#include <qbsofthand_industry_api.h>

Public Member Functions
double	getCurrent ()

std::string	getDeviceSerialNumber ()

int	getDigitalInputCurrent (const int &index)

int	getDigitalInputPosition (const int &index)

int	getDigitalInputVelocity (const int &index)

bool	getEthercatConnection ()

std::string	getFirmwareVersion ()

std::string	getGateWayAddress ()

int	getHandSide ()

std::string	getIPAddress ()

int	getMaxCurrentThreshold ()

std::string	getNetMask ()

double	getPosition ()

std::string	getSerialNumber ()

std::string	getStatistics ()

std::string	getStatisticsFull ()

double	getVelocity ()

double	getVoltage ()

bool	getWaitForStableGrasp ()

bool	isInitialized ()

	qbSoftHandIndustryAPI ()

	qbSoftHandIndustryAPI (const bool &debug_serial)

	qbSoftHandIndustryAPI (const std::string &device_ip, const int &max_timeout)

	qbSoftHandIndustryAPI (const std::string &serial_port_name)

void	saveParams ()
	saves non-volatile parameters from the RAM to the flash memory More...

int	sendRawCommand (const std::string &command, const int &max_repeats)
	Send a command to qbSoftHand Industry for `max_repeats` attempts. More...

int	setClosure (const float &position)

int	setClosure (const float &position, const float &velocity, const float &current)

int	setDigitalInputParams (const int &index, const int &position, const int &velocity, const int &current)

int	setEthercatConnection (const bool &mode)

int	setHandSide (const bool &is_right)

int	setIP (const std::string &net_ip, const std::string &net_mask, const std::string &net_gateway)

int	setWaitForStableGrasp (const bool &wait)

int	waitForTargetReached ()

virtual	~qbSoftHandIndustryAPI ()

Private Attributes
std::unique_ptr< Implementation >	pimpl_

Detailed Description

Definition at line 61 of file qbsofthand_industry_api.h.

Constructor & Destructor Documentation

◆ qbSoftHandIndustryAPI() [1/4]

qbsofthand_industry_api::qbSoftHandIndustryAPI::qbSoftHandIndustryAPI ( )

Initialize the qb SoftHand Industry API handler by opening the proper UDP socket or, if any Elmo device is found, by serial port and test its communication. The constructor try to connect to the qb SoftHand Industry for at most 2 seconds and then returns. Through the method 'isInitialized()' is possible to test whether the initialization succeeded or not. The default IPv4 address used for the UDP socket connection is 192.168.1.110.

◆ qbSoftHandIndustryAPI() [2/4]

qbsofthand_industry_api::qbSoftHandIndustryAPI::qbSoftHandIndustryAPI ( const bool & debug_serial )

explicit

Initialize the qb SoftHand Industry API handler by opening, if any Elmo device is found, a serial port and test its communication. Debug messages are printed on terminal. If serial fails, constructor tries default UDP connection.

◆ qbSoftHandIndustryAPI() [3/4]

qbsofthand_industry_api::qbSoftHandIndustryAPI::qbSoftHandIndustryAPI ( const std::string & serial_port_name )

explicit

Initialize the qb SoftHand Industry API handler by opening, at the name indicated, a serial port and tests its communication. If serial fails, constructor tries default UDP connection.

◆ qbSoftHandIndustryAPI() [4/4]

qbsofthand_industry_api::qbSoftHandIndustryAPI::qbSoftHandIndustryAPI	(	const std::string &	device_ip,
		const int &	max_timeout
	)

explicit

Initialize the qb SoftHand Industry API handler by opening the proper UDP socket and by testing its communication. With the explicit definition of IP address, this method skips the search for serial connection. The constructor try to connect to the qb SoftHand Industry for at most max_timeout seconds and then returns. Through the method 'isInitialized()' is possible to test whether the initialization succeeded or not.

Parameters

device_ip	The IPv4 address used for the UDP socket connection. It must be a valid IPv4 address.
max_timeout	Time interval for connection in seconds.

◆ ~qbSoftHandIndustryAPI()

virtual qbsofthand_industry_api::qbSoftHandIndustryAPI::~qbSoftHandIndustryAPI ( )

virtual

Close the UDP socket and perform the proper shutdown procedures.

Member Function Documentation

◆ getCurrent()

double qbsofthand_industry_api::qbSoftHandIndustryAPI::getCurrent ( )

Get the actual qb SoftHand Industry motor torque in percent value w.r.t. the maximum value.

