#include <SVHFingerManager.h>

Public Types
enum	Hints { eHT_DEVICE_NOT_FOUND, eHT_CONNECTION_FAILED, eHT_NOT_RESETTED, eHT_NOT_CONNECTED, eHT_RESET_FAILED, eHT_CHANNEL_SWITCHED_OF, eHT_DANGEROUS_CURRENTS, eHT_DIMENSION }
	The Hints enum provides mapping to hints that can be sent to the web-diagnostic interface. More...

enum	MovementState { eST_DEACTIVATED, eST_RESETTING, eST_RESETTED, eST_ENABLED, eST_PARTIALLY_ENABLED, eST_FAULT, eST_DIMENSION }
	The MovementState enum indicated the overall state of the hand. Currently only used for updating the status websocket. More...

Public Member Functions
bool	connect (const std::string &dev_name="/dev/ttyUSB0", const unsigned int &_retry_count=3)
	Open connection to SCHUNK five finger hand. Wait until expected return packages are received. More...

void	disableChannel (const SVHChannel &channel)
	disable controller of channel More...

void	disconnect ()
	disconnect SCHUNK five finger hand More...

bool	enableChannel (const SVHChannel &channel)
	enable controller of channel More...

bool	getCurrent (const SVHChannel &channel, double &current)
	returns current value of channel More...

bool	getCurrentSettings (const SVHChannel &channel, SVHCurrentSettings &current_settings)
	returns actual current controller settings of channel More...

std::vector< SVHCurrentSettings >	getDefaultCurrentSettings ()
	get default current settings. These are either values previously set from calling software or hardcoded defaults More...

std::vector< SVHPositionSettings >	getDefaultPositionSettings (const bool &reset=false)
	get default position settings. These are either values previously set from calling software or hardcoded defaults reset true if the Positions settins are to be used during reset (reduced speed) More...

SVHFirmwareInfo	getFirmwareInfo ()
	getFirmwareInfo Requests the firmware information from the harware, waits a bit and returns the last one read More...

bool	getPosition (const SVHChannel &channel, double &position)
	returns position value of channel (will not acces hardware but return latest value) More...

bool	getPositionSettings (const SVHChannel &channel, SVHPositionSettings &position_settings)
	returns actual position controller settings of channel More...

bool	isConnected ()
	returns connected state of finger manager More...

bool	isEnabled (const SVHChannel &channel)
	returns true, if current channel has been enabled More...

bool	isHomed (const SVHChannel &channel)
	returns true, if current channel has been resetted More...

bool	requestControllerFeedback (const SVHChannel &channel)
	send request controller feedback paket More...

bool	requestControllerFeedbackAllChannels ()
	sends request controller feedback packet for all channels More...

void	requestControllerState ()

bool	resetChannel (const SVHChannel &channel)
	reset function for channel More...

bool	setAllTargetPositions (const std::vector< double > &positions)
	set all target positions at once More...

bool	setCurrentSettings (const SVHChannel &channel, const SVHCurrentSettings &current_settings)
	overwrite current parameters More...

void	setDefaultHomeSettings ()
	initialize the homing settings with hardcoded defaults. These can be overwritten by the setHomeSettings function More...

bool	setHomeSettings (const SVHChannel &channel, const SVHHomeSettings &home_settings)
	setHomeSettings set the home Settings which are maily used doring reset and provide the soft limit for the fingers More...

void	setMovementState (const MovementState &state)
	setMovementState Updates the movement state of the overll hand indicating the overall status More...

bool	setPositionSettings (const SVHChannel &channel, const SVHPositionSettings &position_settings)
	overwrite position parameters More...

void	setResetSpeed (const float &speed)
	setResetSpeed Set the speed percentage during reset More...

void	setResetTimeout (const int &resetTimeout)
	setResetTimeout Helper function to set the timout durind rest of fingers More...

bool	setTargetPosition (const SVHChannel &channel, double position, double current)
	set target position of a channel More...

	SVHFingerManager (const std::vector< bool > &disable_mask=std::vector< bool >(9, false), const uint32_t &reset_timeout=5)

virtual	~SVHFingerManager ()

Private Member Functions
int32_t	convertRad2Ticks (const SVHChannel &channel, const double &position)
	Converts joint positions of a specific channel from RAD to ticks factoring in the offset of the channels. More...

double	convertTicks2Rad (const SVHChannel &channel, const int32_t &ticks)
	Converts joint positions of a specific channel from ticks to RAD factoring in the offset of the channels. More...

bool	currentSettingsAreSafe (const SVHChannel &channel, const SVHCurrentSettings &current_settings)
	currentSettingsAreSafe helper function to check for the most important values of the current settings More...

bool	isInsideBounds (const SVHChannel &channel, const int32_t &target_position)
	Check bounds of target positions. More...

