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.
- Date
- 2008-05-05
Copyright
Copyright (c) 2008 SCHUNK GmbH & Co. KG
Definition in file sdhoptions.cpp.
Macro Definition Documentation
| #define STRINGIFY | ( | _s | ) | #_s |
helper macro for XSTRINGIFY, see there
Definition at line 72 of file sdhoptions.cpp.
| #define XSTRINGIFY | ( | _x | ) | STRINGIFY(_x) |
macro for stringification of _x
allows to stringify the value of a macro:
Definition at line 69 of file sdhoptions.cpp.
Variable Documentation
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long command line options accepted by the cSDHOptions class
Definition at line 312 of file sdhoptions.cpp.
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short command line options accepted by the cSDHOptions class
Definition at line 310 of file sdhoptions.cpp.
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DSA (tactile sensor) adjustment options.
Definition at line 264 of file sdhoptions.cpp.
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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"
" 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.
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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.
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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.
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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.
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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.
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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.
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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.