Implementation of a class to parse common SDH related command line options. More...

#include <getopt.h>
#include <assert.h>
#include <iostream>
#include <fstream>
#include "sdh/sdh.h"
#include "sdh/sdhlibrary_settings.h"
#include "sdh/release.h"
#include "sdh/dsa.h"
#include "sdhoptions.h"

Include dependency graph for sdhoptions.cpp:

Go to the source code of this file.

Macros
#define	STRINGIFY(_s) #_s
	helper macro for XSTRINGIFY, see there More...

#define	XSTRINGIFY(_x) STRINGIFY(_x)

Variables
static struct option	sdhoptions_long_options []
	long command line options accepted by the cSDHOptions class More...

static char const *	sdhoptions_short_options = "hvVd:l:p:T:b:cn:e:w:RFt:q:r:fSCM:"
	short command line options accepted by the cSDHOptions class More...

static char const *	sdhusage_dsaadjust
	DSA (tactile sensor) adjustment options. More...

static char const *	sdhusage_dsacom
	DSA (tactile sensor) communication options. More...

static char const *	sdhusage_dsaother
	DSA (tactile sensor) other options. More...

static char const *	sdhusage_general
	general options More...

static char const *	sdhusage_sdhcom_cancommon
	Common CAN communication options. More...

static char const *	sdhusage_sdhcom_common
	Common communication options. More...

static char const *	sdhusage_sdhcom_esdcan
	ESD CAN communication options. More...

static char const *	sdhusage_sdhcom_peakcan
	PEAK CAN communication options. More...

static char const *	sdhusage_sdhcom_serial
	RS232 communication options. More...

static char const *	sdhusage_sdhcom_tcp
	TCP communication options. More...

static char const *	sdhusage_sdhother
	Other options. More...

Detailed Description

Implementation of a class to parse common SDH related command line options.

Author: Dirk Osswald

Date: 2008-05-05

Copyright

Definition in file sdhoptions.cpp.

Macro Definition Documentation

◆ STRINGIFY

#define STRINGIFY ( _s ) #_s

helper macro for XSTRINGIFY, see there

Definition at line 72 of file sdhoptions.cpp.

◆ XSTRINGIFY

#define XSTRINGIFY ( _x ) STRINGIFY(_x)

macro for stringification of _x

allows to stringify the value of a macro:

#define foo 4
 
STRINGIFY( foo ) // yields "foo"
XSTRINGIFY( foo ) // yields "4"

Definition at line 69 of file sdhoptions.cpp.

Variable Documentation

◆ sdhoptions_long_options

struct option sdhoptions_long_options[]

static

long command line options accepted by the cSDHOptions class

Definition at line 312 of file sdhoptions.cpp.

◆ sdhoptions_short_options

char const* sdhoptions_short_options = "hvVd:l:p:T:b:cn:e:w:RFt:q:r:fSCM:"

static

short command line options accepted by the cSDHOptions class

Definition at line 310 of file sdhoptions.cpp.

◆ sdhusage_dsaadjust

char const* sdhusage_dsaadjust

static

DSA (tactile sensor) adjustment options.

Definition at line 264 of file sdhoptions.cpp.

◆ sdhusage_dsacom

char const* sdhusage_dsacom

static

Initial value:

=
    "\nDSA options (tactile sensor):\n"
    "  -q PORT, --dsaport=PORT\n"
    "      use RS232 communication PORT to connect to to  tactile sensor controller\n"
    "      of SDH  instead of default 1='COM2'='/dev/ttyS1'.\n"
    "      \n"
    "  --dsa_tcp[=[IP_OR_HOSTNAME][:PORT]]\n"
    "      use TCP for communication with the tactile sensor controller.\n"
    "      The tactile sensor can be reached via TCP/IP on port PORT at\n"
    "      IP_OR_HOSTNAME, which can be a numeric IPv4 address or a hostname.\n"
    "      The default is \"" SDH_DEFAULT_TCP_ADR  ":" XSTRINGIFY(DSA_DEFAULT_TCP_PORT) "\"\n"
    "      When using --tcp and --dsa_tcp then only the last set IP_OR_HOSTNAME\n"
    "      is used for both.\n"
    "      (This feature requires at least SDH firmware 0.0.3.2)\n"
    "      \n"
 