Private Attributes
SVHControllerFeedback	debug_feedback

bool	m_connected
	holds the connected state More...

bool	m_connection_feedback_given
	Helper variable to check if feedback was printed (will be replaced by a better solution in the future) More...

SVHController *	m_controller
	pointer to svh controller More...

std::vector< SVHCurrentSettings >	m_current_settings
	Vector of current controller parameters for each finger (as given by external config) More...

std::vector< bool >	m_current_settings_given
	Information about the validity of externaly given values for the current settings (easier to use this way) More...

SVHFeedbackPollingThread *	m_feedback_thread
	pointer to svh controller More...

std::vector< SVHHomeSettings >	m_home_settings
	Vector of home settings for each finger (as given by external config) More...

int8_t	m_homing_timeout
	vector storing reset flags for each finger More...

std::vector< bool >	m_is_homed
	vector storing reset flags for each channel More...

std::vector< bool >	m_is_switched_off
	vector storing information if a finger is enabled. In Case it is all request for it will be granted but not executed on hardware More...

MovementState	m_movement_state
	Overall movement State to indicate what the hand is doing at the moment. More...

std::vector< int32_t >	m_position_home
	home position after complete reset of each channel More...

std::vector< int32_t >	m_position_max
	max position vector for each channel More...

std::vector< int32_t >	m_position_min
	min position vector for each channel More...

std::vector< SVHPositionSettings >	m_position_settings
	Vector of position controller parameters for each finger (as given by external config) More...

std::vector< bool >	m_position_settings_given
	Information about the validity of externaly given values for the position settings (easier to use this way) More...

std::vector< double >	m_reset_current_factor
	Vector containing factors for the currents at reset. Vector containing factors for the currents at reset. A hard stop is found if the maxCurrent (first 2 CurrentSettingsValues) x the reset factor was reached. 0.75 by default Beware. Setting this value very high might result in damage to the motors during reset. More...

std::vector< SVHChannel >	m_reset_order
	vector storing the reset order of the channels More...

float	m_reset_speed_factor
	Factor for determining the finger speed during reset. Only 0.0-1.0 is allowed. More...

uint32_t	m_reset_timeout
	Time in seconds after which the a reset is aborted if no change in current is observable. More...

std::string	m_serial_device
	m_serial_device Device handle of the device to use, is overwritten if connect is called with an argument More...

std::vector< double >	m_ticks2rad
	position conversion factor (ticks to RAD) for each channel More...

boost::shared_ptr< icl_comm::websocket::WsBroadcaster >	m_ws_broadcaster
	Websocket handle for updating diagnostic backend (OPTIONAL) More...

Detailed Description

This class manages controller parameters and the finger reset.

Definition at line 63 of file SVHFingerManager.h.

Member Enumeration Documentation

enum driver_svh::SVHFingerManager::Hints

The Hints enum provides mapping to hints that can be sent to the web-diagnostic interface.

Enumerator
eHT_DEVICE_NOT_FOUND
eHT_CONNECTION_FAILED
eHT_NOT_RESETTED
eHT_NOT_CONNECTED
eHT_RESET_FAILED
eHT_CHANNEL_SWITCHED_OF
eHT_DANGEROUS_CURRENTS
eHT_DIMENSION

Definition at line 84 of file SVHFingerManager.h.

enum driver_svh::SVHFingerManager::MovementState

The MovementState enum indicated the overall state of the hand. Currently only used for updating the status websocket.

Enumerator
eST_DEACTIVATED
eST_RESETTING
eST_RESETTED
eST_ENABLED
eST_PARTIALLY_ENABLED
eST_FAULT
eST_DIMENSION

Definition at line 70 of file SVHFingerManager.h.

Constructor & Destructor Documentation

driver_svh::SVHFingerManager::SVHFingerManager	(	const std::vector< bool > &	disable_mask = `std::vector<bool>(9,false)`,
		const uint32_t &	reset_timeout = `5`
	)

Constructs a finger manager for the SCHUNK five finger hand.

