Tactile Sensors for Parallel Grippers: Design and Characterization

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. 2021 Mar 9;21(5):1915. doi: 10.3390/s21051915

Algorithm 2 PC Application

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functionSerial_Port_Enumeration(vector<string> &devices_name)
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$d e t e c t e d_s e r i a l_p o r t s \leftarrow get the p o r t s_l i s t$ ▹ ROS serial lib is used
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$P o r t F i l t e r 1 \leftarrow " t t y U S B "$
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$P o r t F i l t e r 2 \leftarrow " t t y A C M "$
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while $d e t e c t e d_s e r i a l_p o r t s$ is not ended do
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$s e r i a l_p o r t \leftarrow get Serial Port from d e t e c t e d_s e r i a l_p o r t s$
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if $s e r i a l_p o r t belongs to the class of P o r t F i l t e r 1 and P o r t F i l t e r 2$ then
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add $s e r i a l_p o r t to d e v i c e s_n a m e$
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end if
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end while
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return number of found devices
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end function
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proceduresensor_init
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$k \leftarrow 0$
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$S e n s o r I d x \leftarrow 0$
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$S p N u m \leftarrow S e r i a l_P o r t_E n u m e r a t i o n (d e v i c e s_n a m e)$
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if $S p N u m equals to 0$ then
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return with error
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else
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for $k \leftarrow 1$ to $S p N u m$ do
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Open $d e v i c e s_n a m e . a t (S p N u m)$
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Write b on $d e v i c e s_n a m e . a t (S p N u m)$
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$S e n s o r I D \leftarrow Read Sensor ID from d e v i c e s_n a m e . a t (S p N u m)$
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if a valid $S e n s o r I D$ is received then
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$S e n s o r L i s t . a t (S e n s o r I d x) . N a m e \leftarrow S e n s o r I D$
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$S e n s o r L i s t . a t (S e n s o r I d x) . S e r i a l P o r t \leftarrow d e v i c e s_n a m e . a t (S p N u m)$
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$S e n s o r L i s t . a t (S e n s o r I d x) . I d x \leftarrow S e n s o r I d x$
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$S e n s o r I d x \leftarrow S e n s o r I d x + 1$
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end if
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Close $d e v i c e s_n a m e . a t (S p N u m)$
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end for
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end if
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end procedure
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procedureuser_sensor_selection(SensorList)
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Print on screen the $S e n s o r L i s t$
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$U s e r S e n s o r I d x \leftarrow get the user selection from keyboard$
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Open Serial Port $S e n s o r L i s t . a t (U s e r S e n s o r I d x) . N a m e$
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Write c on $S e n s o r L i s t . a t (U s e r S e n s o r I d x) . N a m e$
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$S e n s i n g E l e m e n t s \leftarrow Read the number of sensing elements from Serial Port$
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if $S e n s i n g E l e m e n t s$ is equal to 0 then
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return with error
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else
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$S e n s o r L i s t . a t (U s e r S e n s o r I d x) . N u m S e n s i n g E l e m e n t s \leftarrow S e n s i n g E l e m e n t s$
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end if
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end procedure
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procedureMain
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Set ROS Node name, ROS Topics name and ROS Node rate
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Call $s e n s o r_i n i t$
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Call $u s e r_s e n s o r_s e l e c t i o n$
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MainLoop:
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Send a over $S e n s o r L i s t . a t (U s e r S e n s o r I d x) . S e r i a l P o r t$
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$S e n s o r L i s t . a t (U s e r S e n s o r I d x) . R a w D a t a \leftarrow read Sensor Data from Serial$
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Send $S e n s o r L i s t . a t (U s e r S e n s o r I d x) . R a w D a t a$ over ROS Topic
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Wait for next iteration
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goto MainLoop
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end procedure