    "  --dsa_rs_device=DEVICE_FORMAT_STRING\n"
    "      Use DEVICE_FORMAT_STRING instead of the default \"/dev/ttyS%d\". Useful\n"
    "      e.g. to use USB to RS232 converters available via \"/dev/ttyUSB%d\".  If \n"
    "      the DEVICE_FORMAT_STRING contains '%d' then the dsa PORT must also be \n"
    "      provided. If not then the DEVICE_FORMAT_STRING is the full device name.\n"
    "      \n"
 
    "  --no_rle\n"
    "      Do not use the RunLengthEncoding\n"
    "      \n"

DSA (tactile sensor) communication options.

Definition at line 212 of file sdhoptions.cpp.

◆ sdhusage_dsaother

char const* sdhusage_dsaother

static

Initial value:

=
    "  -r, --framerate=FRAMERATE\n"
    "      Framerate for acquiring full tactile sensor frames.  Default value 0\n"
    "      means 'acquire a single frame only'.  Any value > 0 will make the\n"
    "      DSACON32m controller in the SDH send data at the highest possible rate \n"
    "      (ca. 30 FPS (frames per second)).\n"
    "      \n"
    "  -f, --fullframe\n"
    "      Print acquired full frames numerically.\n"
    "      \n"
    "  -S, --sensorinfo\n"
    "      Print sensor info from DSA (texel dimensions, number of texels...).\n"
    "      \n"
    "  -C, --controllerinfo\n"
    "      Print controller info from DSA (version...).\n"
    "      \n"
    "  -M, --matrixinfo=MATRIX_INDEX\n"
    "      Print matrix info for matrix with index MATRIX_INDEX from DSA.\n"
    "      This includes the current setting for sensitivity and threshold\n"
    "      of the addressed matrix (if supported by the tactile sensor firmware)."
    "      This option can be used multiple times.\n"

DSA (tactile sensor) other options.

Definition at line 240 of file sdhoptions.cpp.

◆ sdhusage_general

char const* sdhusage_general

static

Initial value:

=
    
    
    "\nGeneral options:\n"
    "  -h, --help\n"
    "      Show this help message and exit.\n"
    "      \n"
    "  -v, --version\n"
    "      Print the version (revision/release names) and dates of application,\n"
    "      library (and the attached SDH firmware, if found), then exit.\n"
    "      \n"
    "  -V, --version_check\n"
    "      Check the firmware release of the connected SDH if it is the one\n"
    "      recommended by this library. A message will be printed accordingly.\n"
    "      \n"
    "  -d LEVEL, --debug=LEVEL\n"
    "      Print debug messages of level LEVEL or lower while executing the program.\n"
    "      Level 0 (default): No messages,  1: application-level messages, \n"
    "      2: cSDH-level messages, 3: cSDHSerial-level messages\n"
    "      \n"
    "  -l LOGFILE, --debuglog=LOGFILE\n"
    "      Redirect the printed debug messages to LOGFILE instead of default \n"
    "      standard error. If LOGFILE starts with '+' then the output will be \n"
    "      appended to the file (without the leading '+'), else the file will be\n"
    "      overwritten.\n"
    "      \n"

general options

Definition at line 80 of file sdhoptions.cpp.

◆ sdhusage_sdhcom_cancommon

char const* sdhusage_sdhcom_cancommon

static

Initial value:

=
 
    ""

Common CAN communication options.

Definition at line 166 of file sdhoptions.cpp.

◆ sdhusage_sdhcom_common

char const* sdhusage_sdhcom_common

static

Initial value:

=
    "  -T TIMEOUT, --timeout=TIMEOUT Timeout in seconds when waiting for data from\n"
    "      SDH. The default -1 means: wait forever.\n"
    "      \n"
    "  -b BAUDRATE, --baud=BAUDRATE\n"
    "      Use BAUDRATE in bit/s for communication. Default=115200 Bit/s for RS232\n"

Common communication options.

