1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
|
/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 https://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.
*
*****************************************************************************/
/*!
\example testForceTorqueAtiNetFTSensor.cpp
This example shows how to retrieve data from an ATI F/T sensor connected to
a Net F/T box.
*/
#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 EXIT_SUCCESS;
}
}
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;
vpForceTorqueAtiNetFTSensor ati_net_ft;
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
vpColVector ft;
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);
}
vpMouseButton::vpMouseButtonType button;
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;
}
|
