Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpRingLight.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Ring light management.
33  *
34 *****************************************************************************/
35 
36 #include <visp3/core/vpConfig.h>
37 
38 #if defined(VISP_HAVE_MODULE_IO) && defined(VISP_HAVE_PARPORT)
39 
40 #include <fcntl.h>
41 #include <sys/ioctl.h>
42 #include <sys/stat.h>
43 #include <sys/time.h>
44 #include <sys/types.h>
45 #include <unistd.h>
46 
47 #include <visp3/core/vpDebug.h>
48 #include <visp3/core/vpTime.h>
49 #include <visp3/robot/vpRingLight.h>
50 
70 vpRingLight::vpRingLight() : parport() { off(); }
71 
81 
90 {
91  // Data set by the parallel port:
92  // - D1: need to send a 500us pulse width
93  // - D2: 0 }
94  // - D3: 0 } To control the light throw the NE555
95  // D2 and D3 are used to select the multiplexer output.
96  // Light must be connected to output 1+,1-
97 
98  // To activates the light we send a pulse
99  int mask_mode_pulse_d2 = 0x00; // D2 is low
100  int mask_pulse_d1 = 0x02; // we send a pulse on D1 : L, H, L
101  unsigned char data = 0x00;
102  // data = parport.getData(); // actual value of the data bus
103  // vpTRACE("Actual data 0x%x = %d\n", data, data);
104 
105  data = data | mask_pulse_d1 | mask_mode_pulse_d2;
106  // vpTRACE("Send 0x%x = %d\n", data, data);
107  parport.sendData(data); // send a 0-1 pulse
108 
109  // Wait 500 micro seconds
110  struct timeval ti, tc; // Initial and current time
111  struct timeval tempo;
112  tempo.tv_usec = 500;
113  gettimeofday(&ti, 0L);
114  do {
115  gettimeofday(&tc, 0L);
116  } while (tc.tv_usec < ti.tv_usec + tempo.tv_usec);
117 
118  data = data & (~mask_pulse_d1);
119  // vpTRACE("Send 0x%x = %d\n", data, data);
120  parport.sendData(data); // send a 1-0 pulse
121 }
122 
132 void vpRingLight::pulse(double time)
133 {
134  // Data set by the parallel port:
135  // - D1: a pulse with duration fixed by time
136  // - D2: 0 }
137  // - D3: 1 } To control the light directly throw the pulse coming from D1
138  // D2 and D3 are used to select the multiplexer output.
139  // Light must be connected to output 1+,1-
140 
141  // To activates the light we send a pulse
142  int mask_mode_pulse_d3 = 0x08; // D3 is hight, D2 is low
143  int mask_pulse_d1 = 0x02; // we send a pulse on D1 : L, H, L
144  unsigned char data = 0x00;
145  // data = parport.getData(); // actual value of the data bus
146  // vpTRACE("Actual data 0x%x = %d\n", data, data);
147 
148  data = data | mask_pulse_d1 | mask_mode_pulse_d3;
149  // vpTRACE("Send 0x%x = %d\n", data, data);
150  parport.sendData(data); // send a 0-1 pulse
151 
152  // Wait 500 micro seconds
153  struct timeval ti, tc; // Initial and current time
154  gettimeofday(&ti, 0);
155  do {
156  gettimeofday(&tc, 0);
157  } while (tc.tv_usec < ti.tv_usec + time * 1000);
158 
159  data = data & (~mask_pulse_d1);
160  // vpTRACE("Send 0x%x = %d\n", data, data);
161  parport.sendData(data); // send a 1-0 pulse
162 }
163 
171 {
172  // Data set by the parallel port:
173  // - D1: 0 to turn OFF, 1 to turn ON
174  // - D2: 1 }
175  // - D3: 0 } To control the light throw D1
176  // D2 and D3 are used to select the multiplexer output.
177  // Light must be connected to output 1+,1-
178 
179  // To activates the light we send a pulse
180  int mask_mode_onoff_d2 = 0x04; // D2 is Hight
181  int mask_on_d1 = 0x02; // D1 is Hight to turn the light on
182  unsigned char data = 0x00;
183  // data = parport.getData(); // actual value of the data bus
184 
185  data = data | mask_on_d1 | mask_mode_onoff_d2;
186  // vpTRACE("Send 0x%x = %d\n", data, data);
187  parport.sendData(data);
188 }
189 
197 {
198  // Data set by the parallel port:
199  // - D1: 0 to turn OFF, 1 to turn ON
200  // - D2: 1 }
201  // - D3: 0 } To control the light throw D1
202  // D2 and D3 are used to select the multiplexer output.
203  // Light must be connected to output 1+,1-
204 
205  // To activates the light we send a pulse
206  int mask_mode_onoff_d2 = 0x04; // D2 is Hight
207  int mask_off_d1 = 0x00; // D1 is Low to turn the light off
208  unsigned char data = 0x00;
209  // data = parport.getData(); // actual value of the data bus
210 
211  data = data | mask_off_d1 | mask_mode_onoff_d2;
212  // vpTRACE("Send 0x%x = %d\n", data, data);
213  parport.sendData(data);
214 }
215 
216 #elif !defined(VISP_BUILD_SHARED_LIBS)
217 // Work around to avoid warning: libvisp_robot.a(vpRingLight.cpp.o) has no symbols
218 void dummy_vpRingLight() { };
219 #endif
void sendData(unsigned char &data)
void pulse()
Definition: vpRingLight.cpp:89
virtual ~vpRingLight()
Definition: vpRingLight.cpp:80