Communitcates with the Bosch sensor skin. More...

#include <proximity_sensor_driver.h>

Classes
struct	skin_cell
Public Types
enum	ECU_command { INITIALIZE = 1, WRITE_TO_FLASH = 2, SET_DYNAMIC_THRESHOLD = 3, SET_STATIC_THRESHOLD = 4, SET_END_OF_CHAIN = 5, ACTIVATE_SENSOR = 6, DEACTIVATE_SENSOR = 7 }
enum	sensor_activity { ACTIVE = (char)1, INACTIVE = (char)0 }
enum	skin_cell_shape { SQUARE, RECTANGLE, TRIANGLE }
Public Member Functions
void	checkConnection (void)
bool	getMeasurement (void)
bool	init (void)
	ProxSensor (const ros::NodeHandle &nh)
void	reconfigure_callback (proximity_sensor_driver::ProximitySensorConfig &config, uint32_t level)
	Dynamic reconfigure callback.
bool	reinitialize_callback (proximity_sensor_driver::reinitialize_proximity_sensor::Request &req, proximity_sensor_driver::reinitialize_proximity_sensor::Response &res)
bool	sendToECU (ECU_command command, uint8_t sensor_number, uint8_t data)
	~ProxSensor ()
	Reset values and to close the opened Sub20 device.
Public Attributes
int	cell_count_
	Number of sensor elements connected to the ECU of the sensor skin.
struct skin_cell	cells_ [MAX_SENSORS]
	Array containing measurements for each cell.
uint8_t	dynamic_threshold_
	Value of dynamic threshold.
sub_handle	handle_
	device handle
sub_int32_t	i2c_frequency_
uint8_t	noise_
	Noise threshold in sensor readings.
std::string	serialNumber_
skin_cell_shape	shapes_ [MAX_SENSORS]
	Array containing shape of each cell.
bool	skin_connected_
	skin connection state
bool	status_err_
bool	status_go_
	skin initialization state
sub_device	subdev_
uint8_t	threshold_
	Obstacle detection threshold.
Static Public Attributes
static const uint16_t	ACTIVATE_ADR = 0x0100
	Address of of the bit for activating the first sensor.
static const uint16_t	COMMAND_ADR = 0x00C0
	Address for command bytes sent to ECU RAM.
static const uint8_t	DATA_ADR_HI = 0x01
	High byte of the beginning address of the sensor data in ECU RAM.
static const uint8_t	DATA_ADR_LO = 0x00
	Low byte of the beginning address of the sensor data in ECU RAM.
static const uint16_t	DYNAMIC_THRESHOLD_ADR = 0x00C2
	Address of the dynamic threshold in the ECU RAM.
static const uint8_t	END_OF_CHAIN_MARKER = 254
	Value of the end of chain marker.
static const int	MAX_BYTES_PER_I2C = 256
	Maximum number of bytes which can be read over a single I2C transmission.
static const int	MAX_SENSORS = 192
	Maximum number of connectable sensors.
static const int	PROX_SENSOR_I2C_ADR = 0x01
	Address of slave (sensor skin)
static const int	RAM_ADR_LENGTH = 2
static const int	RAM_WRITE_LENGTH = 1
static const int	SENSORS_PER_I2C = MAX_BYTES_PER_I2C / sizeof(struct skin_cell)
	The number of sensors which can be queried in a single I2C transmission.
static const uint8_t	SKIP_MEM_ADR_WRITE = 0
	Give this value for 'ma_sz' in sub_i2c_read/sub_i2c_write to skip the "Memory Address Write" stage.
static const uint16_t	STATIC_THRESHOLD_ADR = 0x0103
	Address of the static threshold of the first cell in the ECU RAM.
static const uint8_t	STATUS_ADDRESS_HIGH = 0x00
	High byte of the beginning address of the status data in ECU RAM.
static const uint8_t	STATUS_ADDRESS_LOW = 0xC1
	Low byte of the beginning address of the status data in ECU RAM.
static const uint8_t	STATUS_LENGTH = 2
	Length of status message in bytes.
static const uint8_t	THRESHOLD_DEFAULT = 10
	Default value for thresholds if not set by parameters in yaml file.

Detailed Description

Communitcates with the Bosch sensor skin.

The class ProxSensor handles the communication with the sensor skin and the GUIs. It reads the sensor values as well as the log files from the sensor skin and publishes them on the topic "skin_data". Apart from that the class also writes data in the ECU of the skin when a service request is sent.

Definition at line 62 of file proximity_sensor_driver.h.

Member Enumeration Documentation

enum ProxSensor::ECU_command

Enumerator:

INITIALIZE
WRITE_TO_FLASH
SET_DYNAMIC_THRESHOLD
SET_STATIC_THRESHOLD
SET_END_OF_CHAIN
ACTIVATE_SENSOR
DEACTIVATE_SENSOR

Definition at line 122 of file proximity_sensor_driver.h.

enum ProxSensor::sensor_activity

Enumerator:

ACTIVE
INACTIVE

Definition at line 123 of file proximity_sensor_driver.h.

enum ProxSensor::skin_cell_shape

Enumerator:

SQUARE
RECTANGLE
TRIANGLE

Definition at line 110 of file proximity_sensor_driver.h.

Constructor & Destructor Documentation

ProxSensor::ProxSensor ( const ros::NodeHandle & nh )

The constructor of the scans all connected USB devices and looks for a Sub20 device with connection to a sensor skin. If a Sub20 device with a connection to a sensor skin is found the number of connected sensor elements will be determined. To determine the number of sensor elements the constructor reads the value "Limit" of each sensor element until the end of chain marker (Limit == 254) is found. This marker is an indicator for the first unused sensor element address.

Definition at line 60 of file proximity_sensor_driver.cpp.

ProxSensor::~ProxSensor ( )

Reset values and to close the opened Sub20 device.

Definition at line 104 of file proximity_sensor_driver.cpp.

Member Function Documentation

void ProxSensor::checkConnection ( void )

Definition at line 359 of file proximity_sensor_driver.cpp.

bool ProxSensor::getMeasurement ( void )

Get the most recent measurement from all skin cells

The function "GetOneMeas" reads the data of the connected sensor elements as well as the log files from the RAM of the sensor skin.

To read data from the RAM of the sensor skin a special communication pattern has to be used.

Communication pattern: 1.) Memory address write Start|Slave Adr. (Bit1-7) + Bit0 = 0|Mem. Addr. MSB|Mem. Addr. LSB|Stop

2.) Wait for 50ms

Definition at line 266 of file proximity_sensor_driver.cpp.

bool ProxSensor::init ( void )

Definition at line 116 of file proximity_sensor_driver.cpp.

void ProxSensor::reconfigure_callback	(	proximity_sensor_driver::ProximitySensorConfig &	config,
		uint32_t	level
	)

Dynamic reconfigure callback.

Definition at line 456 of file proximity_sensor_driver.cpp.

bool ProxSensor::reinitialize_callback	(	proximity_sensor_driver::reinitialize_proximity_sensor::Request &	req,
		proximity_sensor_driver::reinitialize_proximity_sensor::Response &	res
	)