demo-GetFingerXYZ.cpp

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//======================================================================
//======================================================================

//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------

#include <getopt.h>
#include <assert.h>

#include <iostream>
#include <vector>

using namespace std;

//----------------------------------------------------------------------
// Project Includes - include with ""
//---------------------------------------------------------------------

#include "sdh/sdh.h"
#include "sdh/simpletime.h"
#include "sdh/util.h"
#include "sdh/sdhlibrary_settings.h"
#include "sdh/basisdef.h"
#include "sdhoptions.h"

//----------------------------------------------------------------------
// Defines, enums, unions, structs,
//----------------------------------------------------------------------

USING_NAMESPACE_SDH


//----------------------------------------------------------------------
// Global variables
//----------------------------------------------------------------------

char const* __help__      =
    "Print measured XYZ position of fingertips of SDH.\n"
    "C++ demo application using the SDHLibrary-CPP library.)\n"
    "\n"
    "For every finger the actual axis angles and the finger tip coordinates\n"
    "are printed.\n"
    "\n"
    "- Example usage:\n"
    "  - Print finger angles and finger tip xyz coordinates of an SDH connected\n"
    "    via Ethernet. The SDH has IP-Address 192.168.1.42 and is attached to TCP\n"
    "    port 23. \n"
    "    (Requires at least SDH-firmware v0.0.3.1)\n"
    "    > demo-GetFingerXYZ --tcp=192.168.1.42:23\n"
    "     \n"
    "  - Print finger angles and finger tip xyz coordinates of an SDH connected\n"
    "    to port 2 = COM3 once:\n"
    "    > demo-GetFingerXYZ -p 2\n"
    "    \n"
    "  - Print finger angles and finger tip xyz coordinates of an SDH connected\n"
    "    to port 2 = COM3 every 500ms:\n"
    "    > demo-GetFingerXYZ -p 2 -t 0.5\n"
    "     \n"
    "  - Print finger angles and finger tip xyz coordinates of an SDH connected\n"
    "    to USB to RS232 converter 0 once:\n"
    "    > demo-GetFingerXYZ --sdh_rs_device=/dev/ttyUSB0 \n"
    "     \n"
    "  - Get the version info of both the joint controllers and the tactile \n"
    "    sensor firmware from an SDH connected via Ethernet.\n"
    "    The joint controllers and the tactile sensors have a common IP-Address,\n"
    "    here 192.168.1.42. The SDH controller is attached to the \n"
    "    default TCP port 23 and the tactile sensors to the default TCP port 13000.\n"
    "    (Requires at least SDH-firmware v0.0.3.2)\n"
    "    > demo-GetFingerXYZ --tcp=192.168.1.42 --dsa_tcp -v\n"
    "     \n"
    "  - Get the version info of an SDH connected to port 2 = COM3 \n"
    "    > demo-GetFingerXYZ --port=2 -v\n"
    "- Known bugs:\n"
    "  - Command line parameter \"-R\" does not work when compiled \n"
    "    with MS Visual Studio\n"
    ;
char const* __author__    = "Dirk Osswald: dirk.osswald@de.schunk.com";
char const* __url__       = "http://www.schunk.com";
char const* __version__   = "$Id: demo-GetFingerXYZ.cpp 10351 2013-06-18 16:28:14Z Osswald2 $";
char const* __copyright__ = "Copyright (c) 2007 SCHUNK GmbH & Co. KG";

//  end of doxygen name group sdhlibrary_cpp_demo_getfingerxyz_cpp_vars
//  @}

char const* usage =
  "usage: demo-GetFingerXYZ [options]\n"
  ;


//----------------------------------------------------------------------
// Function and class member implementation (function definitions)
//----------------------------------------------------------------------


int main( int argc, char **argv )
{
    SDH_ASSERT_TYPESIZES();

    //---------------------
    // handle command line options: set defaults first then overwrite by parsing actual command line
    cSDHOptions options( SDHUSAGE_DEFAULT " sdhother" );

    options.Parse( argc, argv, __help__, "demo-GetFingerXYZ", __version__, cSDH::GetLibraryName(), cSDH::GetLibraryRelease() );

    //
    //---------------------

    //---------------------
    // initialize debug message printing:
    cDBG cdbg( options.debug_level > 0, "red", options.debuglog );
    g_sdh_debug_log = options.debuglog;

    cdbg << "Debug messages of " << argv[0] << " are printed like this.\n";

    // reduce debug level for subsystems
    options.debug_level-=1;
    //---------------------

    try
    {
        // cSDH instance "hand" of the class cSDH according to the given options:
        cSDH hand( options.use_radians, options.use_fahrenheit, options.debug_level );
        cdbg << "Successfully created cSDH instance\n";

        // Open configured communication to the SDH device
        options.OpenCommunication( hand );
        cdbg << "Successfully opened communication to SDH\n";


        cdbg << "Caption:\n";
        if (options.period)
            cdbg << "  times are reported in seconds\n";

        cdbg << "  angles are reported in " << hand.uc_angle->GetName() << "[" << hand.uc_angle->GetSymbol() << "]\n";


        //??? a second try block to catch keyboard interrupts
        //try:
        cSimpleTime start;

        vector<double> angles;
        vector<double> xyz;
        vector<double>::const_iterator i;
        while (true)
        {
            for ( int fi = 0; fi < hand.GetNumberOfFingers(); fi++ )
            {
                angles = hand.GetFingerActualAngle( fi );
                xyz    = hand.GetFingerXYZ( fi, angles );

                if (options.period > 0)
                {
                    // print time only if reporting periodically
                    cout << start.Elapsed() << " ";
                }

                cout << "finger " << fi << ":   ";
                cout << "angles = ";
                cout.setf(ios::fixed);
                cout.precision(1);
                for ( i = angles.begin(); i != angles.end(); i++ )
                    cout << setw(6) << *i << " ";

                cout << "  XYZ = " ;
                for ( i = xyz.begin(); i != xyz.end(); i++ )
                    cout << setw(6) << *i << " ";

                cout << "\n";
            }
            if (options.period <= 0)
                break;

            cout << "\n";
            cout.flush();
            SleepSec( options.period );
        }

        hand.Close();
        cdbg << "Successfully disabled controllers of SDH and closed connection\n";
    }
    catch ( cSDHLibraryException* e )
    {
        cerr << "demo-GetFingerXYZ main(): Caught exception from SDHLibrary: " << e->what() << ". Giving up!\n";
        delete e;
    }
    catch (...)
    {
        cerr << "caught unexpected exception!\n";
    }
}
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/*
  Here are some settings for the emacs/xemacs editor (and can be safely ignored):
  (e.g. to explicitely set C++ mode for *.h header files)

  Local Variables:
  mode:C++
  mode:ELSE
  End:
*/
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