#include <visp3/robot/vpServolens.h>

Public Types
enum	vpServoType { ZOOM = 1, FOCUS = 2, IRIS = 3 }

enum	vpLimitsType { ZOOM_MAX = 10000, ZOOM_MIN = 1000, FOCUS_MAX = 1500, FOCUS_MIN = 100, IRIS_MAX = 1000, IRIS_MIN = 160 }

enum	vpControllerType { AUTO = 1, CONTROLLED = 2, RELEASED = 3 }

Public Member Functions
	vpServolens ()

	vpServolens (const char *port)

virtual	~vpServolens ()

void	open (const char *port="/dev/ttyS0")

void	close ()

void	reset () const

void	setController (vpControllerType controller) const

void	setAutoIris (bool enable) const

void	setPosition (vpServoType servo, unsigned int position) const

bool	getPosition (vpServoType servo, unsigned int &position) const

vpCameraParameters	getCameraParameters (vpImage< unsigned char > &I) const

void	enablePrompt (bool active) const

Detailed Description

Interface for the Servolens lens attached to the camera fixed on the Afma4 robot.

The code below shows how to manipulate this class to get and modify the position of the focal lens.

#include <iostream>
#include <visp3/vs/vpServolens.h>
int main()
{
  // Open the serial device to communicate with the Servolens lens
  vpServolens servolens("/dev/ttyS0");
  // Get the current zoom position
  unsigned zoom;
  servolens.getPosition(vpServolens::ZOOM, zoom);
  std::cout << "Actual zoom value: " << zoom << std::endl;
  // Set a new zoom value
  servolens.setPosition(vpServolens::ZOOM, zoom+1000);
}

Definition at line 92 of file vpServolens.h.

Member Enumeration Documentation

enum vpServolens::vpControllerType

Enumerator
AUTO
CONTROLLED
RELEASED

Definition at line 104 of file vpServolens.h.

enum vpServolens::vpLimitsType

Enumerator
ZOOM_MAX
ZOOM_MIN
FOCUS_MAX
FOCUS_MIN
IRIS_MAX
IRIS_MIN

Definition at line 96 of file vpServolens.h.

enum vpServolens::vpServoType

Enumerator
ZOOM
FOCUS
IRIS

Definition at line 95 of file vpServolens.h.

Constructor & Destructor Documentation

vpServolens::vpServolens ( )

Default constructor. Does nothing.

See also: open()

Definition at line 71 of file vpServolens.cpp.

vpServolens::vpServolens ( const char * port )

explicit

Open and initialize the Servolens serial link at 9600 bauds, 7 data bits, even parity, 1 stop bit. The cariage return mode is not active, that means that each character is directly read without waitong for a cariage return.

See also: open()

Definition at line 81 of file vpServolens.cpp.

References open().

vpServolens::~vpServolens ( )

virtual

Destructor.

Close the Servolens serial link.

See also: close()

Definition at line 90 of file vpServolens.cpp.

References close().

Member Function Documentation

void vpServolens::close ( )

Close the Servolens serial link.

See also: open()

Definition at line 178 of file vpServolens.cpp.

Referenced by open(), and ~vpServolens().

void vpServolens::enablePrompt ( bool active ) const

Enable or disable the emission of the Servolens prompt "SERVOLENS>".

Parameters

active : true to activate the emission of the prompy. false to disable this functionality.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 260 of file vpServolens.cpp.

References vpRobotException::communicationError, and vpERROR_TRACE.

vpCameraParameters vpServolens::getCameraParameters ( vpImage< unsigned char > & I ) const

These parameters are computed from the Dragonfly2 DR2-COL camera sensor pixel size (7.4 um) and from the servolens zoom position.

Parameters

I	: An image coming from the Dragonfly2 camera attached to the servolens.

#include <visp3/vs/vpServolens.h>
int main()
{
  // UNIX vpServolens servolens("/dev/ttyS0");
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
  vpImage<unsigned char> I(240, 320);
  vpCameraParameters cam = servolens.getCameraParameters(I);
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
  }

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 569 of file vpServolens.cpp.

References vpRobotException::communicationError, FOCUS, vpImage< Type >::getHeight(), getPosition(), vpImage< Type >::getWidth(), vpCameraParameters::initPersProjWithoutDistortion(), IRIS, vpERROR_TRACE, vpTime::wait(), and ZOOM.

bool vpServolens::getPosition	(	vpServoType	servo,
		unsigned int &	position
	)		const

Get the Servolens current servo position.

Parameters

servo	: Servolens servo motor to actuate.
position	: Measured position of the servo.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 434 of file vpServolens.cpp.

References vpRobotException::communicationError, FOCUS, IRIS, vpERROR_TRACE, and ZOOM.

Referenced by getCameraParameters(), and open().

void vpServolens::open ( const char * port = "/dev/ttyS0" )

Open and initialize the Servolens serial link at 9600 bauds, 7 data bits, even parity, 1 stop bit. The cariage return mode is not active, that means that each character is directly read without waitong for a cariage return.

Parameters

port	: Serial device like /dev/ttyS0 or /dev/ttya.

Exceptions

vpRobotException::communicationError : If cannot open Servolens serial port or intialize the serial link.

See also: close()

Definition at line 106 of file vpServolens.cpp.

References close(), vpRobotException::communicationError, getPosition(), vpERROR_TRACE, and ZOOM.

Referenced by vpServolens().

void vpServolens::reset ( ) const

Reset the Servolens.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 193 of file vpServolens.cpp.

References vpRobotException::communicationError, vpERROR_TRACE, and vpTime::wait().

void vpServolens::setAutoIris ( bool enable ) const

Activates the auto iris mode of the Servolens.

Parameters

enable : true to activate the auto iris.

Definition at line 323 of file vpServolens.cpp.

References vpRobotException::communicationError, and vpERROR_TRACE.

void vpServolens::setController ( vpControllerType controller ) const

Set the controller type.

Parameters

controller : Controller type.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 285 of file vpServolens.cpp.

References AUTO, vpRobotException::communicationError, CONTROLLED, RELEASED, and vpERROR_TRACE.

void vpServolens::setPosition	(	vpServoType	servo,
		unsigned int	position
	)		const

Set the Servolens servo to the desired position.

Parameters

servo	: Servolens servo motor to actuate.
position	: Desired position of the servo.

Exceptions

vpRobotException::communicationError : If cannot dial with Servolens.

Definition at line 349 of file vpServolens.cpp.

References vpRobotException::communicationError, FOCUS, FOCUS_MAX, IRIS, IRIS_MAX, vpERROR_TRACE, ZOOM, and ZOOM_MIN.

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation