vpForceTorqueAtiNetFTSensor.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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:
 * ATI Force torque interface.
 */
#ifndef _vpForceTorqueAtiNetFTSensor_h_
#define _vpForceTorqueAtiNetFTSensor_h_
 
#include <visp3/core/vpConfig.h>
 
#include <ostream>
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpUDPClient.h>
 
// Make vpForceTorqueAtiNetFTSensor available only if inet_ntop() used to
// communicate by UDP with the sensor through vpUDPClient is available; inet_ntop()
// is not supported on win XP
#ifdef VISP_HAVE_FUNC_INET_NTOP
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpForceTorqueAtiNetFTSensor : public vpUDPClient
{
public:
  vpForceTorqueAtiNetFTSensor();
  vpForceTorqueAtiNetFTSensor(const std::string &hostname, int port);
  virtual ~vpForceTorqueAtiNetFTSensor() VP_OVERRIDE;
 
  void bias(unsigned int n_counts = 50);
  inline unsigned long getCountsPerForce() const { return m_counts_per_force; }
  inline unsigned long getCountsPerTorque() const { return m_counts_per_torque; }
  inline unsigned long getDataCounter() const { return m_data_count; }
  inline unsigned long getScalingFactor() const { return m_scaling_factor; }
  vpColVector getForceTorque() const;
  inline void setCountsPerForce(unsigned long counts) { m_counts_per_force = counts; }
  inline void setCountsPerTorque(unsigned long counts) { m_counts_per_torque = counts; }
  inline void setScalingFactor(unsigned long scaling_factor) { m_scaling_factor = scaling_factor; }
  bool startStreaming();
  void stopStreaming();
 
  void unbias();
  bool waitForNewData(unsigned int timeout = 50);
 
protected:
  unsigned long m_counts_per_force;
  unsigned long m_counts_per_torque;
  unsigned long m_scaling_factor;
  vpColVector m_ft_bias;
  unsigned long m_data_count;
  unsigned long m_data_count_prev;
  vpColVector m_ft;
  bool m_is_streaming_started;
};
END_VISP_NAMESPACE
#endif
#endif