Classes | Macros | Functions | Variables
dsa.h File Reference

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"
Include dependency graph for dsa.h:
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Go to the source code of this file.

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...
 

Macros

#define DSA_MAX_PREAMBLE_SEARCH   (2*3*(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 More...
 

Variables

UInt8 active_interface
 
UInt8 adj_flags
 
UInt32 can_baudrate
 
UInt16 can_id
 
UInt16 cells_x
 
UInt16 cells_y
 
float cur_sens
 
UInt16 error_code
 0000h, if successful, otherwise error code More...
 
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
 
UInt8payload
 
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]
 

Detailed Description

This file contains interface to #SDH::cDSA, a class to communicate with the tactile sensors of the SDH.

General file information

Author
Dirk Osswald
Date
2008-06-09

Copyright

Copyright (c) 2008 SCHUNK GmbH & Co. KG


Definition in file dsa.h.

Macro Definition Documentation

◆ DSA_MAX_PREAMBLE_SEARCH

#define DSA_MAX_PREAMBLE_SEARCH   (2*3*(6*(14+13)) + 16)

Definition at line 61 of file dsa.h.

Function Documentation

◆ operator<<() [1/5]

VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sControllerInfo const &  controller_info 
)

Definition at line 1121 of file dsa.cpp.

◆ operator<<() [2/5]

VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sSensorInfo const &  sensor_info 
)

Definition at line 1138 of file dsa.cpp.

◆ operator<<() [3/5]

VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sMatrixInfo const &  matrix_info 
)

Definition at line 1151 of file dsa.cpp.

◆ operator<<() [4/5]

VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA::sResponse const &  response 
)

Definition at line 1185 of file dsa.cpp.

◆ operator<<() [5/5]

VCC_EXPORT std::ostream& operator<< ( std::ostream &  stream,
cDSA const &  dsa 
)

Definition at line 1213 of file dsa.cpp.

◆ sResponse()

SDH__attribute__::sResponse ( UInt8 _payload,
int  _max_payload_size 
)

constructor to init pointer and max size

Definition at line 274 of file dsa.h.

Variable Documentation

◆ active_interface

UInt8 active_interface

Definition at line 123 of file dsa.h.

◆ adj_flags

UInt8 adj_flags

Bit vector indicating the sensitivity adjustment options:

  • D7...2 reserved
  • D1 1: user can change the sensitivity 0: sensitivity cannot be changed by the user

Definition at line 117 of file dsa.h.

◆ can_baudrate

UInt32 can_baudrate

Definition at line 124 of file dsa.h.

◆ can_id

UInt16 can_id

Definition at line 125 of file dsa.h.

◆ cells_x

UInt16 cells_x

Definition at line 119 of file dsa.h.

◆ cells_y

UInt16 cells_y

Definition at line 120 of file dsa.h.

◆ cur_sens

float cur_sens

Currently set sensitivity value. Floating point value. 0 is minimum sensitivity, 1.0 is maximum sensitivity.

Definition at line 121 of file dsa.h.

◆ error_code

UInt16 error_code

0000h, if successful, otherwise error code

Definition at line 116 of file dsa.h.

◆ fact_sens

float fact_sens

Sensitivity value that is used, if a factory restore command is issued. Floating point value. 0 is minimum sensitivity, 1.0 is maximum sensitivity.

Definition at line 123 of file dsa.h.

◆ feature_flags

UInt8 feature_flags

Definition at line 121 of file dsa.h.

◆ fullscale

float fullscale

Definition at line 132 of file dsa.h.

◆ generated_by

UInt16 generated_by

Definition at line 118 of file dsa.h.

◆ hw_revision

UInt8 hw_revision

Definition at line 119 of file dsa.h.

◆ hw_version

UInt8 hw_version

Definition at line 118 of file dsa.h.

◆ matrix_center_x

float matrix_center_x

Definition at line 125 of file dsa.h.

◆ matrix_center_y

float matrix_center_y

Definition at line 126 of file dsa.h.

◆ matrix_center_z

float matrix_center_z

Definition at line 127 of file dsa.h.

◆ matrix_theta_x

float matrix_theta_x

Definition at line 129 of file dsa.h.

◆ matrix_theta_y

float matrix_theta_y

Definition at line 130 of file dsa.h.

◆ matrix_theta_z

float matrix_theta_z

Definition at line 131 of file dsa.h.

◆ max_payload_size

Int32 max_payload_size

Definition at line 271 of file dsa.h.

◆ nb_matrices

UInt16 nb_matrices

Definition at line 117 of file dsa.h.

◆ packet_id

UInt8 packet_id

Definition at line 268 of file dsa.h.

◆ payload

UInt8* payload

Definition at line 270 of file dsa.h.

◆ reserved

UInt8 reserved[2]

Definition at line 122 of file dsa.h.

◆ senscon_type

UInt8 senscon_type

Definition at line 122 of file dsa.h.

◆ serial_no

UInt32 serial_no

Definition at line 117 of file dsa.h.

◆ size

UInt16 size

Definition at line 269 of file dsa.h.

◆ status_flags

UInt8 status_flags

Definition at line 120 of file dsa.h.

◆ sw_version

UInt16 sw_version

Definition at line 119 of file dsa.h.

◆ texel_height

float texel_height

Definition at line 118 of file dsa.h.

◆ texel_width

float texel_width

Definition at line 117 of file dsa.h.

◆ uid

UInt8 uid[6]

Definition at line 121 of file dsa.h.



sdhlibrary_cpp
Author(s): Dirk Osswald
autogenerated on Mon Feb 28 2022 23:41:52