Visual Servoing Platform  version 3.5.1 under development (2022-07-05)

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.

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* 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()
vpComedi comedi;
comedi.setChannelNumbers(6); // to read a F/T tensor;
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" + ((std::ostringstream() << i)).str());
std::string file("recorded-physical-data-sync.txt");
std::ofstream f(file.c_str());
double start_time = vpTime::measureTimeMs();
while (!vpDisplay::getClick(scope.I, false)) // Stop recording by a user click
std::cout << "Data recording during 20 seconds in progress..." << std::endl;
while (vpTime::measureTimeMs() - start_time < 20000) // Stop recording after 20 seconds
double loop_time = vpTime::measureTimeMs();
vpColVector phydata = comedi.getPhyData();
double timestamp = loop_time - start_time;
f << timestamp << " " << phydata.t() << std::endl;
scope.plot(0, timestamp, phydata);
vpTime::wait(loop_time, 10);
std::cout << "You should install comedi to enable this test..." << std::endl;
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
void setChannelNumbers(const unsigned int &nchannel)
Definition: vpComedi.h:148
void setDevice(const std::string &device)
Set comedi device name. Default value is /dev/comedi0.
Definition: vpComedi.h:151
unsigned int getNChannel() const
Get number of channels.
Definition: vpComedi.h:124
vpColVector getPhyData() const
Definition: vpComedi.cpp:136
void open()
Definition: vpComedi.cpp:66
std::string getPhyDataUnits() const
Definition: vpComedi.cpp:158
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:116
void initGraph(unsigned int graphNum, unsigned int curveNbr)
Definition: vpPlot.cpp:205
vpImage< unsigned char > I
Definition: vpPlot.h:118
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
Definition: vpPlot.cpp:534
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Definition: vpPlot.cpp:285
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()