Contains the declaration of a class for the BarrettHand Supervisory and RealTime modules. More...
#include "BHandDriver.h"
#include "BHandHardware.h"
#include "BHandCommands.h"
#include "bhand_motors.h"
#include "Poco/Thread.h"
#include "Poco/Runnable.h"
#include "Poco/Mutex.h"
#include "Poco/Event.h"
Go to the source code of this file.
Data Structures | |
class | BHandSupervisoryRealtime |
This class provides methods from Supervisory and RealTime modules. More... | |
Enumerations | |
enum | BHRequest { BHREQ_EXIT = 1, BHREQ_REALTIME, BHREQ_SUPERVISE, BHREQ_CLEAR } |
Communication Requests. More... | |
enum | BHSyncMode { BHMODE_SYNC = 1, BHMODE_ASYNCNOW, BHMODE_ASYNCWAIT, BHMODE_RETURN } |
Synchronization Modes. More... | |
enum | BHAPIErrorCode { BHERR_BHANDEXISTS = -1, BHERR_OPENCOMMPORT = -2, BHERR_GETCOMMSTATE = -3, BHERR_SETCOMMSTATE = -4, BHERR_SETCOMMTIMEOUT = -5, BHERR_THREADSTART = -6, BHERR_THREADPRIORITY = -7, BHERR_WRITECOM = -8, BHERR_READCOM = -9, BHERR_BADRESPONSE = -10, BHERR_CLEARBUFFER = -11, BHERR_TIMEOUT = -12, BHERR_NOTCOMPLETED = -13, BHERR_PENDING = -14, BHERR_NOTINITIALIZED = -15, BHERR_BADPARAMETER = -16, BHERR_LONGSTRING = -17, BHERR_OUTOFRANGE = -18, BHERR_MOTORINACTIVE = -19, BHERR_PORTOUTOFRANGE = -20 } |
API Error Codes. More... |
Contains the declaration of a class for the BarrettHand Supervisory and RealTime modules.
The BarrettHand API provides high-level control functions for the Barrett Hand that operates under in a supervisory mode or under a real time mode. This module needs to be initialized with a call to InitSoftware or Init.
If the API has been compiled to support serial communication then low-level access of the serial port methods that are used internally are exposed. These serial port methods may be used to support building a custom software interface to the BarrettHand. Barrett uses these methods to provide a bootloader for uploading new firmware outside the API.
Supervisory mode is the mode that the hand starts in after initialization. There are several useful commands such as open and close commands that will open and close fingers on the BarrettHand.
The Supervisory and RealTime modules contained here use the POCO C++ Foundation library for cross-platform multithreading.
RealTime mode allows control loops to be formed so that control and feedback data may be exchanged with the hand. This mode is used to control the hand directly.
Definition in file BHandSupervisoryRealTime.h.
enum BHRequest |
Communication Requests.
Requests to communications thread
Definition at line 62 of file BHandSupervisoryRealTime.h.
enum BHSyncMode |
Synchronization Modes.
Controls supervisory blocking/non-blocking behavior of supervisory commands
Definition at line 71 of file BHandSupervisoryRealTime.h.
enum BHAPIErrorCode |
API Error Codes.
Negative value error codes used within the BarrettHand API
Definition at line 80 of file BHandSupervisoryRealTime.h.