Skin Class Reference

A Class to subscribe the data provided by the publisher node (skin_driver). More...

#include <skin.h>

Public Member Functions
void	initialize_sensor_data ()
	Initialize all sensor data stored in the object of the class.
	Skin ()
	A constructor to initialize the sensor data stored in this class and to create a Subscriber.
void	skin_Callback (const boost::shared_ptr< skin_driver::skin_meas const > &msg)
	The function "skin_Callback" subscribs data from the topic and decrypts them.
Public Attributes
bool	bsens_num_changed
	If true: sensor number was changed.
bool	bstatus_err_
	Status display Err/NoErr.
bool	bstatus_go_
	Status display Go/NoGo.
ros::Time	dtime_subscription_
	Time stamp of the last subscription.
uint8_t	u8asensor_data_ [skind_def::max_sensor_number][skind_def::anz_byte_per_sensor]
	Data from sensor skin.
uint8_t	u8readadr_hi_
	High-byte of the address which represents the beginning of the sensor data in the RAM.
uint8_t	u8readadr_lo_
	Low-byte of the address which represents the beginning of the sensor data in the RAM.
uint8_t	u8sensor_number_
	Number of sensor elements connected to the sensor skin.
Private Attributes
ros::NodeHandle	nh_
ros::Subscriber	skin_sub_

Detailed Description

A Class to subscribe the data provided by the publisher node (skin_driver).

The class Skin handles the subscription of the topic skin_data. The sensor data received from the topic are decrypted and stored in this class. If the publisher node is offline the class initializes the sensor data with default values.

Definition at line 57 of file skin.h.

Constructor & Destructor Documentation

Skin::Skin ( )

A constructor to initialize the sensor data stored in this class and to create a Subscriber.

The construktor uses the function "initialize_sensor_data" to set the sensor data to default values.

Definition at line 37 of file skin.cpp.

Member Function Documentation

void Skin::initialize_sensor_data ( )

Initialize all sensor data stored in the object of the class.

Initialization:

sensor values = 0 (1536 values);
sensor number = skind_def::max_sensor_number
high-byte of the address which represents the beginnign of the sensor data in the RAM = 1
low-byte of the address which represents the beginnign of the sensor data in the RAM = 0
Status display Flag Go/NoGo (bstatus_go_)= 0
Status display Flag Err/NoErr (bstatus_err_)= 1

Definition at line 48 of file skin.cpp.

void Skin::skin_Callback ( const boost::shared_ptr< skin_driver::skin_meas const > & msg )

The function "skin_Callback" subscribs data from the topic and decrypts them.

Definition at line 65 of file skin.cpp.