Classes | Typedefs | Enumerations | Functions | Variables
driver_svh Namespace Reference

Classes

class  SVHControlCommand
 ControlCommands are given as a single target position for the position controller (given in ticks) More...
class  SVHControlCommandAllChannels
 Structure for transmitting all controllcommands at once. More...
class  SVHController
 This class controls the the SCHUNK five finger hand. More...
struct  SVHControllerFeedback
 The SVHControllerFeedback saves the feedback of a single motor. More...
struct  SVHControllerFeedbackAllChannels
 The SVHControllerFeedbackAllChannes saves the feedback of a all motors. More...
struct  SVHControllerState
 The SVHControllerState indicates the current state of the MeCoVis controller IC which is used in the SVH. More...
struct  SVHCurrentSettings
 The SVHCurrentSettings save the current controller paramters for a single motor. More...
struct  SVHEncoderSettings
 The SVHEncoderSettings hold the settings for the encoder scaling of each channel. More...
class  SVHFeedbackPollingThread
 Thread for periodically requesting feedback messages from the SCHUNK five finger hand. More...
class  SVHFingerManager
struct  SVHFirmwareInfo
 The SVHFirmwareInfo holds the data of a firmware response from the hardware. More...
struct  SVHHomeSettings
 data sctructure for home positions More...
struct  SVHPositionSettings
 The SVHPositionSettings save the position controller paramters for a single motor. More...
class  SVHReceiveThread
 Thread for receiving messages from the serial device. More...
class  SVHSerialInterface
 Basic communication handler for the SCHUNK five finger hand. More...
struct  SVHSerialPacket
 The SerialPacket holds the (non generated) header and data of one message to the SVH-Hardware. More...

Typedefs

typedef boost::function< void(const
SVHSerialPacket &packet,
unsigned int packet_count)> 
ReceivedPacketCallback
 definition of boost function callback for received packages

Enumerations

enum  SVHChannel {
  eSVH_ALL = -1, eSVH_THUMB_FLEXION = 0, eSVH_THUMB_OPPOSITION, eSVH_INDEX_FINGER_DISTAL,
  eSVH_INDEX_FINGER_PROXIMAL, eSVH_MIDDLE_FINGER_DISTAL, eSVH_MIDDLE_FINGER_PROXIMAL, eSVH_RING_FINGER,
  eSVH_PINKY, eSVH_FINGER_SPREAD, eSVH_DIMENSION
}
 Channel indicates which motor to use in command calls. WARNING: DO NOT CHANGE THE ORDER OF THESE as it represents the hardware mapping. More...

