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) More...

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

	cDSA (int debug_level, char const *_tcp_adr, int _tcp_port=13000, double _timeout=1.0)

void	Close (void)
	Set the framerate of the remote DSACON32m controller to 0 and close connection to it. More...

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. More...

sTactileSensorFrame const &	GetFrame () const
	return a reference to the latest tactile sensor frame without reading from remote DSACON32m More...

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. More...

sSensitivityInfo	GetMatrixSensitivity (int matrix_no)

UInt16	GetMatrixThreshold (int matrix_no)

sSensorInfo const &	GetSensorInfo (void) const
	Return a reference to the sSensorInfo read from the remote DSACON32m controller. More...

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

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

struct cDSA::sSensitivityInfo	SDH__attribute__ ((__packed__))

struct cDSA::sControllerInfo	SDH__attribute__ ((__packed__))

struct cDSA::sSensorInfo	SDH__attribute__ ((__packed__))

struct cDSA::sMatrixInfo	SDH__attribute__ ((__packed__))

void	SetFramerate (UInt16 framerate, bool do_RLE=true, bool do_data_acquisition=true)

void	SetFramerateRetries (UInt16 framerate, bool do_RLE=true, bool do_data_acquisition=true, unsigned int retries=0, bool ignore_exceptions=false)

void	SetMatrixSensitivity (int matrix_no, double sensitivity, bool do_all_matrices=false, bool do_reset=false, bool do_persistent=false)

void	SetMatrixThreshold (int matrix_no, UInt16 threshold, bool do_all_matrices=false, bool do_reset=false, bool do_persistent=false)

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. More...

	~cDSA ()
	Destructur: clean up and delete dynamically allocated memory. More...

Static Public Member Functions
static char const *	ErrorCodeToString (eDSAErrorCode error_code)

static char const *	ErrorCodeToString (UInt16 error_code)

Public Attributes
bool	m_read_another

struct VCC_EXPORT cDSA::sTactileSensorFrame	SDH__attribute__

Protected Member Functions
void	ParseFrame (sResponse response, sTactileSensorFrame frame_p)

void	QueryControllerInfo (sControllerInfo *_controller_info)

void	QueryMatrixInfo (sMatrixInfo *_matrix_info, int matrix_no)

void	QueryMatrixInfos (void)

void	QuerySensorInfo (sSensorInfo *_sensor_info)

void	ReadControllerInfo (sControllerInfo *_controller_info)

void	ReadFrame (sTactileSensorFrame *frame_p)

void	ReadMatrixInfo (sMatrixInfo *_matrix_info)

void	ReadResponse (sResponse *response, UInt8 command_id)

void	ReadSensorInfo (sSensorInfo *_sensor_info)

struct cDSA::sResponse	SDH__attribute__ ((__packed__))

void	WriteCommand (UInt8 command)

void	WriteCommandWithPayload (UInt8 command, UInt8 *payload, UInt16 payload_len)

Protected Attributes
double	calib_pressure

double	calib_voltage
	see calib_pressure More...

cSerialBase *	com
	the communication interface to use More...

tTexel	contact_area_cell_threshold
	threshold of texel cell value for detecting contacts with GetContactArea More...

tTexel	contact_force_cell_threshold
	threshold of texel cell value for detecting forces with GetContactForce More...

sControllerInfo	controller_info
	the controller info read from the remote DSACON32m controller More...

cDBG	dbg
	A stream object to print coloured debug messages. More...

bool	do_RLE
	flag, true if data should be sent Run Length Encoded by the remote DSACON32m controller More...

double	force_factor
	additional calibration factor for forces in GetContactForce More...

sTactileSensorFrame	frame
	the latest frame received from the remote DSACON32m controller More...

sMatrixInfo *	matrix_info
	the matrix infos read from the remote DSACON32m controller More...

int	nb_cells
	The total number of sensor cells. More...

long	read_timeout_us
	default timeout used for reading in us More...

sSensorInfo	sensor_info
	the sensor info read from the remote DSACON32m controller More...

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 More...

Private Member Functions
void	FlushInput (long timeout_us_first, long timeout_us_subsequent)

void	Init (int debug_level)

void	ReadAndCheckErrorResponse (char const *msg, UInt8 command_id)

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. More...

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 111 of file dsa.h.

Member Typedef Documentation

◆ tTexel

typedef UInt16 cDSA::tTexel

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

Definition at line 115 of file dsa.h.

