Visual Servoing Platform  version 3.2.0 under development (2018-08-16)
testComedi.cpp

This example shows how to retrieve data from a sensor connected to a DAQ board. He we have 1 signe main threads that acquires physical values at 100 Hz (10 ms) and records data in recorded-physical-data-sync.txt file.

/****************************************************************************
*
* 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:
* Test force/torque ATI sensor.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <iostream>
#include <sstream>
#include <visp3/gui/vpPlot.h>
#include <visp3/sensor/vpComedi.h>
int main()
{
#ifdef VISP_HAVE_COMEDI
vpComedi comedi;
comedi.setDevice("/dev/comedi0");
comedi.setChannelNumbers(6); // to read a F/T tensor
comedi.open();
#ifdef VISP_HAVE_DISPLAY
vpPlot scope(1, 700, 700, 100, 200,
std::string("ATI physical sensor data (") + comedi.getPhyDataUnits() + std::string(")"));
scope.initGraph(0, comedi.getNChannel());
for (unsigned int i = 0; i < comedi.getNChannel(); i++)
scope.setLegend(0, i, "G" + dynamic_cast<std::ostringstream &>((std::ostringstream() << i)).str());
#endif
std::string file("recorded-physical-data-sync.txt");
std::ofstream f(file.c_str());
double start_time = vpTime::measureTimeMs();
#ifdef VISP_HAVE_DISPLAY
while (!vpDisplay::getClick(scope.I, false)) // Stop recording by a user click
#else
std::cout << "Data recording during 20 seconds in progress..." << std::endl;
while (vpTime::measureTimeMs() - start_time < 20000) // Stop recording after 20 seconds
#endif
{
double loop_time = vpTime::measureTimeMs();
vpColVector phydata = comedi.getPhyData();
double timestamp = loop_time - start_time;
f << timestamp << " " << phydata.t() << std::endl;
#ifdef VISP_HAVE_DISPLAY
scope.plot(0, timestamp, phydata);
#endif
vpTime::wait(loop_time, 10);
}
f.close();
#else
std::cout << "You should install comedi to enable this test..." << std::endl;
#endif
}