Definition at line 126 of file sdhoptions.cpp.

◆ sdhusage_sdhcom_esdcan

char const* sdhusage_sdhcom_esdcan

static

Initial value:

=
 
    ""

ESD CAN communication options.

Definition at line 138 of file sdhoptions.cpp.

◆ sdhusage_sdhcom_peakcan

char const* sdhusage_sdhcom_peakcan

static

Initial value:

=
 
    ""

PEAK CAN communication options.

Definition at line 151 of file sdhoptions.cpp.

◆ sdhusage_sdhcom_serial

char const* sdhusage_sdhcom_serial

static

Initial value:

=
    "\nCommunication options:\n"
    "  -p PORT, --port=PORT, --sdhport=PORT\n"
    "      Use RS232 communication PORT to connect to the SDH instead of the default\n"
    "      0='COM1'='/dev/ttyS0'.\n"
    "      \n"
 
    "  --sdh_rs_device=DEVICE_FORMAT_STRING\n"
    "      Use DEVICE_FORMAT_STRING instead of the default \"/dev/ttyS%d\". Useful\n"
    "      e.g. to use USB to RS232 converters available via \"/dev/ttyUSB%d\". \n"
    "      If the DEVICE_FORMAT_STRING contains '%d' then the PORT must also be \n"
    "      provided. If not then the DEVICE_FORMAT_STRING is the full device name. \n"
    "      \n"

RS232 communication options.

Definition at line 109 of file sdhoptions.cpp.

◆ sdhusage_sdhcom_tcp

char const* sdhusage_sdhcom_tcp

static

Initial value:

=
    "  --tcp[=[IP_OR_HOSTNAME][:PORT]]\n"
    "      Use TCP for communication with the SDH. The SDH can be reached via\n"
    "      TCP/IP on port PORT at IP_OR_HOSTNAME, which can be a numeric IPv4\n"
    "      address or a hostname. The default is \"" SDH_DEFAULT_TCP_ADR  ":" XSTRINGIFY(SDH_DEFAULT_TCP_PORT) "\"\n"
    "      When using --tcp and --dsa_tcp then only the last set IP_OR_HOSTNAME\n"
    "      is used for both.\n"
    "      (This feature requires at least SDH firmware 0.0.3.1)\n"
    "      \n"

TCP communication options.

Definition at line 180 of file sdhoptions.cpp.

◆ sdhusage_sdhother

char const* sdhusage_sdhother

static

Initial value:

=
    "\nOther options:\n"
    "  -R, --radians\n"
    "      Use radians and radians per second for angles and angular velocities\n"
    "      instead of default degrees and degrees per second.\n"
    "      (The demo programs provided might not evaluate this parameter\n"
    "      correctly. Thus they might fail if this parameter is used.)\n"
    "      \n"
    "  -F, --fahrenheit\n"
    "      Use degrees fahrenheit to report temperatures instead of default degrees\n"
    "      celsius.\n"
    "      \n"
    "  -t PERIOD, --period=PERIOD\n"
    "      For periodic commands only: Time period of measurements in seconds. The\n"
    "      default of '0' means: report once only. If set then the time since start\n"
    "      of measurement is printed at the beginning of every line.\n"
    "      \n"

Other options.

Definition at line 193 of file sdhoptions.cpp.

Macros

Variables

Detailed Description

Copyright

Macro Definition Documentation

◆ STRINGIFY

◆ XSTRINGIFY

Variable Documentation

◆ sdhoptions_long_options

◆ sdhoptions_short_options

◆ sdhusage_dsaadjust

◆ sdhusage_dsacom

◆ sdhusage_dsaother

◆ sdhusage_general

◆ sdhusage_sdhcom_cancommon

◆ sdhusage_sdhcom_common

◆ sdhusage_sdhcom_esdcan

◆ sdhusage_sdhcom_peakcan

◆ sdhusage_sdhcom_serial

◆ sdhusage_sdhcom_tcp

◆ sdhusage_sdhother