Member Enumeration Documentation

◆ eDSAErrorCode

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 118 of file dsa.h.

Constructor & Destructor Documentation

◆ cDSA() [1/2]

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 via RS232.

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.

Definition at line 596 of file dsa.cpp.

◆ cDSA() [2/2]

cDSA::cDSA	(	int	debug_level,
		char const *	_tcp_adr,
		int	_tcp_port = `13000`,
		double	_timeout = `1.0`
	)

Constructor for cDSA. This constructs a cDSA object to communicate with the remote DSACON32m controller within the SDH via TCP/IP (ethernet).

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
_tcp_adr	: The tcp host address of the SDH. Either a numeric IP as string or a hostname
_tcp_port	: the tcp port number on the SDH to connect to
_timeout	: The timeout to use: <= 0 : wait forever (default) T : wait for T seconds

Definition at line 622 of file dsa.cpp.

◆ ~cDSA()

cDSA::~cDSA ( )

Destructur: clean up and delete dynamically allocated memory.

Definition at line 724 of file dsa.cpp.

Member Function Documentation

◆ Close()

void cDSA::Close ( void )

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

Definition at line 739 of file dsa.cpp.

◆ ErrorCodeToString() [1/2]

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

Definition at line 1073 of file dsa.cpp.

◆ ErrorCodeToString() [2/2]

static char const* cDSA::ErrorCodeToString ( UInt16 error_code )

inlinestatic

Definition at line 680 of file dsa.h.

◆ FlushInput()

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.

Definition at line 647 of file dsa.cpp.

◆ GetAgeOfFrame()

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 651 of file dsa.h.

◆ GetContactArea()

double cDSA::GetContactArea ( int m )

Return contact area in mm*mm for matrix with index m

Definition at line 982 of file dsa.cpp.

◆ GetContactInfo()

cDSA::sContactInfo cDSA::GetContactInfo ( int m )

Return a sContactInfo struct (force,cog_x,cog_y,area) of contact force and center of gravity and contact area of that force for matrix with index m

Definition at line 1026 of file dsa.cpp.

◆ GetControllerInfo()

sControllerInfo const& cDSA::GetControllerInfo ( void ) const

inline

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

Definition at line 471 of file dsa.h.

◆ GetFrame()

sTactileSensorFrame const& cDSA::GetFrame ( ) const

inline

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

Definition at line 493 of file dsa.h.

◆ GetMatrixIndex()

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 642 of file dsa.h.

◆ GetMatrixInfo()

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 485 of file dsa.h.

◆ GetMatrixSensitivity()

cDSA::sSensitivityInfo cDSA::GetMatrixSensitivity ( int matrix_no )

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 fact_sens - the factory sensitivity as float 0.0 .. 1.0

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

Definition at line 879 of file dsa.cpp.

◆ GetMatrixThreshold()

UInt16 cDSA::GetMatrixThreshold ( int matrix_no )

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.

Definition at line 934 of file dsa.cpp.

◆ GetSensorInfo()

sSensorInfo const& cDSA::GetSensorInfo ( void ) const

inline

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

Definition at line 478 of file dsa.h.

◆ GetTexel()

cDSA::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

Definition at line 965 of file dsa.cpp.

◆ Init()

void cDSA::Init ( int debug_level )

private

Common private initialization stuff.

Definition at line 577 of file dsa.cpp.

◆ Open()

void cDSA::Open ( void )

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

Definition at line 671 of file dsa.cpp.

◆ ParseFrame()

void cDSA::ParseFrame	(	sResponse *	response,
		sTactileSensorFrame *	frame_p
	)

protected

Parse a full frame response from remote DSA

Definition at line 495 of file dsa.cpp.

◆ QueryControllerInfo()

void cDSA::QueryControllerInfo ( sControllerInfo * _controller_info )

protected

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

Definition at line 434 of file dsa.cpp.

◆ QueryMatrixInfo()

void cDSA::QueryMatrixInfo	(	sMatrixInfo *	_matrix_info,
		int	matrix_no
	)

protected

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

Definition at line 450 of file dsa.cpp.

◆ QueryMatrixInfos()

void cDSA::QueryMatrixInfos ( void )

protected

Query all matrix infos

Definition at line 458 of file dsa.cpp.

