Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpComedi.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * ATI Force torque interface.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #ifdef VISP_HAVE_COMEDI
42 
43 #include <unistd.h>
44 
45 #include <visp3/core/vpException.h>
46 #include <visp3/sensor/vpComedi.h>
47 
52  : m_device("/dev/comedi0"), m_handler(NULL), m_subdevice(0), m_range(0), m_aref(AREF_DIFF), m_nchannel(6),
53  m_range_info(6), m_maxdata(6), m_chanlist(6)
54 {
55 }
56 
62 
67 {
68  if (!m_handler) {
69  m_handler = comedi_open(m_device.c_str());
70 
71  if (!m_handler) {
72  throw vpException(vpException::fatalError, "Could not open device %s", m_device.c_str());
73  }
74 
75  // Print NaN for clipped inputs
76  comedi_set_global_oor_behavior(COMEDI_OOR_NAN);
77 
78  // Setup data range and max value
79  m_range_info.resize(m_nchannel);
80  m_maxdata.resize(m_nchannel);
81  m_chanlist.resize(m_nchannel);
82  for (unsigned int channel = 0; channel < m_nchannel; channel++) {
83  m_chanlist[channel] = CR_PACK(channel, m_range, m_aref);
84  m_range_info[channel] = comedi_get_range(m_handler, m_subdevice, channel, m_range);
85  m_maxdata[channel] = comedi_get_maxdata(m_handler, m_subdevice, channel);
86  }
87  }
88 }
89 
94 {
95  if (m_handler) {
96  comedi_close(m_handler);
97  m_handler = NULL;
98  }
99 }
100 
108 std::vector<lsampl_t> vpComedi::getRawData() const
109 {
110  if (m_handler == NULL) {
111  throw vpException(vpException::fatalError, "Comedi device not open");
112  }
113  // Get raw data
114  std::vector<lsampl_t> raw_data(m_nchannel);
115 
116  for (unsigned int channel = 0; channel < m_nchannel; channel++) {
117  // When switching the multiplexor from one channel to the next, the A/D
118  // input needs time to settle to the new input voltage. The greater the
119  // voltage difference, the more time it takes. Here we wait for 1us
120  int ret = comedi_data_read_delayed(m_handler, m_subdevice, channel, m_range, m_aref, &raw_data[channel], 1000);
121  if (ret < 0) {
123  "Cannot get %d data from device=%s subdevice=%d "
124  "channel=%d range=%d analog reference=%d",
125  m_nchannel, m_device.c_str(), m_subdevice, channel, m_aref);
126  }
127  }
128 
129  return raw_data;
130 }
131 
137 {
138  if (m_handler == NULL) {
139  throw vpException(vpException::fatalError, "Comedi device not open");
140  }
141  // Get raw data
142  std::vector<lsampl_t> raw_data = this->getRawData();
143  vpColVector phy_data(m_nchannel);
144 
145  // Convert data to physical data
146  for (unsigned int channel = 0; channel < m_nchannel; channel++) {
147  phy_data[channel] = comedi_to_phys(raw_data[channel], m_range_info[channel], m_maxdata[channel]);
148  if (vpMath::isNaN(phy_data[channel])) {
149  throw vpException(vpException::fatalError, "Comedi DAQ get NaN value. Check the connection with your device");
150  }
151  }
152 
153  return phy_data;
154 }
155 
158 std::string vpComedi::getPhyDataUnits() const
159 {
160  if (m_handler == NULL) {
161  throw vpException(vpException::fatalError, "Comedi device not open");
162  }
163  std::string units;
164  unsigned int channel = 0;
165  switch (m_range_info[channel]->unit) {
166  case UNIT_volt:
167  units = "V";
168  break;
169  case UNIT_mA:
170  units = "mA";
171  break;
172  case UNIT_none:
173  break;
174  }
175  return units;
176 }
177 
178 #elif !defined(VISP_BUILD_SHARED_LIBS)
179 // Work arround to avoid warning: libvisp_sensor.a(vpComedi.cpp.o) has no
180 // symbols
181 void dummy_vpComedi(){};
182 #endif
void open()
Definition: vpComedi.cpp:66
vpComedi()
Definition: vpComedi.cpp:51
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpColVector getPhyData() const
Definition: vpComedi.cpp:136
unsigned int m_aref
Definition: vpComedi.h:173
unsigned int m_range
Definition: vpComedi.h:172
unsigned int m_subdevice
Definition: vpComedi.h:171
static bool isNaN(double value)
Definition: vpMath.cpp:85
virtual ~vpComedi()
Definition: vpComedi.cpp:61
std::vector< unsigned int > m_chanlist
Definition: vpComedi.h:177
std::string getPhyDataUnits() const
Definition: vpComedi.cpp:158
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
comedi_t * m_handler
Definition: vpComedi.h:170
std::vector< lsampl_t > m_maxdata
Definition: vpComedi.h:176
std::vector< lsampl_t > getRawData() const
Definition: vpComedi.cpp:108
void close()
Definition: vpComedi.cpp:93
std::string m_device
Definition: vpComedi.h:169
unsigned int m_nchannel
Definition: vpComedi.h:174
std::vector< comedi_range * > m_range_info
Definition: vpComedi.h:175