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)

Private Attributes
bool	m_connected
	serial device connected state More...

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

uint8_t	m_last_index

unsigned int	m_packets_transmitted
	packet counters More...

std::thread	m_receive_thread
	thread for receiving serial packets More...

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

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

std::unique_ptr< SVHReceiveThread >	m_svh_receiver
	handle to manage the actual receiving of data More...

Detailed Description

Basic communication handler for the SCHUNK five finger hand.

Definition at line 57 of file SVHSerialInterface.h.

Constructor & Destructor Documentation

◆ SVHSerialInterface()

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 51 of file SVHSerialInterface.cpp.

◆ ~SVHSerialInterface()

driver_svh::SVHSerialInterface::~SVHSerialInterface ( )

Default DTOR.

Definition at line 58 of file SVHSerialInterface.cpp.

Member Function Documentation

◆ calcCheckSum()

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

private

cecksum calculation

◆ close()

void driver_svh::SVHSerialInterface::close ( )

canceling receive thread and closing connection to serial port

Definition at line 109 of file SVHSerialInterface.cpp.

◆ connect()

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 63 of file SVHSerialInterface.cpp.

◆ isConnected()

bool driver_svh::SVHSerialInterface::isConnected ( )

inline

returns connected state of serial device

Returns: bool true if the device is connected

Definition at line 85 of file SVHSerialInterface.h.

◆ printPacketOnConsole()

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 198 of file SVHSerialInterface.cpp.

◆ receivedPacketCallback()

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

private

Definition at line 225 of file SVHSerialInterface.cpp.

◆ resetTransmitPackageCount()

void driver_svh::SVHSerialInterface::resetTransmitPackageCount ( )

resetTransmitPackageCount Resets the transmitpackage count to zero

Definition at line 191 of file SVHSerialInterface.cpp.

◆ sendPacket()

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 134 of file SVHSerialInterface.cpp.

◆ transmittedPacketCount()

unsigned int driver_svh::SVHSerialInterface::transmittedPacketCount ( )

inline

get number of transmitted packets

Returns: number of successfully sent packets

Definition at line 98 of file SVHSerialInterface.h.

Member Data Documentation

◆ m_connected

bool driver_svh::SVHSerialInterface::m_connected

private

serial device connected state

Definition at line 116 of file SVHSerialInterface.h.

◆ m_dummy_packets_printed

unsigned int driver_svh::SVHSerialInterface::m_dummy_packets_printed

private

packet counter simulation for pure showing purposes

Definition at line 139 of file SVHSerialInterface.h.

◆ m_last_index

uint8_t driver_svh::SVHSerialInterface::m_last_index

private

Definition at line 118 of file SVHSerialInterface.h.

◆ m_packets_transmitted

unsigned int driver_svh::SVHSerialInterface::m_packets_transmitted

private

packet counters

Definition at line 136 of file SVHSerialInterface.h.

◆ m_receive_thread

std::thread driver_svh::SVHSerialInterface::m_receive_thread

private

thread for receiving serial packets

Definition at line 127 of file SVHSerialInterface.h.

◆ m_received_packet_callback

ReceivedPacketCallback driver_svh::SVHSerialInterface::m_received_packet_callback

private

Callback function for received packets.

Definition at line 133 of file SVHSerialInterface.h.

◆ m_serial_device

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

private

pointer to serial interface object

Definition at line 121 of file SVHSerialInterface.h.

◆ m_svh_receiver

std::unique_ptr<SVHReceiveThread> driver_svh::SVHSerialInterface::m_svh_receiver

private

handle to manage the actual receiving of data

Definition at line 130 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

◆ SVHSerialInterface()

◆ ~SVHSerialInterface()

Member Function Documentation

◆ calcCheckSum()

◆ close()

◆ connect()

◆ isConnected()

◆ printPacketOnConsole()

◆ receivedPacketCallback()

◆ resetTransmitPackageCount()

◆ sendPacket()

◆ transmittedPacketCount()

Member Data Documentation

◆ m_connected

◆ m_dummy_packets_printed

◆ m_last_index

◆ m_packets_transmitted

◆ m_receive_thread

◆ m_received_packet_callback

◆ m_serial_device

◆ m_svh_receiver