◆ getDeviceSerialNumber()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getDeviceSerialNumber ( )

Get the Elmo Driver Serial Number.

◆ getDigitalInputCurrent()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::getDigitalInputCurrent ( const int & index )

Get the current reference sent to the motor when the digital input is triggered.

Parameters

index The index of the digital input (3, 4 or 5).

◆ getDigitalInputPosition()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::getDigitalInputPosition ( const int & index )

Get the position reference sent to the motor when the digital input is triggered.

Parameters

index The index of the digital input (3, 4 or 5).

◆ getDigitalInputVelocity()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::getDigitalInputVelocity ( const int & index )

Get the velocity reference sent to the motor when the digital input is triggered.

Parameters

index The index of the digital input (3, 4 or 5).

◆ getEthercatConnection()

bool qbsofthand_industry_api::qbSoftHandIndustryAPI::getEthercatConnection ( )

Get the connection mode: 1 for Ethercat, 42330 for Ethernet.

◆ getFirmwareVersion()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getFirmwareVersion ( )

Get the qb SoftHand Industry FW version.

◆ getGateWayAddress()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getGateWayAddress ( )

Get the qb SoftHand Industry Gateway address for UDP connection.

◆ getHandSide()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::getHandSide ( )

Get the SoftHand Industry model configuration: 1 for Righ-Hand, 0 for Left-Side.

◆ getIPAddress()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getIPAddress ( )

Get the qb SoftHand Industry IP address for UDP connection.

◆ getMaxCurrentThreshold()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::getMaxCurrentThreshold ( )

Get the maximum absorbed current from qb SoftHand Industry.

◆ getNetMask()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getNetMask ( )

Get the qb SoftHand Industry netmask for UDP connection.

◆ getPosition()

double qbsofthand_industry_api::qbSoftHandIndustryAPI::getPosition ( )

Get the actual qb SoftHand Industry motor position in percent value w.r.t. the maximum value.

◆ getSerialNumber()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getSerialNumber ( )

Get the qb SoftHand Industry Serial Number.

◆ getStatistics()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getStatistics ( )

Get the qb SoftHand Industry device information.

◆ getStatisticsFull()

std::string qbsofthand_industry_api::qbSoftHandIndustryAPI::getStatisticsFull ( )

Get the qb SoftHand Industry full device information.

◆ getVelocity()

double qbsofthand_industry_api::qbSoftHandIndustryAPI::getVelocity ( )

Get the actual qb SoftHand Industry motor velocity in percent value w.r.t. the maximum value.

◆ getVoltage()

double qbsofthand_industry_api::qbSoftHandIndustryAPI::getVoltage ( )

Get the Elmo input Voltage [V].

◆ getWaitForStableGrasp()

bool qbsofthand_industry_api::qbSoftHandIndustryAPI::getWaitForStableGrasp ( )

Get the parameter that defines whether or not the device waits for the stable grasp .

◆ isInitialized()

bool qbsofthand_industry_api::qbSoftHandIndustryAPI::isInitialized ( )

Return true if the initialization procedure has succeeded.

Returns: true on success.

◆ saveParams()

void qbsofthand_industry_api::qbSoftHandIndustryAPI::saveParams ( )

saves non-volatile parameters from the RAM to the flash memory

◆ sendRawCommand()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::sendRawCommand	(	const std::string &	command,
		const int &	max_repeats
	)

Send a command to qbSoftHand Industry for max_repeats attempts.

Parameters

command	the command to be exectuted
max_repeats	the attempts to be performed

Returns: the response status

◆ setClosure() [1/2]

int qbsofthand_industry_api::qbSoftHandIndustryAPI::setClosure ( const float & position )

Send the given percent-position closure command reference to the qb SoftHand Industry.

Parameters

position The percent-position command reference, in range [0, 100]% where 0 is the fully open configuration, and 100 is the fully closed.

Returns: 0 on success; -1 if the position is out of range; -3 if communication is lost.

◆ setClosure() [2/2]

int qbsofthand_industry_api::qbSoftHandIndustryAPI::setClosure	(	const float &	position,
		const float &	velocity,
		const float &	current
	)

Send the given percent-position closure command reference to the qb SoftHand Industry, together with the speed reference command and the maximum force that should be applied during the grasp. This is the most complete command to send a reference to the qb SoftHand and should be used for special cases. In normal usage, the simpler version above should be preferred. All the parameters are expressed in percent w.r.t. the maximum possible value.