Functions

 DECLARE_LOG_STREAM (DriverSVH)
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHSerialPacket &data)
 overload stream operator to easily serialize raw packet data
std::ostream & operator<< (std::ostream &o, const SVHSerialPacket &sp)
 Output Stream operator for easy printing of packet data.
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, SVHFirmwareInfo &data)
 overload stream operator to easily serialize firmware data
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHEncoderSettings &data)
 overload stream operator to easily serialize encoder scaling data
std::ostream & operator<< (std::ostream &o, const SVHEncoderSettings &es)
 Output Stream operator for easy output of the encoder scalings.
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHControllerState &data)
 overload stream operator to easily serialize controller state data
std::ostream & operator<< (std::ostream &o, const SVHFirmwareInfo &fw)
 Output Stream operator for easy output of the firmware information.
std::ostream & operator<< (std::ostream &o, const SVHControllerState &cs)
 Output Stream operator to easily output controller state data.
std::ostream & operator<< (std::ostream &o, const SVHHomeSettings &hs)
 Output stream operator to easily print position settings.
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHControlCommand &data)
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHControllerFeedback &data)
 Overload stream operator to easily serialize feedback data.
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHCurrentSettings &data)
 overload stream operator to easily serialize current settings data
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHPositionSettings &data)
 overload stream operator to easily serialize position settings data
std::ostream & operator<< (std::ostream &o, const SVHControlCommand &cc)
 Output Stream operator for fast debugging.
std::ostream & operator<< (std::ostream &o, const SVHControllerFeedback &cf)
 Output stream operator for easy output of feedback data.
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, const SVHControlCommandAllChannels &data)
 overload stream operator to easily serialize control commands for all channels
icl_comm::ArrayBuilderoperator<< (icl_comm::ArrayBuilder &ab, SVHControllerFeedbackAllChannels &data)
 Overload stream operator to easily serialize all channel feedback data.
std::ostream & operator<< (std::ostream &o, const SVHPositionSettings &ps)
 Output stream operator to easily print position settings.
std::ostream & operator<< (std::ostream &o, const SVHCurrentSettings &cs)
 Output stream operator for easy output of current settings.
std::ostream & operator<< (std::ostream &o, const SVHControlCommandAllChannels &cc)
 Output Stream operator of all channels control command.
std::ostream & operator<< (std::ostream &o, const SVHControllerFeedbackAllChannels &cf)
 Output stream operator for easy output of all channel feedback data.
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHSerialPacket &data)
 overload stream operator to easily deserialize raw packet data
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHEncoderSettings &data)
 overload stream operator to easily serialize encoder scaling data
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHFirmwareInfo &data)
 overload stream operator to easily serialize firmware data
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHControllerState &data)
 overload stream operator to easily serialize controller state data
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHControlCommand &data)
 overload stream operator to easily deserialize control commands for one channel
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHControllerFeedback &data)
 Overload stream operator to easily deserialize feedback data.
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHPositionSettings &data)
 overload stream operator to easily deserialize position settings data
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHCurrentSettings &data)
 overload stream operator to easily serialize current settings data
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHControlCommandAllChannels &data)
 overload stream operator to easily deserialize control commands for all channels
icl_comm::ArrayBuilderoperator>> (icl_comm::ArrayBuilder &ab, SVHControllerFeedbackAllChannels &data)
 Overload stream operator to easily deserialize all channel feedback data.
 REGISTER_LOG_STREAM (DriverSVH)

Variables

const size_t cDEFAULT_PACKET_SIZE = 48
 Default packet payload size in bytes.
const size_t cPACKET_APPENDIX_SIZE = 8
 The packet overhead size in bytes.
const uint8_t PACKET_HEADER1 = 0x4C
 Header sync byte 1.
const uint8_t PACKET_HEADER2 = 0xAA
 Header sync byte 2.
const uint8_t SVH_GET_CONTROL_FEEDBACK = 0x00
 Request the position and current of a channel to be sent.
const uint8_t SVH_GET_CONTROL_FEEDBACK_ALL = 0x02
 Requests the positions and currents of ALL channels.
const uint8_t SVH_GET_CONTROLLER_STATE = 0x08
 Requests the state of the controller (active,faults,enabled channels)
const uint8_t SVH_GET_CURRENT_SETTINGS = 0x06
 Requests the active settings of the current controller.
const uint8_t SVH_GET_ENCODER_VALUES = 0x0A
 Request the current encoder scalings.
const uint8_t SVH_GET_FIRMWARE_INFO = 0x0C
 Request the firmware info to be transmitted.
const uint8_t SVH_GET_POSITION_SETTINGS = 0x04
 Requests the active settings of the position controller.
const uint8_t SVH_SET_CONTROL_COMMAND = 0x01
 Sets the target position of a channel.
const uint8_t SVH_SET_CONTROL_COMMAND_ALL = 0x03
 Sends the target position to ALL the channels.
const uint8_t SVH_SET_CONTROLLER_STATE = 0x09
 Sets new controller states (enable channels, clear faults)
const uint8_t SVH_SET_CURRENT_SETTINGS = 0x07
 Sets new settings for the current controller.
const uint8_t SVH_SET_ENCODER_VALUES = 0x0B
 Set new encoder scalings.
const uint8_t SVH_SET_POSITION_SETTINGS = 0x05
 Sets new settings for the position controller.

