Visual Servoing Platform  version 3.2.0 under development (2018-10-21)
ringLight.cpp

Shows how to activates the ring light.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Example of ring light control.
*
* Author:
* Fabien Spindler
*
*****************************************************************************/
#include <cmath> // std::fabs
#include <limits> // numeric_limits
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if defined VISP_HAVE_PARPORT
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpTime.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpRingLight.h>
// List of allowed command line options
#define GETOPTARGS "d:hn:ot:"
void usage(const char *name, const char *badparam, int nsec, double nmsec)
{
fprintf(stdout, "\n\
Send a pulse to activate the ring light or turn on the ring light \n\
during %d s.\n\
\n\
By default, that means without parameters, send a pulse which duration\n\
is fixed by the harware. To control the duration of the pulse, use \n\
\"-t <pulse width in ms>\" option. To turn on the light permanently, \n\
use \"-o -n <on duration in second>]\"\n \
\n\
SYNOPSIS\n\
%s [-o] [-n <on duration in second>] [-t <pulse width in ms>] [-h]\n\
", nsec, name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
\n\
-o\n\
Turn the ring light on during %d s.\n\
If this option is not set, send a short pulse\n\
to activate the light.\n\
\n\
-t %%g : <pulse width in ms> %g\n\
Pulse width in milli-second.\n\
Send a pulse which duration is fixed by this parameter.\n\
Without this option, the pulse width is fixed by the \n\
harware.\n\
\n\
-n %%d : <on duration in second> %d\n\
Time in second while the ring light is turned on.\n\
This option is to make into realtion with option \"-o\".\n\
\n\
-h\n\
Print the help.\n\n", nsec, nmsec, nsec);
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv, bool &on, int &nsec, double &nmsec)
{
const char *optarg;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
switch (c) {
case 'n':
nsec = atoi(optarg);
break;
case 'o':
on = true;
break;
case 't':
nmsec = atof(optarg);
break;
case 'h':
usage(argv[0], NULL, nsec, nmsec);
return false;
break;
default:
usage(argv[0], optarg, nsec, nmsec);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, nsec, nmsec);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
try {
bool on = false;
int nsec = 5; // Time while the ring light is turned on
double nmsec = 0; // Pulse duration
// Read the command line options
if (getOptions(argc, argv, on, nsec, nmsec) == false) {
exit(-1);
}
vpRingLight light;
// if (nmsec == 0.)
if (std::fabs(nmsec) <= std::numeric_limits<double>::epsilon())
light.pulse();
else
light.pulse(nmsec);
if (on) {
printf("Turn on ring light\n");
light.on(); // Turn the ring light on
vpTime::wait(nsec * 1000); // Wait 5 s
light.off(); // and then turn the ring light off
} else {
printf("Send a pulse to activate the ring light\n");
light.pulse();
}
} catch (vpParallelPortException &e) {
switch (e.getCode()) {
printf("Can't open the parallel port to access to the ring light "
"device\n");
break;
printf("Can't close the parallel port\n");
break;
}
} catch (...) {
printf("An error occurs...\n");
}
return EXIT_SUCCESS;
}
#else
int main()
{
std::cout << "vpRingLight class works only on unix on a the Inria Afma6 platform..." << std::endl;
return EXIT_SUCCESS;
}
#endif