Parameters

position	The percent-position command reference, in range [`0`, `100`]% where `0` is the fully open configuration, and `100` is the fully closed.
velocity	The speed command reference, in range [`12.5`, `100`]% where `12.5` is the minimum velocity of the closure, and `100` is full speed.
current	The current threshold for the motor, in range [`62.5`, `100`]% where `62.5` is the minimum force that the hand can apply, and `100` is the maximum.

Returns: 0 on success; -1 if at least one of the percent values is out of range; -3 if communication is lost.

◆ setDigitalInputParams()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::setDigitalInputParams	(	const int &	index,
		const int &	position,
		const int &	velocity,
		const int &	current
	)

Set the position, velocity and current references to send to the motor when the digital input is triggered.

Parameters

index	The index of the digital input (3, 4 or 5).
position	The reference position for the motor [0, 3800].
velocity	The reference velocity for the motor [400, 3200].
position	The reference current for the motor [250, 450].

◆ setEthercatConnection()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::setEthercatConnection ( const bool & mode )

Set the connection mode.

Parameters

mode	`true` for Ethercat, `false` for Ethernet.

Returns: 0 on success; -1 if the position is out of range; -3 if communication is lost.

◆ setHandSide()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::setHandSide ( const bool & is_right )

Set the SoftHand Industry model configuration.

Parameters

conf	`true` for Righ-Hand, `false` for Left-Side.

Returns: 0 on success; -1 if the position is out of range; -3 if communication is lost.

◆ setIP()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::setIP	(	const std::string &	net_ip,
		const std::string &	net_mask,
		const std::string &	net_gateway
	)

Change the qb SoftHand Industry IPv4 address, network mask and gateway of the device. It is worth noticing that the device should be connected first to use this command.

Parameters

net_ip	The device network IP address, e.g. 192.168.1.110.
net_mask	The device network mask, e.g. 255.255.255.0.
net_gateway	The device network gateway, e.g. 192.168.1.1.

Returns: 0 on success; -1 if at least one of the given IPv4-format addresses is wrong.

◆ setWaitForStableGrasp()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::setWaitForStableGrasp ( const bool & wait )

Set the parameter that blocks receiving new commands until the motor is stationary.

Parameters

wait	if true, the device waits until the motor is stationary, false othewise.

Returns: 0 on success.

◆ waitForTargetReached()

int qbsofthand_industry_api::qbSoftHandIndustryAPI::waitForTargetReached ( )

Wait until the qb SoftHand Industry has reached the commanded position. This method should be called after a setClosure one, to wait for the action to be completed.

Returns: 0 on success; -3 if communication is lost.

Member Data Documentation

◆ pimpl_

std::unique_ptr<Implementation> qbsofthand_industry_api::qbSoftHandIndustryAPI::pimpl_

private

Definition at line 315 of file qbsofthand_industry_api.h.

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

qbsofthand_industry_api.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ qbSoftHandIndustryAPI() [1/4]

◆ qbSoftHandIndustryAPI() [2/4]

◆ qbSoftHandIndustryAPI() [3/4]

◆ qbSoftHandIndustryAPI() [4/4]

◆ ~qbSoftHandIndustryAPI()

Member Function Documentation

◆ getCurrent()

◆ getDeviceSerialNumber()

◆ getDigitalInputCurrent()

◆ getDigitalInputPosition()

◆ getDigitalInputVelocity()

◆ getEthercatConnection()

◆ getFirmwareVersion()

◆ getGateWayAddress()

◆ getHandSide()

◆ getIPAddress()

◆ getMaxCurrentThreshold()

◆ getNetMask()

◆ getPosition()

◆ getSerialNumber()

◆ getStatistics()

◆ getStatisticsFull()

◆ getVelocity()

◆ getVoltage()

◆ getWaitForStableGrasp()

◆ isInitialized()

◆ saveParams()

◆ sendRawCommand()

◆ setClosure() [1/2]

◆ setClosure() [2/2]

◆ setDigitalInputParams()

◆ setEthercatConnection()

◆ setHandSide()

◆ setIP()

◆ setWaitForStableGrasp()

◆ waitForTargetReached()

Member Data Documentation

◆ pimpl_