Typedef Documentation

typedef boost::function<void (const SVHSerialPacket& packet, unsigned int packet_count)> driver_svh::ReceivedPacketCallback

definition of boost function callback for received packages

Definition at line 51 of file SVHReceiveThread.h.


Enumeration Type Documentation

Channel indicates which motor to use in command calls. WARNING: DO NOT CHANGE THE ORDER OF THESE as it represents the hardware mapping.

Enumerator:
eSVH_ALL 
eSVH_THUMB_FLEXION 
eSVH_THUMB_OPPOSITION 
eSVH_INDEX_FINGER_DISTAL 
eSVH_INDEX_FINGER_PROXIMAL 
eSVH_MIDDLE_FINGER_DISTAL 
eSVH_MIDDLE_FINGER_PROXIMAL 
eSVH_RING_FINGER 
eSVH_PINKY 
eSVH_FINGER_SPREAD 
eSVH_DIMENSION 

Definition at line 56 of file SVHController.h.


Function Documentation

icl_comm::ArrayBuilder & driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHSerialPacket &  data 
)

overload stream operator to easily serialize raw packet data

Definition at line 33 of file SVHSerialPacket.cpp.

std::ostream & driver_svh::operator<< ( std::ostream &  o,
const SVHSerialPacket &  sp 
)

Output Stream operator for easy printing of packet data.

Definition at line 47 of file SVHSerialPacket.cpp.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
SVHFirmwareInfo &  data 
) [inline]

overload stream operator to easily serialize firmware data

Definition at line 54 of file SVHFirmwareInfo.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHEncoderSettings &  data 
) [inline]

overload stream operator to easily serialize encoder scaling data

Definition at line 61 of file SVHEncoderSettings.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHEncoderSettings &  es 
) [inline]

Output Stream operator for easy output of the encoder scalings.

Definition at line 77 of file SVHEncoderSettings.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHControllerState &  data 
) [inline]

overload stream operator to easily serialize controller state data

Definition at line 79 of file SVHControllerState.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHFirmwareInfo &  fw 
) [inline]

Output Stream operator for easy output of the firmware information.

Definition at line 95 of file SVHFirmwareInfo.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHControllerState &  cs 
) [inline]

Output Stream operator to easily output controller state data.

Definition at line 104 of file SVHControllerState.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHHomeSettings &  hs 
) [inline]

Output stream operator to easily print position settings.

Definition at line 114 of file SVHHomeSettings.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHControlCommand &  data 
) [inline]

overload stream operator to easily serialize control commands for one channel slightly uneccessary at this point but put in anayway for the time it`s needed

Definition at line 122 of file SVHControlCommand.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHControllerFeedback &  data 
) [inline]

Overload stream operator to easily serialize feedback data.

Definition at line 125 of file SVHControllerFeedback.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHCurrentSettings &  data 
) [inline]

overload stream operator to easily serialize current settings data

Definition at line 127 of file SVHCurrentSettings.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHPositionSettings &  data 
) [inline]

overload stream operator to easily serialize position settings data

Definition at line 127 of file SVHPositionSettings.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHControlCommand &  cc 
) [inline]

Output Stream operator for fast debugging.

Definition at line 137 of file SVHControlCommand.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHControllerFeedback &  cf 
) [inline]

Output stream operator for easy output of feedback data.

Definition at line 142 of file SVHControllerFeedback.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
const SVHControlCommandAllChannels &  data 
) [inline]

overload stream operator to easily serialize control commands for all channels

Definition at line 144 of file SVHControlCommand.h.

icl_comm::ArrayBuilder& driver_svh::operator<< ( icl_comm::ArrayBuilder ab,
SVHControllerFeedbackAllChannels &  data 
) [inline]

Overload stream operator to easily serialize all channel feedback data.

Definition at line 150 of file SVHControllerFeedback.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHPositionSettings &  ps 
) [inline]

Output stream operator to easily print position settings.

