Visual Servoing Platform version 3.5.0
vpRingLight.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Ring light management.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#include <visp3/core/vpConfig.h>
40
41#if defined(VISP_HAVE_MODULE_IO) && defined(VISP_HAVE_PARPORT)
42
43#include <fcntl.h>
44#include <sys/ioctl.h>
45#include <sys/stat.h>
46#include <sys/time.h>
47#include <sys/types.h>
48#include <unistd.h>
49
50#include <visp3/core/vpDebug.h>
51#include <visp3/core/vpTime.h>
52#include <visp3/robot/vpRingLight.h>
53
73vpRingLight::vpRingLight() : parport() { off(); }
74
84
93{
94 // Data set by the parallel port:
95 // - D1: need to send a 500us pulse width
96 // - D2: 0 }
97 // - D3: 0 } To control the light throw the NE555
98 // D2 and D3 are used to select the multiplexer output.
99 // Light must be connected to output 1+,1-
100
101 // To activates the light we send a pulse
102 int mask_mode_pulse_d2 = 0x00; // D2 is low
103 int mask_pulse_d1 = 0x02; // we send a pulse on D1 : L, H, L
104 unsigned char data = 0x00;
105 // data = parport.getData(); // actual value of the data bus
106 // vpTRACE("Actual data 0x%x = %d\n", data, data);
107
108 data = data | mask_pulse_d1 | mask_mode_pulse_d2;
109 // vpTRACE("Send 0x%x = %d\n", data, data);
110 parport.sendData(data); // send a 0-1 pulse
111
112 // Wait 500 micro seconds
113 struct timeval ti, tc; // Initial and current time
114 struct timeval tempo;
115 tempo.tv_usec = 500;
116 gettimeofday(&ti, 0L);
117 do {
118 gettimeofday(&tc, 0L);
119 } while (tc.tv_usec < ti.tv_usec + tempo.tv_usec);
120
121 data = data & (~mask_pulse_d1);
122 // vpTRACE("Send 0x%x = %d\n", data, data);
123 parport.sendData(data); // send a 1-0 pulse
124}
125
135void vpRingLight::pulse(double time)
136{
137 // Data set by the parallel port:
138 // - D1: a pulse with duration fixed by time
139 // - D2: 0 }
140 // - D3: 1 } To control the light directly throw the pulse comming from D1
141 // D2 and D3 are used to select the multiplexer output.
142 // Light must be connected to output 1+,1-
143
144 // To activates the light we send a pulse
145 int mask_mode_pulse_d3 = 0x08; // D3 is hight, D2 is low
146 int mask_pulse_d1 = 0x02; // we send a pulse on D1 : L, H, L
147 unsigned char data = 0x00;
148 // data = parport.getData(); // actual value of the data bus
149 // vpTRACE("Actual data 0x%x = %d\n", data, data);
150
151 data = data | mask_pulse_d1 | mask_mode_pulse_d3;
152 // vpTRACE("Send 0x%x = %d\n", data, data);
153 parport.sendData(data); // send a 0-1 pulse
154
155 // Wait 500 micro seconds
156 struct timeval ti, tc; // Initial and current time
157 gettimeofday(&ti, 0);
158 do {
159 gettimeofday(&tc, 0);
160 } while (tc.tv_usec < ti.tv_usec + time * 1000);
161
162 data = data & (~mask_pulse_d1);
163 // vpTRACE("Send 0x%x = %d\n", data, data);
164 parport.sendData(data); // send a 1-0 pulse
165}
166
174{
175 // Data set by the parallel port:
176 // - D1: 0 to turn OFF, 1 to turn ON
177 // - D2: 1 }
178 // - D3: 0 } To control the light throw D1
179 // D2 and D3 are used to select the multiplexer output.
180 // Light must be connected to output 1+,1-
181
182 // To activates the light we send a pulse
183 int mask_mode_onoff_d2 = 0x04; // D2 is Hight
184 int mask_on_d1 = 0x02; // D1 is Hight to turn the light on
185 unsigned char data = 0x00;
186 // data = parport.getData(); // actual value of the data bus
187
188 data = data | mask_on_d1 | mask_mode_onoff_d2;
189 // vpTRACE("Send 0x%x = %d\n", data, data);
190 parport.sendData(data);
191}
192
200{
201 // Data set by the parallel port:
202 // - D1: 0 to turn OFF, 1 to turn ON
203 // - D2: 1 }
204 // - D3: 0 } To control the light throw D1
205 // D2 and D3 are used to select the multiplexer output.
206 // Light must be connected to output 1+,1-
207
208 // To activates the light we send a pulse
209 int mask_mode_onoff_d2 = 0x04; // D2 is Hight
210 int mask_off_d1 = 0x00; // D1 is Low to turn the light off
211 unsigned char data = 0x00;
212 // data = parport.getData(); // actual value of the data bus
213
214 data = data | mask_off_d1 | mask_mode_onoff_d2;
215 // vpTRACE("Send 0x%x = %d\n", data, data);
216 parport.sendData(data);
217}
218
219#elif !defined(VISP_BUILD_SHARED_LIBS)
220// Work arround to avoid warning: libvisp_robot.a(vpRingLight.cpp.o) has no
221// symbols
222void dummy_vpRingLight(){};
223#endif
void sendData(unsigned char &data)
void pulse()
Definition: vpRingLight.cpp:92
virtual ~vpRingLight()
Definition: vpRingLight.cpp:83