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"

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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 (23(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
	0 is minimum sensitivity, 1.0 is maximum sensitivity.
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]