Definition at line 159 of file SVHPositionSettings.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHCurrentSettings &  cs 
) [inline]

Output stream operator for easy output of current settings.

Definition at line 161 of file SVHCurrentSettings.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHControlCommandAllChannels &  cc 
) [inline]

Output Stream operator of all channels control command.

Definition at line 167 of file SVHControlCommand.h.

std::ostream& driver_svh::operator<< ( std::ostream &  o,
const SVHControllerFeedbackAllChannels &  cf 
) [inline]

Output stream operator for easy output of all channel feedback data.

Definition at line 183 of file SVHControllerFeedback.h.

icl_comm::ArrayBuilder & driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHSerialPacket &  data 
)

overload stream operator to easily deserialize raw packet data

Definition at line 39 of file SVHSerialPacket.cpp.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHEncoderSettings &  data 
) [inline]

overload stream operator to easily serialize encoder scaling data

Definition at line 69 of file SVHEncoderSettings.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHFirmwareInfo &  data 
) [inline]

overload stream operator to easily serialize firmware data

Definition at line 74 of file SVHFirmwareInfo.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHControllerState &  data 
) [inline]

overload stream operator to easily serialize controller state data

Definition at line 91 of file SVHControllerState.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHControlCommand &  data 
) [inline]

overload stream operator to easily deserialize control commands for one channel

Definition at line 130 of file SVHControlCommand.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHControllerFeedback &  data 
) [inline]

Overload stream operator to easily deserialize feedback data.

Definition at line 134 of file SVHControllerFeedback.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHPositionSettings &  data 
) [inline]

overload stream operator to easily deserialize position settings data

Definition at line 143 of file SVHPositionSettings.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHCurrentSettings &  data 
) [inline]

overload stream operator to easily serialize current settings data

Definition at line 143 of file SVHCurrentSettings.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHControlCommandAllChannels &  data 
) [inline]

overload stream operator to easily deserialize control commands for all channels

Definition at line 156 of file SVHControlCommand.h.

icl_comm::ArrayBuilder& driver_svh::operator>> ( icl_comm::ArrayBuilder ab,
SVHControllerFeedbackAllChannels &  data 
) [inline]

Overload stream operator to easily deserialize all channel feedback data.

Definition at line 167 of file SVHControllerFeedback.h.


Variable Documentation

Default packet payload size in bytes.

Definition at line 42 of file SVHSerialPacket.h.

The packet overhead size in bytes.

Definition at line 41 of file SVHSerialPacket.h.

Header sync byte 1.

Definition at line 45 of file SVHSerialPacket.h.

Header sync byte 2.

Definition at line 46 of file SVHSerialPacket.h.

Request the position and current of a channel to be sent.

Definition at line 49 of file SVHSerialPacket.h.

Requests the positions and currents of ALL channels.

Definition at line 51 of file SVHSerialPacket.h.

Requests the state of the controller (active,faults,enabled channels)

Definition at line 57 of file SVHSerialPacket.h.

Requests the active settings of the current controller.

Definition at line 55 of file SVHSerialPacket.h.

Request the current encoder scalings.

Definition at line 59 of file SVHSerialPacket.h.

Request the firmware info to be transmitted.

Definition at line 61 of file SVHSerialPacket.h.

Requests the active settings of the position controller.

Definition at line 53 of file SVHSerialPacket.h.

Sets the target position of a channel.

Definition at line 50 of file SVHSerialPacket.h.

Sends the target position to ALL the channels.

Definition at line 52 of file SVHSerialPacket.h.

Sets new controller states (enable channels, clear faults)

Definition at line 58 of file SVHSerialPacket.h.

Sets new settings for the current controller.

Definition at line 56 of file SVHSerialPacket.h.

Set new encoder scalings.

Definition at line 60 of file SVHSerialPacket.h.

Sets new settings for the position controller.

Definition at line 54 of file SVHSerialPacket.h.



schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:20