Visual Servoing Platform  version 3.6.1 under development (2024-11-07)
testComedi.cpp

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

/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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 https://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.
*/
#include <iostream>
#include <sstream>
#include <visp3/gui/vpPlot.h>
#include <visp3/sensor/vpComedi.h>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#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());
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
for (unsigned int i = 0; i < comedi.getNChannel(); i++) {
scope.setLegend(0, i, "G" + ((std::ostringstream() << i)).str());
}
#endif
#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
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
vpRowVector t() const
void setChannelNumbers(const unsigned int &nchannel)
Definition: vpComedi.h:150
void setDevice(const std::string &device)
Set comedi device name. Default value is /dev/comedi0.
Definition: vpComedi.h:153
unsigned int getNChannel() const
Get number of channels.
Definition: vpComedi.h:126
vpColVector getPhyData() const
Definition: vpComedi.cpp:133
void open()
Definition: vpComedi.cpp:63
std::string getPhyDataUnits() const
Definition: vpComedi.cpp:155
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition: vpPlot.h:112
void initGraph(unsigned int graphNum, unsigned int curveNbr)
Definition: vpPlot.cpp:203
vpImage< unsigned char > I
Definition: vpPlot.h:114
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
Definition: vpPlot.cpp:552
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Definition: vpPlot.cpp:270
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()