◆ QuerySensorInfo()

void cDSA::QuerySensorInfo ( sSensorInfo * _sensor_info )

protected

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

Definition at line 442 of file dsa.cpp.

◆ ReadAndCheckErrorResponse()

void cDSA::ReadAndCheckErrorResponse	(	char const *	msg,
		UInt8	command_id
	)

private

Definition at line 748 of file dsa.cpp.

◆ ReadControllerInfo()

void cDSA::ReadControllerInfo ( sControllerInfo * _controller_info )

protected

Read and parse a controller info response from the remote DSA

Definition at line 314 of file dsa.cpp.

◆ ReadFrame()

void cDSA::ReadFrame ( sTactileSensorFrame * frame_p )

protected

read and parse a full frame response from remote DSA

Definition at line 353 of file dsa.cpp.

◆ ReadMatrixInfo()

void cDSA::ReadMatrixInfo ( sMatrixInfo * _matrix_info )

protected

Read and parse a matrix info response from the remote DSA

Definition at line 341 of file dsa.cpp.

◆ ReadResponse()

void cDSA::ReadResponse	(	sResponse *	response,
		UInt8	command_id
	)

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

Definition at line 169 of file dsa.cpp.

◆ ReadSensorInfo()

void cDSA::ReadSensorInfo ( sSensorInfo * _sensor_info )

protected

Read and parse a sensor info response from the remote DSA

Definition at line 329 of file dsa.cpp.

◆ SDHattribute() [1/5]

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

◆ SDHattribute() [2/5]

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

◆ SDHattribute() [3/5]

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

◆ SDHattribute() [4/5]

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

◆ SDHattribute() [5/5]

struct cDSA::sResponse cDSA::SDH__attribute__ ( (__packed__) )

protected

◆ SetFramerate()

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

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

Definition at line 766 of file dsa.cpp.

◆ SetFramerateRetries()

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

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

Definition at line 810 of file dsa.cpp.

◆ SetMatrixSensitivity()

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

Send command to set matrix sensitivity to sensitivity as float 0.0 .. 1.0. 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.

Definition at line 836 of file dsa.cpp.

◆ SetMatrixThreshold()

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

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.

Definition at line 902 of file dsa.cpp.

◆ UpdateFrame()

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 500 of file dsa.h.

◆ VoltageToPressure()

double cDSA::VoltageToPressure ( double voltage )

private

Return a pressure in for cell voltage. pressure is in N/(mm*mm)

Definition at line 1005 of file dsa.cpp.

◆ WriteCommand()

void cDSA::WriteCommand ( UInt8 command )

inlineprotected

Definition at line 347 of file dsa.h.

◆ WriteCommandWithPayload()

void cDSA::WriteCommandWithPayload	(	UInt8	command,
		UInt8 *	payload,
		UInt16	payload_len
	)

protected

Definition at line 101 of file dsa.cpp.

Friends And Related Function Documentation

◆ operator<<

VCC_EXPORT std::ostream& operator<<	(	std::ostream &	stream,
		cDSA::sResponse const &	response
	)

friend

Definition at line 1185 of file dsa.cpp.

Member Data Documentation

◆ acquiring_single_frame

bool cDSA::acquiring_single_frame

private

flag, true if user requested acquiring of a single frame. Needed for DSACON32m firmware-bug workaround.

Definition at line 687 of file dsa.h.

◆ calib_pressure

double cDSA::calib_pressure

protected

For the voltage to pressure conversion in _VoltageToPressure() enter one pressure/voltage measurement here (from demo-dsa.py –calibration):

Definition at line 340 of file dsa.h.

◆ calib_voltage

double cDSA::calib_voltage

protected

see calib_pressure

Definition at line 342 of file dsa.h.

◆ com

cSerialBase* cDSA::com

protected

the communication interface to use

Definition at line 298 of file dsa.h.

◆ contact_area_cell_threshold

tTexel cDSA::contact_area_cell_threshold

protected

threshold of texel cell value for detecting contacts with GetContactArea

Definition at line 328 of file dsa.h.

◆ contact_force_cell_threshold

tTexel cDSA::contact_force_cell_threshold

protected

threshold of texel cell value for detecting forces with GetContactForce

Definition at line 331 of file dsa.h.

◆ controller_info

sControllerInfo cDSA::controller_info

protected

the controller info read from the remote DSACON32m controller

Definition at line 304 of file dsa.h.

◆ dbg

cDBG cDSA::dbg

protected

A stream object to print coloured debug messages.

