Basic communication handler for the SCHUNK five finger hand. More...

#include <SVHSerialInterface.h>

Public Member Functions
void	close ()
	canceling receive thread and closing connection to serial port More...

bool	connect (const std::string &dev_name)
	connecting to serial device and starting receive thread More...

bool	isConnected ()
	returns connected state of serial device More...

void	printPacketOnConsole (SVHSerialPacket &packet)
	printPacketOnConsole is a pure helper function to show what raw data is actually sent. This is not meant for any productive use other than understand whats going on. More...

void	resetTransmitPackageCount ()
	resetTransmitPackageCount Resets the transmitpackage count to zero More...

bool	sendPacket (SVHSerialPacket &packet)
	function for sending packets via serial device to the SVH More...

	SVHSerialInterface (const ReceivedPacketCallback &received_packet_callback)
	Constructs a serial interface class for basic communication with the SCHUNK five finger hand. More...

unsigned int	transmittedPacketCount ()
	get number of transmitted packets More...

	~SVHSerialInterface ()
	Default DTOR. More...

Private Member Functions
void	calcCheckSum (uint8_t &check_sum1, uint8_t &check_sum2, const SVHSerialPacket &packet)
	cecksum calculation More...

void	receivedPacketCallback (const SVHSerialPacket &packet, unsigned int packet_count)
	called on received packets, calls m_received_packet_callback More...

Private Attributes
uint8_t	last_index
	used to wait to the response of the sending packet More...

bool	m_connected
	serial device connected state More...

unsigned int	m_dummy_packets_printed
	packet counter simulation for pure showing purposes More...

unsigned int	m_packets_transmitted
	packet counters More...

boost::shared_ptr< SVHReceiveThread >	m_receive_thread
	thread for receiving serial packets More...

ReceivedPacketCallback	m_received_packet_callback
	Callback function for received packets. More...

boost::shared_ptr< Serial >	m_serial_device
	pointer to serial interface object More...

Detailed Description

Basic communication handler for the SCHUNK five finger hand.

Definition at line 48 of file SVHSerialInterface.h.

Constructor & Destructor Documentation

driver_svh::SVHSerialInterface::SVHSerialInterface ( const ReceivedPacketCallback & received_packet_callback )

Constructs a serial interface class for basic communication with the SCHUNK five finger hand.

Parameters

received_packet_callback function to call whenever a packet was received

Definition at line 41 of file SVHSerialInterface.cpp.

driver_svh::SVHSerialInterface::~SVHSerialInterface ( )

Default DTOR.

Definition at line 48 of file SVHSerialInterface.cpp.

Member Function Documentation

void driver_svh::SVHSerialInterface::calcCheckSum	(	uint8_t &	check_sum1,
		uint8_t &	check_sum2,
		const SVHSerialPacket &	packet
	)

private

cecksum calculation

void driver_svh::SVHSerialInterface::close ( )

canceling receive thread and closing connection to serial port

Definition at line 100 of file SVHSerialInterface.cpp.

bool driver_svh::SVHSerialInterface::connect ( const std::string & dev_name )

connecting to serial device and starting receive thread

Parameters

dev_name Filehandle of the device i.e. dev/ttyUSB0

Returns: bool true if connection was succesfull

Definition at line 53 of file SVHSerialInterface.cpp.

bool driver_svh::SVHSerialInterface::isConnected ( )

inline

returns connected state of serial device

Returns: bool true if the device is connected

Definition at line 76 of file SVHSerialInterface.h.

void driver_svh::SVHSerialInterface::printPacketOnConsole ( SVHSerialPacket & packet )

printPacketOnConsole is a pure helper function to show what raw data is actually sent. This is not meant for any productive use other than understand whats going on.

Parameters

packet the prepared Serial Packet(without header information and such)

Definition at line 194 of file SVHSerialInterface.cpp.

void driver_svh::SVHSerialInterface::receivedPacketCallback	(	const SVHSerialPacket &	packet,
		unsigned int	packet_count
	)

private

called on received packets, calls m_received_packet_callback

Definition at line 222 of file SVHSerialInterface.cpp.

void driver_svh::SVHSerialInterface::resetTransmitPackageCount ( )

resetTransmitPackageCount Resets the transmitpackage count to zero

Definition at line 187 of file SVHSerialInterface.cpp.

bool driver_svh::SVHSerialInterface::sendPacket ( SVHSerialPacket & packet )

function for sending packets via serial device to the SVH

Parameters

packet the prepared Serial Packet

Returns: true if successful

Definition at line 125 of file SVHSerialInterface.cpp.

unsigned int driver_svh::SVHSerialInterface::transmittedPacketCount ( )

inline

get number of transmitted packets

Returns: number of successfully sent packets

Definition at line 89 of file SVHSerialInterface.h.

Member Data Documentation

uint8_t driver_svh::SVHSerialInterface::last_index

private

used to wait to the response of the sending packet

Definition at line 110 of file SVHSerialInterface.h.

bool driver_svh::SVHSerialInterface::m_connected

private

serial device connected state

Definition at line 107 of file SVHSerialInterface.h.

unsigned int driver_svh::SVHSerialInterface::m_dummy_packets_printed

private

packet counter simulation for pure showing purposes

Definition at line 128 of file SVHSerialInterface.h.

unsigned int driver_svh::SVHSerialInterface::m_packets_transmitted

private

packet counters

Definition at line 125 of file SVHSerialInterface.h.

boost::shared_ptr<SVHReceiveThread> driver_svh::SVHSerialInterface::m_receive_thread

private

thread for receiving serial packets

Definition at line 119 of file SVHSerialInterface.h.

ReceivedPacketCallback driver_svh::SVHSerialInterface::m_received_packet_callback

private

Callback function for received packets.

Definition at line 122 of file SVHSerialInterface.h.

boost::shared_ptr<Serial> driver_svh::SVHSerialInterface::m_serial_device

private

pointer to serial interface object

Definition at line 113 of file SVHSerialInterface.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation