dsa.h File Reference

This file contains interface to #SDH::cDSA, a class to communicate with the tactile sensors of the SDH. More...

#include "sdhlibrary_settings.h"
#include <assert.h>
#include "sdhexception.h"
#include "dbg.h"
#include "rs232-cygwin.h"
#include "simpletime.h"
#include "crc.h"

Include dependency graph for dsa.h:

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Classes
class	cDSA
	SDH::cDSA is the end user interface class to access the DSACON32m, the tactile sensor controller of the SDH. More...
class	cDSAException
	Derived exception class for low-level DSA related exceptions. More...
struct	cDSA::sContactInfo
	Structure to hold info about the contact of one sensor patch. More...
struct	cDSA::sControllerInfo
	A data structure describing the controller info about the remote DSACON32m controller. More...
struct	cDSA::sMatrixInfo
	A data structure describing a single sensor matrix connected to the remote DSACON32m controller. More...
struct	cDSA::sResponse
	data structure for storing responses from the remote DSACON32m controller More...
struct	cDSA::sSensitivityInfo
	Structure to hold info about the sensitivity settings of one sensor patch. More...
struct	cDSA::sSensorInfo
	A data structure describing the sensor info about the remote DSACON32m controller. More...
struct	cDSA::sTactileSensorFrame
	A data structure describing a full tactile sensor frame read from the remote DSACON32m controller. More...
Defines
#define	DSA_MAX_PREAMBLE_SEARCH   (2*3*(6*(14+13)) + 16)
Functions
VCC_EXPORT std::ostream &	operator<< (std::ostream &stream, cDSA::sControllerInfo const &controller_info)
VCC_EXPORT std::ostream &	operator<< (std::ostream &stream, cDSA::sSensorInfo const &sensor_info)
VCC_EXPORT std::ostream &	operator<< (std::ostream &stream, cDSA::sMatrixInfo const &matrix_info)
VCC_EXPORT std::ostream &	operator<< (std::ostream &stream, cDSA::sResponse const &response)
VCC_EXPORT std::ostream &	operator<< (std::ostream &stream, cDSA const &dsa)
	sResponse (UInt8 *_payload, int _max_payload_size)
	constructor to init pointer and max size
Variables
UInt8	active_interface
UInt8	adj_flags
UInt32	can_baudrate
UInt16	can_id
UInt16	cells_x
UInt16	cells_y
float	cur_sens
UInt16	error_code
	0000h, if successful, otherwise error code
float	fact_sens
UInt8	feature_flags
float	fullscale
UInt16	generated_by
UInt8	hw_revision
UInt8	hw_version
float	matrix_center_x
float	matrix_center_y
float	matrix_center_z
float	matrix_theta_x
float	matrix_theta_y
float	matrix_theta_z
Int32	max_payload_size
UInt16	nb_matrices
UInt8	packet_id
UInt8 *	payload
UInt8	reserved [2]
UInt8	senscon_type
UInt32	serial_no
UInt16	size
UInt8	status_flags
UInt16	sw_version
float	texel_height
float	texel_width
UInt8	uid [6]

---

Detailed Description

This file contains interface to #SDH::cDSA, a class to communicate with the tactile sensors of the SDH.

General file information

Author:

Dirk Osswald

Date:

2008-06-09

Copyright

Copyright (c) 2008 SCHUNK GmbH & Co. KG

---

Definition in file dsa.h.

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Define Documentation

#define DSA_MAX_PREAMBLE_SEARCH   (2*3*(6*(14+13)) + 16)

Definition at line 61 of file dsa.h.

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Function Documentation

VCC_EXPORT std::ostream& operator<<	(	std::ostream &	stream,
		cDSA::sControllerInfo const &	controller_info
	)

VCC_EXPORT std::ostream& operator<<	(	std::ostream &	stream,
		cDSA::sSensorInfo const &	sensor_info
	)

VCC_EXPORT std::ostream& operator<<	(	std::ostream &	stream,
		cDSA::sMatrixInfo const &	matrix_info
	)

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

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

SDH__attribute__::sResponse	(	UInt8 *	_payload,
		int	_max_payload_size
	)

constructor to init pointer and max size

Definition at line 283 of file dsa.h.

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Variable Documentation

UInt8 active_interface

Definition at line 175 of file dsa.h.

UInt8 adj_flags

Bit vector indicating the sensitivity adjustment options:

• D7...2 reserved
• D1 1: user can change the sensitivity 0: sensitivity cannot be changed by the user

Definition at line 218 of file dsa.h.

UInt32 can_baudrate

Definition at line 176 of file dsa.h.

UInt16 can_id

Definition at line 177 of file dsa.h.

UInt16 cells_x

Definition at line 205 of file dsa.h.

UInt16 cells_y

Definition at line 206 of file dsa.h.

float cur_sens

Currently set sensitivity value. Floating point value. 0 is minimum sensitivity, 1.0 is maximum sensitivity.

Definition at line 222 of file dsa.h.

UInt16 error_code

0000h, if successful, otherwise error code

Definition at line 168 of file dsa.h.

float fact_sens

Sensitivity value that is used, if a factory restore command is issued. Floating point value. 0 is minimum sensitivity, 1.0 is maximum sensitivity.

Definition at line 224 of file dsa.h.

UInt8 feature_flags

Definition at line 173 of file dsa.h.

float fullscale

Definition at line 218 of file dsa.h.

UInt16 generated_by

Definition at line 181 of file dsa.h.

UInt8 hw_revision

Definition at line 182 of file dsa.h.

UInt8 hw_version

Definition at line 170 of file dsa.h.

float matrix_center_x

Definition at line 211 of file dsa.h.

float matrix_center_y

Definition at line 212 of file dsa.h.

float matrix_center_z

Definition at line 213 of file dsa.h.

float matrix_theta_x

Definition at line 215 of file dsa.h.

float matrix_theta_y

Definition at line 216 of file dsa.h.

float matrix_theta_z

Definition at line 217 of file dsa.h.

Int32 max_payload_size

Definition at line 280 of file dsa.h.

UInt16 nb_matrices

Definition at line 180 of file dsa.h.

UInt8 packet_id

Definition at line 277 of file dsa.h.

UInt8* payload

Definition at line 279 of file dsa.h.

UInt8 reserved[2]

Definition at line 208 of file dsa.h.

UInt8 senscon_type

Definition at line 174 of file dsa.h.

UInt32 serial_no

Definition at line 169 of file dsa.h.

UInt16 size

Definition at line 278 of file dsa.h.

UInt8 status_flags

Definition at line 172 of file dsa.h.

UInt16 sw_version

Definition at line 171 of file dsa.h.

float texel_height

Definition at line 204 of file dsa.h.

float texel_width

Definition at line 203 of file dsa.h.

UInt8 uid[6]

Definition at line 207 of file dsa.h.