Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
netft_rdt_driver::NetFTRDTDriver Class Reference

#include <netft_rdt_driver.h>

List of all members.

Public Member Functions

void diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)
 Add device diagnostics status wrapper.
void getData (geometry_msgs::WrenchStamped &data)
 Get newest RDT data from netFT device.
 NetFTRDTDriver (const std::string &address)
bool waitForNewData (void)
 Wait for new NetFT data to arrive.
 ~NetFTRDTDriver ()

Protected Types

enum  { RDT_PORT = 49152 }

Protected Member Functions

void recvThreadFunc (void)
void startStreaming (void)
 Asks NetFT to start streaming data.

Protected Attributes

std::string address_
boost::condition condition_
unsigned diag_packet_count_
 Packet count last time diagnostics thread published output.
double force_scale_
 Scaling factor for converting raw force values from device into Newtons.
boost::asio::io_service io_service_
ros::Time last_diag_pub_time_
 Last time diagnostics was published.
uint32_t last_rdt_sequence_
 to keep track of out-of-order or duplicate packet
unsigned lost_packets_
 Count of lost RDT packets using RDT sequence number.
boost::mutex mutex_
geometry_msgs::WrenchStamped new_data_
 Newest data received from netft device.
unsigned out_of_order_count_
 Counts number of out-of-order (or duplicate) received packets.
unsigned packet_count_
 Count number of received <good> packets.
boost::thread recv_thread_
std::string recv_thread_error_msg_
 Set if recv thread exited because of error.
bool recv_thread_running_
 True if recv loop is still running.
unsigned seq_counter_
 Incremental counter for wrench header.
boost::asio::ip::udp::socket socket_
volatile bool stop_recv_thread_
uint32_t system_status_
 to keep track of any error codes reported by netft
double torque_scale_
 Scaling factor for converting raw torque values into Newton*meters.

Detailed Description

Definition at line 50 of file netft_rdt_driver.h.


Member Enumeration Documentation

anonymous enum [protected]
Enumerator:
RDT_PORT 

Definition at line 74 of file netft_rdt_driver.h.


Constructor & Destructor Documentation

netft_rdt_driver::NetFTRDTDriver::NetFTRDTDriver ( const std::string &  address)

Definition at line 128 of file netft_rdt_driver.cpp.

Definition at line 177 of file netft_rdt_driver.cpp.


Member Function Documentation

Add device diagnostics status wrapper.

Definition at line 294 of file netft_rdt_driver.cpp.

void netft_rdt_driver::NetFTRDTDriver::getData ( geometry_msgs::WrenchStamped &  data)

Get newest RDT data from netFT device.

Definition at line 286 of file netft_rdt_driver.cpp.

Definition at line 224 of file netft_rdt_driver.cpp.

Asks NetFT to start streaming data.

Definition at line 210 of file netft_rdt_driver.cpp.

Wait for new NetFT data to arrive.

Definition at line 195 of file netft_rdt_driver.cpp.


Member Data Documentation

Definition at line 75 of file netft_rdt_driver.h.

boost::condition netft_rdt_driver::NetFTRDTDriver::condition_ [protected]

Definition at line 81 of file netft_rdt_driver.h.

Packet count last time diagnostics thread published output.

Definition at line 105 of file netft_rdt_driver.h.

Scaling factor for converting raw force values from device into Newtons.

Definition at line 100 of file netft_rdt_driver.h.

boost::asio::io_service netft_rdt_driver::NetFTRDTDriver::io_service_ [protected]

Definition at line 77 of file netft_rdt_driver.h.

Last time diagnostics was published.

Definition at line 107 of file netft_rdt_driver.h.

to keep track of out-of-order or duplicate packet

Definition at line 110 of file netft_rdt_driver.h.

Count of lost RDT packets using RDT sequence number.

Definition at line 93 of file netft_rdt_driver.h.

boost::mutex netft_rdt_driver::NetFTRDTDriver::mutex_ [protected]

Definition at line 79 of file netft_rdt_driver.h.

geometry_msgs::WrenchStamped netft_rdt_driver::NetFTRDTDriver::new_data_ [protected]

Newest data received from netft device.

Definition at line 89 of file netft_rdt_driver.h.

Counts number of out-of-order (or duplicate) received packets.

Definition at line 95 of file netft_rdt_driver.h.

Count number of received <good> packets.

Definition at line 91 of file netft_rdt_driver.h.

Definition at line 80 of file netft_rdt_driver.h.

Set if recv thread exited because of error.

Definition at line 86 of file netft_rdt_driver.h.

True if recv loop is still running.

Definition at line 84 of file netft_rdt_driver.h.

Incremental counter for wrench header.

Definition at line 97 of file netft_rdt_driver.h.

boost::asio::ip::udp::socket netft_rdt_driver::NetFTRDTDriver::socket_ [protected]

Definition at line 78 of file netft_rdt_driver.h.

Definition at line 82 of file netft_rdt_driver.h.

to keep track of any error codes reported by netft

Definition at line 112 of file netft_rdt_driver.h.

Scaling factor for converting raw torque values into Newton*meters.

Definition at line 102 of file netft_rdt_driver.h.


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


netft_utils
Author(s): Alex von Sternberg , Derek King, Andy Zelenak
autogenerated on Thu Jun 6 2019 20:11:15