Parameters

autostart	if set to true, the driver will immediately connect to the hardware and try to reset all fingers
dev_name	the dev to use for autostart. Default is /dev/ttyUSB0

Definition at line 42 of file SVHFingerManager.cpp.

driver_svh::SVHFingerManager::~SVHFingerManager ( )

virtual

Definition at line 113 of file SVHFingerManager.cpp.

Member Function Documentation

bool driver_svh::SVHFingerManager::connect	(	const std::string &	dev_name = `"/dev/ttyUSB0"`,
		const unsigned int &	_retry_count = `3`
	)

Open connection to SCHUNK five finger hand. Wait until expected return packages are received.

Parameters

dev_name	file handle of the serial device e.g. "/dev/ttyUSB0"
_retry_count	The number of times a connection is tried to be established if at least one package was received

Returns: true if connection was succesful

Definition at line 127 of file SVHFingerManager.cpp.

int32_t driver_svh::SVHFingerManager::convertRad2Ticks	(	const SVHChannel &	channel,
		const double &	position
	)

private

Converts joint positions of a specific channel from RAD to ticks factoring in the offset of the channels.

Parameters

channel	Channel to Convert for (each one has different offset)
position	The desired position given in RAD

Returns: The tick value corresponing to the RAD input

Definition at line 1320 of file SVHFingerManager.cpp.

double driver_svh::SVHFingerManager::convertTicks2Rad	(	const SVHChannel &	channel,
		const int32_t &	ticks
	)

private

Converts joint positions of a specific channel from ticks to RAD factoring in the offset of the channels.

Parameters

channel	Channel to Convert for (each one has different offset)
ticks	The current position in ticks

Returns: the RAD Value corresponding to the tick value of a given channel

Definition at line 1337 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::currentSettingsAreSafe	(	const SVHChannel &	channel,
		const SVHCurrentSettings &	current_settings
	)

private

currentSettingsAreSafe helper function to check for the most important values of the current settings

Parameters

channel	the channel the settings are meant for
current_settings	the settings to evaluate

Returns: true if they are "reasonable safe". Only the most vile settings will be rejected!

Definition at line 1033 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::disableChannel ( const SVHChannel & channel )

disable controller of channel

Parameters

channel channel to disable

Definition at line 627 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::disconnect ( )

disconnect SCHUNK five finger hand

Definition at line 288 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::enableChannel ( const SVHChannel & channel )

enable controller of channel

Parameters

channel channel to enable

Returns: true if the enabling was successful

Definition at line 580 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getCurrent	(	const SVHChannel &	channel,
		double &	current
	)

returns current value of channel

Parameters

channel	channel to get the current of
current	current of the given channel in [mA]

Returns: bool true if a valid result was requested (i.e. an existing channel)

Definition at line 790 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getCurrentSettings	(	const SVHChannel &	channel,
		SVHCurrentSettings &	current_settings
	)

returns actual current controller settings of channel

Parameters

channel	channel to get the current controller settings for
current_settings	settings currently active for the current controller

Returns: true if a valid result was requested (i.e. an existing channel)

Definition at line 1007 of file SVHFingerManager.cpp.

std::vector< SVHCurrentSettings > driver_svh::SVHFingerManager::getDefaultCurrentSettings ( )

get default current settings. These are either values previously set from calling software or hardcoded defaults

Definition at line 1195 of file SVHFingerManager.cpp.

std::vector< SVHPositionSettings > driver_svh::SVHFingerManager::getDefaultPositionSettings ( const bool & reset = false )

get default position settings. These are either values previously set from calling software or hardcoded defaults reset true if the Positions settins are to be used during reset (reduced speed)

returns parameters for position settings either the default ones or parameters that have been set from outside

Definition at line 1240 of file SVHFingerManager.cpp.

SVHFirmwareInfo driver_svh::SVHFingerManager::getFirmwareInfo ( )

getFirmwareInfo Requests the firmware information from the harware, waits a bit and returns the last one read

Returns: the last firmware information read (this may not be the one currently requested)

Definition at line 1379 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getPosition	(	const SVHChannel &	channel,
		double &	position
	)

returns position value of channel (will not acces hardware but return latest value)

Parameters

channel	channel to get the position of
position	position the given channel ist at

Returns: bool true if a valid result was requested (i.e. an existing channel)

Definition at line 679 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::getPositionSettings	(	const SVHChannel &	channel,
		SVHPositionSettings &	position_settings
	)

returns actual position controller settings of channel

Parameters

channel	channel to get the position settings for
position_settings	settings currently active for the position controller

