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
|
/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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 for Virtuose SDK wrapper.
*/
/*!
\example testVirtuose.cpp
Test for reading the Virtuose's joint values inside the main function
after checking the emergency button.
*/
#include <visp3/robot/vpVirtuose.h>
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if defined(VISP_HAVE_VIRTUOSE)
std::string opt_ip = "localhost";
int opt_port = 5000;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
opt_ip = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--port" && i + 1 < argc) {
opt_port = std::atoi(argv[++i]);
}
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 EXIT_SUCCESS;
}
}
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;
vpColVector q = virtuose.getArticularPosition();
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;
return EXIT_FAILURE;
}
#else
(void)argc;
(void)argv;
std::cout << "You should install Virtuose SDK to use this binary..." << std::endl;
#endif
return EXIT_SUCCESS;
}
|
