vpForceTorqueIitSensor.h

/****************************************************************************
 *
 * 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:
 * Wrapper over IIT force-torque sensor.
 *
 * Authors:
 * Fabien Spindler
 * Alexander Oliva
 *
 *****************************************************************************/

#ifndef vpForceTorqueIitSensor_h
#define vpForceTorqueIitSensor_h

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_FT_IIT_SDK

#include <chrono>
#include <mutex>

#include <visp3/core/vpColVector.h>

#include <ftSensorLib/ftSensorLib.h>

class VISP_EXPORT vpForceTorqueIitSensor
{
public:
  vpForceTorqueIitSensor();
  ~vpForceTorqueIitSensor();

  void bias();
  bool connected(int timeout_ms = 0) const;
  vpColVector getForceTorque(bool filtered = false);

  void startStreaming();
  void stopStreaming();

protected:
  void acquisitionLoop();
  void close();
  void join();

protected:
  ftSensorLib m_ftLib;
  int m_numSensorsInLib;

  vpColVector m_ft;
  vpColVector m_ft_filt;

  ftSensorsConnected m_ftSensorsData{};

  std::atomic<bool> m_acquisitionEnabled;
  std::atomic<bool> m_dataValid;
  bool m_connected;

  std::thread m_acquisitionThread;
  std::chrono::time_point<std::chrono::system_clock> m_timeCur, m_timePrev;

  std::mutex m_mutex;
  int m_warmupMilliseconds;
};

#endif
#endif