Returns: true if a valid result was requested (i.e. an existing channel)

Definition at line 1020 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::isConnected ( )

inline

returns connected state of finger manager

Returns: bool true if the finger manager is connected to the hardware

Definition at line 121 of file SVHFingerManager.h.

bool driver_svh::SVHFingerManager::isEnabled ( const SVHChannel & channel )

returns true, if current channel has been enabled

Parameters

channel channel to check if it is enabled

Returns: true if the channel is enabled, false otherwise

Definition at line 931 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::isHomed ( const SVHChannel & channel )

returns true, if current channel has been resetted

Parameters

channel

Returns

Definition at line 967 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::isInsideBounds	(	const SVHChannel &	channel,
		const int32_t &	target_position
	)

private

Check bounds of target positions.

Parameters

channel
target_position

Returns

Definition at line 1354 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::requestControllerFeedback ( const SVHChannel & channel )

send request controller feedback paket

Parameters

channel channel to request the feedback for

Returns: true if the request was successfully send to the hardware

Definition at line 666 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::requestControllerFeedbackAllChannels ( )

sends request controller feedback packet for all channels

Returns: true if the request was successfully send to the hardware

void driver_svh::SVHFingerManager::requestControllerState ( )

requests the current controller state to be updated

Note: This is a debuging function. Should not be called by users

Definition at line 1369 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::resetChannel ( const SVHChannel & channel )

reset function for channel

reset function for a single finger

Parameters

channel Channel to reset

Returns: true if the reset was successful

Definition at line 325 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setAllTargetPositions ( const std::vector< double > & positions )

set all target positions at once

Parameters

positions Vector of positions to set as targets given in [rad]. Only the first eSVH_CHANNEL_DIMENSION (9) values will be considered. If less values are given all others are set to zero

Returns: true if a valid and wellformed Target position for all fingers was given and send to the HW (i.e. inside the bound limits etc.)

Definition at line 806 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setCurrentSettings	(	const SVHChannel &	channel,
		const SVHCurrentSettings &	current_settings
	)

overwrite current parameters

Parameters

channel	channel to set the current settings for
current_settings	settings of the current controller for a specific channel

Returns: true if a valid channel was selected

Definition at line 1078 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setDefaultHomeSettings ( )

initialize the homing settings with hardcoded defaults. These can be overwritten by the setHomeSettings function

Definition at line 1165 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setHomeSettings	(	const SVHChannel &	channel,
		const SVHHomeSettings &	home_settings
	)

setHomeSettings set the home Settings which are maily used doring reset and provide the soft limit for the fingers

Parameters

channel	channel to set the home settings for
home_settings	settings indicating the movement range of a finger, its reset direction and idle position

Returns: true if a valid channel was selected

Definition at line 1140 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setMovementState ( const MovementState & state )

setMovementState Updates the movement state of the overll hand indicating the overall status

Parameters

state current movement state

Note: this is only used for monitoring purposes at the moment, driverwise there is no need to call it but it is used by web frontends

Definition at line 995 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setPositionSettings	(	const SVHChannel &	channel,
		const SVHPositionSettings &	position_settings
	)

overwrite position parameters

Parameters

channel	channel to set the positoon settings for
position_settings	settings of the position controller to be used

Returns: true if a valid channel was selected

Definition at line 1115 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setResetSpeed ( const float & speed )

setResetSpeed Set the speed percentage during reset

Parameters

speed percent of the normal speed used during reset Allowed values 0.0-1.0

Definition at line 1307 of file SVHFingerManager.cpp.

void driver_svh::SVHFingerManager::setResetTimeout ( const int & resetTimeout )

setResetTimeout Helper function to set the timout durind rest of fingers

Parameters

resetTimeout timeout in Seconds. Values smaler than 0 will be interpreted as 0

Definition at line 1374 of file SVHFingerManager.cpp.

bool driver_svh::SVHFingerManager::setTargetPosition	(	const SVHChannel &	channel,
		double	position,
		double	current
	)

set target position of a channel

Parameters

channel	channel to set the target position for
position	target position in [rad]
current	max current to use for that position

Note: CURRENTLY NOT SUPPORTED!! WILL BE IGNORED

Returns: true if a valid target position was given and it could be sent to the hardware

Definition at line 868 of file SVHFingerManager.cpp.

