Exoskeleton Class Reference

Class Exoskeleton. More...

#include <exoskeleton.h>

Public Member Functions
	Exoskeleton ()
	Empty constructor. More...
void	initialize (const std::string &serial_com, unsigned int serial_baudrate)
	Initialize. More...
std::vector< double >	incoming_data_callback (void)
	Read incoming data. More...
std::vector< double >	get_joint_angles (void)
	Get joint angles. More...

Private Attributes
const int	m_meas_num = 13
	Measurements num. More...
std::vector< double >	m_raw_sensor_data
	Sensors data vector (raw) More...
std::shared_ptr< SerialCOM >	m_serial
	Serial communication handler. More...
std::future< std::vector< double > >	m_future_fun
	Future function handle. More...
bool	m_return_value = 0
	Termination flag for callback function. More...

Detailed Description

Class Exoskeleton.

This class is the interface between the hardware and the software. Its goal is to provide a callback function that reads asychronously the serial data from the SerialCOM:: class and translates it to joint angle values. It then sends the data to the animation loop and to the rendering engine

Definition at line 19 of file exoskeleton.h.

Constructor & Destructor Documentation

Exoskeleton()

Exoskeleton::Exoskeleton ( )

inline

Empty constructor.

Definition at line 24 of file exoskeleton.h.

{};

Member Function Documentation

get_joint_angles()

std::vector< double > Exoskeleton::get_joint_angles

(

void

)

Get joint angles.

It is the point of entry that feeds the animation loop with the exoskeleton data. It returns a vector of the raw jont angle data converted to radians. It also manages the asynchronous threading.

Returns

std::vector<double> The joint angles.

Definition at line 54 of file exoskeleton.cpp.

{
    // Set termination flag for asychronous function
    m_return_value = 1;
 
    // Get joint angles from future function
    std::vector<double> joint_angles = m_future_fun.get();
 
    // Convert to rad
    for (size_t i = 0; i < joint_angles.size(); i++)
    {
        joint_angles.at(i) = Utils::deg2rad(joint_angles.at(i));
    }
 
    // Reinitialize async function
    m_return_value = 0;
    m_future_fun = std::async(&Exoskeleton::incoming_data_callback, this);
 
    return joint_angles;
}

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incoming_data_callback()

std::vector< double > Exoskeleton::incoming_data_callback

(

void

)

Read incoming data.

This is the callback function for reading asynchronously the incoming data from the serial port. The data come in the format:

Returns

std::vector<double> The raw angle data coming from the exoskeleton board.

Definition at line 37 of file exoskeleton.cpp.

{
    while(!m_return_value)
    {
        m_raw_sensor_data =
            Utils::analog_str_buf_to_double_vec(m_serial->readLine());
    }
    return m_raw_sensor_data;
}

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initialize()

void Exoskeleton::initialize	(	const std::string &	serial_com,
		unsigned int	serial_baudrate
	)

Initialize.

It initialiazes the serial communication and sets the asychronous callback function. See https://en.cppreference.com/w/cpp/thread/async.

Parameters

serial_com	The serial communication port.
serial_baudrate	The serial communication baudrate.

Definition at line 10 of file exoskeleton.cpp.

{
    // Generate serial communication channel
    m_serial = std::make_shared<SerialCOM>(serial_com, serial_baudrate);
 
    // Initialize stream
    m_serial->initialize_stream();
 
    // Initialize asychronous function
    m_future_fun = std::async(&Exoskeleton::incoming_data_callback, this);
}

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Member Data Documentation

m_future_fun

std::future<std::vector<double> > Exoskeleton::m_future_fun

private

Future function handle.

Definition at line 48 of file exoskeleton.h.

m_meas_num

const int Exoskeleton::m_meas_num = 13

private

Measurements num.

Definition at line 37 of file exoskeleton.h.

m_raw_sensor_data

std::vector<double> Exoskeleton::m_raw_sensor_data

private

Sensors data vector (raw)

Definition at line 40 of file exoskeleton.h.

m_return_value

bool Exoskeleton::m_return_value = 0

private

Termination flag for callback function.

Definition at line 51 of file exoskeleton.h.

m_serial

std::shared_ptr<SerialCOM> Exoskeleton::m_serial

private

Serial communication handler.

Definition at line 45 of file exoskeleton.h.

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

• include/exoskeleton.h
• src/exoskeleton.cpp