Visual Servoing Platform  version 3.4.1 under development (2021-08-04)
testVirtuose.cpp

Test for reading the Virtuose's joint values inside the main function after checking the emergency button.

/****************************************************************************
*
* 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 for Virtuose SDK wrapper.
*
* Author:
* Nicolò Pedemonte
*
*****************************************************************************/
#include <visp3/robot/vpVirtuose.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_VIRTUOSE)
std::string opt_ip = "localhost";
int opt_port = 5000;
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 = std::atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--ip <localhost>] [--port <port>]"
" [--help] [-h]\n"
<< std::endl
<< "Description: " << std::endl
<< " --ip <localhost>" << std::endl
<< "\tHost IP address. Default value: \"localhost\"." << std::endl
<< std::endl
<< " --port <port>" << std::endl
<< "\tCommunication port. Default value: 5000." << std::endl
<< "\tSuggested values: " << std::endl
<< "\t- 5000 to communicate with the Virtuose." << std::endl
<< "\t- 53210 to communicate with the Virtuose equipped with the Glove." << std::endl
<< std::endl;
return 0;
}
}
try {
vpVirtuose virtuose;
std::cout << "Try to connect to " << opt_ip << " port " << opt_port << std::endl;
virtuose.setIpAddressAndPort(opt_ip, opt_port);
virtuose.init();
bool emergStop = virtuose.getEmergencyStop();
if (emergStop) {
std::cout << "The system is operational." << std::endl;
std::cout << "The current joint values are : " << q.t() << std::endl;
} else
std::cout << "The system is not operational. \nPlease plug the "
"emergency stop to the system (or untrigger it)."
<< std::endl;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "You should install Virtuose SDK to use this binary..." << std::endl;
#endif
}