt_driver::NetFTRDTDriver::socket_

protected

Definition at line 78 of file netft_rdt_driver.h.

volatile bool netft_rdt_driver::NetFTRDTDriver::stop_recv_thread_

protected

Definition at line 82 of file netft_rdt_driver.h.

uint32_t netft_rdt_driver::NetFTRDTDriver::system_status_

protected

to keep track of any error codes reported by netft

Definition at line 112 of file netft_rdt_driver.h.

double netft_rdt_driver::NetFTRDTDriver::torque_scale_

protected

Scaling factor for converting raw torque values into Newton*meters.

Definition at line 102 of file netft_rdt_driver.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation