Visual Servoing Platform  version 3.2.1 under development (2019-10-21) under development (2019-10-21)
testForceTorqueAtiNetFTSensor.cpp

This example shows how to retrieve data from an ATI F/T sensor connected to a Net F/T box.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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 <visp3/gui/vpPlot.h>
#include <visp3/sensor/vpForceTorqueAtiNetFTSensor.h>
int main(int argc, char **argv)
{
// Check if vpForceTorqueAtiNetFTSensor can be used since inet_ntop() used to
// communicate by UDP with the sensor is not supported on win XP
#ifdef VISP_HAVE_FUNC_INET_NTOP
std::string opt_ip = "192.168.1.1";
int opt_port = 49152;
bool opt_no_display = false;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--ip")
opt_ip = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--port")
opt_port = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--no-display" || std::string(argv[i]) == "-d")
opt_no_display = true;
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--ip <Net F/T IP address (default: 192.168.1.1)>] [--port <Ethernet port (default: 49152)>]"
<< " [--no-display] [-d] [--help] [-h]\n"
<< std::endl;
return 0;
}
}
std::cout << "Use IP : " << opt_ip << std::endl;
std::cout << "Use port: " << opt_port << std::endl;
std::cout << "Disable display: " << opt_no_display << std::endl;
ati_net_ft.init(opt_ip, opt_port);
if (!ati_net_ft.startStreaming()) {
std::cout << "Unable to start streaming" << std::endl;
return EXIT_FAILURE;
}
#if defined(VISP_HAVE_DISPLAY)
vpPlot *plotter = NULL;
if (!opt_no_display) {
plotter = new vpPlot(2, 700, 700, 100, 200, "Curves...");
plotter->initGraph(0, 3);
plotter->setTitle(0, "Force measurements");
plotter->setLegend(0, 0, "Fx");
plotter->setLegend(0, 1, "Fy");
plotter->setLegend(0, 2, "Fz");
plotter->initGraph(1, 3);
plotter->setTitle(1, "Torque measurements");
plotter->setLegend(1, 0, "Tx");
plotter->setLegend(1, 1, "Ty");
plotter->setLegend(1, 2, "Tz");
}
bool bias = false;
#endif
bool end = false;
unsigned long nbacq = 0;
double t_start = vpTime::measureTimeMs();
while (!end) {
double t = vpTime::measureTimeMs();
if (ati_net_ft.waitForNewData()) {
ft = ati_net_ft.getForceTorque();
#if defined(VISP_HAVE_DISPLAY)
if (!opt_no_display) {
vpColVector force = ft.extract(0, 3);
vpColVector torque = ft.extract(3, 3);
plotter->plot(0, nbacq, force);
plotter->plot(1, nbacq, torque);
vpDisplay::displayText(plotter->I, 20, 80, "Left click to quit", vpColor::red);
if (bias) {
vpDisplay::displayText(plotter->I, 40, 80, "Right click to unbias", vpColor::red);
} else {
vpDisplay::displayText(plotter->I, 40, 80, "Right click to bias", vpColor::red);
}
if (vpDisplay::getClick(plotter->I, button, false)) {
if (button == vpMouseButton::button1) {
end = true;
} else if (button == vpMouseButton::button3) {
bias = !bias;
if (bias) {
std::cout << "Bias F/T sensor" << std::endl;
ati_net_ft.bias();
} else {
std::cout << "Unbias F/T sensor" << std::endl;
ati_net_ft.unbias();
}
}
}
vpDisplay::flush(plotter->I);
} else {
std::cout << "F/T: " << ft.t() << std::endl;
if (nbacq > 30) {
end = true;
}
}
#else
std::cout << "F/T: " << ft.t() << std::endl;
if (nbacq > 30) {
end = true;
}
#endif
nbacq++;
}
vpTime::wait(t, 2);
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
}
ati_net_ft.stopStreaming();
double fps = 1000. * nbacq / (vpTime::measureTimeMs() - t_start);
#if defined(VISP_HAVE_DISPLAY)
if (plotter) {
delete plotter;
}
#endif
std::cout << "Mean acquisition frequency: " << fps << " Hz" << std::endl;
std::cout << "Test succeed" << std::endl;
#else
(void)argc;
(void)argv;
std::cout << "vpForceTorqueAtiNetFTSensor is not supported on this platform" << std::endl;
#endif
return EXIT_SUCCESS;
}