Definition at line 295 of file dsa.h.

◆ do_RLE

bool cDSA::do_RLE

protected

flag, true if data should be sent Run Length Encoded by the remote DSACON32m controller

Definition at line 301 of file dsa.h.

◆ force_factor

double cDSA::force_factor

protected

additional calibration factor for forces in GetContactForce

Definition at line 334 of file dsa.h.

◆ frame

sTactileSensorFrame cDSA::frame

protected

the latest frame received from the remote DSACON32m controller

Definition at line 313 of file dsa.h.

◆ m_read_another

bool cDSA::m_read_another

flag, if True then the ReadFrame() function will read tactile sensor frames until a timeout occurs. This will ignore intermediate frames as long as new ones are available. This was usefull some time in the past, or if you have a slow computer that cannot handle incoming frames fast enough. If False then any completely read valid frame will be reported. With new computers and fast communication like via TCP this should remain at "False".

Definition at line 267 of file dsa.h.

◆ matrix_info

sMatrixInfo* cDSA::matrix_info

protected

the matrix infos read from the remote DSACON32m controller

Definition at line 310 of file dsa.h.

◆ nb_cells

int cDSA::nb_cells

protected

The total number of sensor cells.

Definition at line 316 of file dsa.h.

◆ read_timeout_us

long cDSA::read_timeout_us

protected

default timeout used for reading in us

Definition at line 322 of file dsa.h.

◆ SDHattribute

struct VCC_EXPORT cDSA::sTactileSensorFrame cDSA::SDH__attribute__

◆ sensor_info

sSensorInfo cDSA::sensor_info

protected

the sensor info read from the remote DSACON32m controller

Definition at line 307 of file dsa.h.

◆ start_dsa

UInt32 cDSA::start_dsa

protected

Definition at line 325 of file dsa.h.

◆ start_pc

cSimpleTime cDSA::start_pc

protected

Definition at line 324 of file dsa.h.

◆ texel_offset

int* cDSA::texel_offset

protected

an array with the offsets of the first texel of all matrices into the whole frame

Definition at line 319 of file dsa.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ tTexel

Member Enumeration Documentation

◆ eDSAErrorCode

Constructor & Destructor Documentation

◆ cDSA() [1/2]

◆ cDSA() [2/2]

◆ ~cDSA()

Member Function Documentation

◆ Close()

◆ ErrorCodeToString() [1/2]

◆ ErrorCodeToString() [2/2]

◆ FlushInput()

◆ GetAgeOfFrame()

◆ GetContactArea()

◆ GetContactInfo()

◆ GetControllerInfo()

◆ GetFrame()

◆ GetMatrixIndex()

◆ GetMatrixInfo()

◆ GetMatrixSensitivity()

◆ GetMatrixThreshold()

◆ GetSensorInfo()

◆ GetTexel()

◆ Init()

◆ Open()

◆ ParseFrame()

◆ QueryControllerInfo()

◆ QueryMatrixInfo()

◆ QueryMatrixInfos()

◆ QuerySensorInfo()

◆ ReadAndCheckErrorResponse()

◆ ReadControllerInfo()

◆ ReadFrame()

◆ ReadMatrixInfo()

◆ ReadResponse()

◆ ReadSensorInfo()

◆ SDH__attribute__() [1/5]

◆ SDH__attribute__() [2/5]

◆ SDH__attribute__() [3/5]

◆ SDH__attribute__() [4/5]

◆ SDH__attribute__() [5/5]

◆ SetFramerate()

◆ SetFramerateRetries()

◆ SetMatrixSensitivity()

◆ SetMatrixThreshold()

◆ UpdateFrame()

◆ VoltageToPressure()

◆ WriteCommand()

◆ WriteCommandWithPayload()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ acquiring_single_frame

◆ calib_pressure

◆ calib_voltage

◆ com

◆ contact_area_cell_threshold

◆ contact_force_cell_threshold

◆ controller_info

◆ dbg

◆ do_RLE

◆ force_factor

◆ frame

◆ m_read_another

◆ matrix_info

◆ nb_cells

◆ read_timeout_us

◆ SDH__attribute__

◆ SDHattribute() [1/5]

◆ SDHattribute() [2/5]

◆ SDHattribute() [3/5]

◆ SDHattribute() [4/5]

◆ SDHattribute() [5/5]

◆ SDHattribute