#include <netft_rdt_driver.h>
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. | |
Definition at line 50 of file netft_rdt_driver.h.
anonymous enum [protected] |
Definition at line 74 of file netft_rdt_driver.h.
| 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.
| void netft_rdt_driver::NetFTRDTDriver::diagnostics | ( | diagnostic_updater::DiagnosticStatusWrapper & | d | ) |
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.
| void netft_rdt_driver::NetFTRDTDriver::recvThreadFunc | ( | void | ) | [protected] |
Definition at line 224 of file netft_rdt_driver.cpp.
| void netft_rdt_driver::NetFTRDTDriver::startStreaming | ( | void | ) | [protected] |
Asks NetFT to start streaming data.
Definition at line 210 of file netft_rdt_driver.cpp.
| bool netft_rdt_driver::NetFTRDTDriver::waitForNewData | ( | void | ) |
Wait for new NetFT data to arrive.
Definition at line 195 of file netft_rdt_driver.cpp.
std::string netft_rdt_driver::NetFTRDTDriver::address_ [protected] |
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.
unsigned netft_rdt_driver::NetFTRDTDriver::diag_packet_count_ [protected] |
Packet count last time diagnostics thread published output.
Definition at line 105 of file netft_rdt_driver.h.
double netft_rdt_driver::NetFTRDTDriver::force_scale_ [protected] |
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.
uint32_t netft_rdt_driver::NetFTRDTDriver::last_rdt_sequence_ [protected] |
to keep track of out-of-order or duplicate packet
Definition at line 110 of file netft_rdt_driver.h.
unsigned netft_rdt_driver::NetFTRDTDriver::lost_packets_ [protected] |
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.
unsigned netft_rdt_driver::NetFTRDTDriver::out_of_order_count_ [protected] |
Counts number of out-of-order (or duplicate) received packets.
Definition at line 95 of file netft_rdt_driver.h.
unsigned netft_rdt_driver::NetFTRDTDriver::packet_count_ [protected] |
Count number of received <good> packets.
Definition at line 91 of file netft_rdt_driver.h.
boost::thread netft_rdt_driver::NetFTRDTDriver::recv_thread_ [protected] |
Definition at line 80 of file netft_rdt_driver.h.
std::string netft_rdt_driver::NetFTRDTDriver::recv_thread_error_msg_ [protected] |
Set if recv thread exited because of error.
Definition at line 86 of file netft_rdt_driver.h.
bool netft_rdt_driver::NetFTRDTDriver::recv_thread_running_ [protected] |
True if recv loop is still running.
Definition at line 84 of file netft_rdt_driver.h.
unsigned netft_rdt_driver::NetFTRDTDriver::seq_counter_ [protected] |
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.
volatile bool netft_rdt_driver::NetFTRDTDriver::stop_recv_thread_ [protected] |
Definition at line 82 of file netft_rdt_driver.h.
uint32_t netft_rdt_driver::NetFTRDTDriver::system_status_ [protected] |
to keep track of any error codes reported by netft
Definition at line 112 of file netft_rdt_driver.h.
double netft_rdt_driver::NetFTRDTDriver::torque_scale_ [protected] |
Scaling factor for converting raw torque values into Newton*meters.
Definition at line 102 of file netft_rdt_driver.h.