Member Data Documentation

SVHControllerFeedback driver_svh::SVHFingerManager::debug_feedback

private

Definition at line 419 of file SVHFingerManager.h.

bool driver_svh::SVHFingerManager::m_connected

private

holds the connected state

Definition at line 322 of file SVHFingerManager.h.

bool driver_svh::SVHFingerManager::m_connection_feedback_given

private

Helper variable to check if feedback was printed (will be replaced by a better solution in the future)

Definition at line 325 of file SVHFingerManager.h.

SVHController* driver_svh::SVHFingerManager::m_controller

private

pointer to svh controller

Definition at line 316 of file SVHFingerManager.h.

std::vector<SVHCurrentSettings> driver_svh::SVHFingerManager::m_current_settings

private

Vector of current controller parameters for each finger (as given by external config)

Definition at line 358 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_current_settings_given

private

Information about the validity of externaly given values for the current settings (easier to use this way)

Definition at line 360 of file SVHFingerManager.h.

SVHFeedbackPollingThread* driver_svh::SVHFingerManager::m_feedback_thread

private

pointer to svh controller

Definition at line 319 of file SVHFingerManager.h.

std::vector<SVHHomeSettings> driver_svh::SVHFingerManager::m_home_settings

private

Vector of home settings for each finger (as given by external config)

Definition at line 368 of file SVHFingerManager.h.

int8_t driver_svh::SVHFingerManager::m_homing_timeout

private

vector storing reset flags for each finger

Definition at line 328 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_is_homed

private

vector storing reset flags for each channel

Definition at line 343 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_is_switched_off

private

vector storing information if a finger is enabled. In Case it is all request for it will be granted but not executed on hardware

Definition at line 346 of file SVHFingerManager.h.

MovementState driver_svh::SVHFingerManager::m_movement_state

private

Overall movement State to indicate what the hand is doing at the moment.

Definition at line 349 of file SVHFingerManager.h.

std::vector<int32_t> driver_svh::SVHFingerManager::m_position_home

private

home position after complete reset of each channel

Definition at line 340 of file SVHFingerManager.h.

std::vector<int32_t> driver_svh::SVHFingerManager::m_position_max

private

max position vector for each channel

Definition at line 337 of file SVHFingerManager.h.

std::vector<int32_t> driver_svh::SVHFingerManager::m_position_min

private

min position vector for each channel

Definition at line 334 of file SVHFingerManager.h.

std::vector<SVHPositionSettings> driver_svh::SVHFingerManager::m_position_settings

private

Vector of position controller parameters for each finger (as given by external config)

Definition at line 363 of file SVHFingerManager.h.

std::vector<bool> driver_svh::SVHFingerManager::m_position_settings_given

private

Information about the validity of externaly given values for the position settings (easier to use this way)

Definition at line 365 of file SVHFingerManager.h.

std::vector<double> driver_svh::SVHFingerManager::m_reset_current_factor

private

Vector containing factors for the currents at reset. Vector containing factors for the currents at reset. A hard stop is found if the maxCurrent (first 2 CurrentSettingsValues) x the reset factor was reached. 0.75 by default Beware. Setting this value very high might result in damage to the motors during reset.

Definition at line 384 of file SVHFingerManager.h.

std::vector<SVHChannel> driver_svh::SVHFingerManager::m_reset_order

private

vector storing the reset order of the channels

Definition at line 376 of file SVHFingerManager.h.

float driver_svh::SVHFingerManager::m_reset_speed_factor

private

Factor for determining the finger speed during reset. Only 0.0-1.0 is allowed.

Definition at line 352 of file SVHFingerManager.h.

uint32_t driver_svh::SVHFingerManager::m_reset_timeout

private

Time in seconds after which the a reset is aborted if no change in current is observable.

Definition at line 355 of file SVHFingerManager.h.

std::string driver_svh::SVHFingerManager::m_serial_device

private

m_serial_device Device handle of the device to use, is overwritten if connect is called with an argument

Definition at line 373 of file SVHFingerManager.h.

std::vector<double> driver_svh::SVHFingerManager::m_ticks2rad

private

position conversion factor (ticks to RAD) for each channel

Definition at line 331 of file SVHFingerManager.h.

boost::shared_ptr<icl_comm::websocket::WsBroadcaster> driver_svh::SVHFingerManager::m_ws_broadcaster

private

Websocket handle for updating diagnostic backend (OPTIONAL)

Definition at line 313 of file SVHFingerManager.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation