WeissHapticSensor.h
Go to the documentation of this file.
1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package
19  * @author
20  * @date
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 #pragma once
25 
26 #include <mutex>
27 
34 
35 #include <RobotAPI/interface/units/HapticUnit.h>
37 
38 #include "SerialInterface.h"
39 #include "TactileSensor.h"
40 #include "TextWriter.h"
41 
42 namespace armarx
43 {
44 
45  class WeissHapticSensor;
46  using WeissHapticSensorPtr = std::shared_ptr<WeissHapticSensor>;
47 
48  class WeissHapticSensor : public Logging
49  {
50  public:
51  WeissHapticSensor(std::string device, int minimumReportIntervalMs);
52 
53  void connect();
54  void disconnect();
55 
56  void setListenerPrx(HapticUnitListenerPrx listenerPrx);
57  void startSampling();
58 
59  std::string getDeviceName();
60  void scheduleSetDeviceTag(std::string tag);
61 
62  private:
64  std::shared_ptr<TextWriter> jsWriter;
65  void frameAcquisitionTaskLoop();
66  std::string device;
67  std::string deviceFileName;
68  std::shared_ptr<SerialInterface> interface;
69  std::shared_ptr<TactileSensor> sensor;
70  bool connected;
71  std::string tag;
73  HapticUnitListenerPrx listenerPrx;
74  void writeMatrixToJs(MatrixFloatPtr matrix, TimestampVariantPtr timestamp);
75 
76  bool setDeviceTagScheduled;
77  std::string setDeviceTagValue;
78 
79  std::mutex mutex;
80  int minimumReportIntervalMs;
81  };
82 } // namespace armarx
armarx::WeissHapticSensor::scheduleSetDeviceTag
void scheduleSetDeviceTag(std::string tag)
Definition: WeissHapticSensor.cpp:137
MatrixVariant.h
armarx::WeissHapticSensor::setListenerPrx
void setListenerPrx(HapticUnitListenerPrx listenerPrx)
Definition: WeissHapticSensor.cpp:118
armarx::WeissHapticSensor::disconnect
void disconnect()
Definition: WeissHapticSensor.cpp:111
armarx::WeissHapticSensor::WeissHapticSensor
WeissHapticSensor(std::string device, int minimumReportIntervalMs)
Definition: WeissHapticSensor.cpp:34
RunningTask.h
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::WeissHapticSensor::connect
void connect()
Definition: WeissHapticSensor.cpp:48
SerialInterface.h
armarx::WeissHapticSensor::getDeviceName
std::string getDeviceName()
Definition: WeissHapticSensor.cpp:131
SlidingWindowVectorMedian.h
TimestampVariant.h
Eigen3VariantObjectFactories.h
armarx::WeissHapticSensorPtr
std::shared_ptr< WeissHapticSensor > WeissHapticSensorPtr
Definition: WeissHapticSensor.h:46
TextWriter.h
armarx::WeissHapticSensor::startSampling
void startSampling()
Definition: WeissHapticSensor.cpp:124
armarx::Logging
Base Class for all Logging classes.
Definition: Logging.h:239
IceUtil::Handle
Definition: forward_declarations.h:30
armarx::WeissHapticSensor
Definition: WeissHapticSensor.h:48
Logging.h
TactileSensor.h
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:27
tac_matrix_info_t
Definition: TactileSensor.h:48
ImportExportComponent.h