183 virtual bool IsOpen(
void );
201 void Send(
char const* s,
int nb_lines=All,
int nb_lines_total=All,
int max_retries=3 );
207 void ExtractFirmwareState();
213 double GetDuration(
char* line );
223 double get_duration(
void );
233 void BinarySync(
double timeout_s = 0.5 );
254 cSimpleVector AxisCommand(
char const* command,
int axis=All,
double* value=
NULL );
370 void demo(
bool onoff );
381 int property(
char const* propname,
int value );
386 int user_errors(
int value );
391 int terminal(
int value );
396 int debug(
int value );
563 double m(
bool sequ );
752 char* ver_date(
void );
792 char* soc_date(
void );
856 double selgrip(
eGraspId grip,
bool sequ );
873 double grip(
double close,
double velocity,
bool sequ );
data structure with binary data for response from SDH to PC
The base class to control the SCHUNK Dexterous Hand.
eGraspId
The enum values of the known grasps.
int nb_lines_to_ignore
number of remaining reply lines of a previous (non-sequential) command
A simple vector implementation.
virtual bool IsOpen(void)=0
Return true if connection to SDH firmware/hardware is open.
char const * EOL
String to use as "End Of Line" marker when sending to SDH.
The class to communicate with a SDH via RS232.
This file contains function to convert the binary command codes of the SDH. To use this from a non gc...
cSimpleVector(cSDHSerial::* pSetFunction)(int, double *)
Type of a pointer to a "set-axis-values" function like cSDHSerial::p, cSDHSerial::pos, ..., cSDHSerial::igrip, cSDHSerial::ihold or cSDHSerial::ilim.
eVelocityProfile
An enum for all possible SDH internal velocity profile types.
Interface of class #SDH::cSimpleStringList.
This file contains interface and implementation of class #SDH::cDBG, a class for colorfull debug mess...
Interface of the exception base class #SDH::cSDHLibraryException and #SDH::cMsg.
Low-level communication class to access a serial port.
#define NAMESPACE_SDH_START
data structure with binary data for request from PC to SDH
enum eCommandCodeEnum eCommandCode
typedef for eCommandCodeEnum, see there
eControllerType
An enum for all possible SDH internal controller types (order must match that in the SDH firmware in ...
Interface of class #SDH::cSimpleVector.
Interface of class #SDH::cSDHBase.
cSimpleStringList reply
Space for the replies from the SDH.
A simple string list. (Fixed maximum number of strings of fixed maximum length)
#define NAMESPACE_SDH_END
This file contains settings to make the SDHLibrary compile on differen systems:
Interface of class #SDH::cSerialBase, a virtal base class to access serial communication channels lik...
cSerialBase * com
The communication object to the serial device (RS232 port or ESD CAN net)
cSimpleVector(cSDHSerial::* pGetFunction)(int, double *)
Type of a pointer to a "get-axis-values" function like cSDHSerial::p, cSDHSerial::pos, ..., cSDHSerial::igrip, cSDHSerial::ihold or cSDHSerial::ilim.
double m_sequtime
additional time in seconds to wait for sequential execution of m command (as these are always execute...