Robotic SDK: autoinit.cpp

autoinit.cpp

autoinit.cpp
////////////////////////////////////////////////////////////////////////////////
//
// Copyright (C) 2001-2023 Force Dimension, Switzerland.
// All Rights Reserved.
//
// Force Dimension SDK 3.17.8
//
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
///
/// This example illustrates how to automatically initialize all active axes
/// of a Force Dimension haptic device, and how to validate that the
/// initialization was successful.
///
/// Once initialization is performed and validated, the haptic device is placed
/// in a gravity compensation loop until the user requests the application to
/// exit.
///
////////////////////////////////////////////////////////////////////////////////
// C++ library headers
#include <iomanip>
#include <iostream>
// Force Dimension SDK library header
#include "drdc.h"
////////////////////////////////////////////////////////////////////////////////
int main(int argc,
char *argv[])
{
// Optimize console output performance.
std::cout.rdbuf()->pubsetbuf(nullptr, 512);
std::cout << std::nounitbuf;
std::ios_base::sync_with_stdio(false);
// Display version information.
std::cout << "Automatic Initialization Example " << dhdGetSDKVersionStr() << std::endl;
std::cout << "Copyright (C) 2001-2023 Force Dimension" << std::endl;
std::cout << "All Rights Reserved." << std::endl << std::endl;
// Open the first available haptic device.
if (drdOpen() < 0)
{
std::cout << "error: failed to open device (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
return -1;
}
// Make sure the device is compatible with the robotics library (DRD).
if (!drdIsSupported())
{
std::cout << "unsupported device type " << dhdGetSystemName() << std::endl;
std::cout << "exiting..." << std::endl;
dhdSleep(2.0);
drdClose();
return -1;
}
// Display the device type.
std::cout << dhdGetSystemName() << " device detected" << std::endl << std::endl;
// Perform automatic initialization of the device.
if (drdAutoInit() < 0)
{
std::cout << "error: failed to initialize device (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
return -1;
}
// Validate the initialization of the device.
if (drdCheckInit() < 0)
{
std::cout << "error: failed to validate device initialization (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
return -1;
}
// Stop the regulation thread but leaves the forces enabled on the device.
if (drdStop(true) < 0)
{
std::cout << "error: failed to stop robotic regulation (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
return -1;
}
// Report initialization success.
std::cout << "device successfully initialized" << std::endl << std::endl;
// Display user instructions.
std::cout << "press 'q' to quit" << std::endl << std::endl;
// Allocate and initialize haptic loop variables.
double px = 0.0;
double py = 0.0;
double pz = 0.0;
double fx = 0.0;
double fy = 0.0;
double fz = 0.0;
double lastDisplayUpdateTime = dhdGetTime();
// Run the haptic loop.
while (true)
{
// Apply zero force on the haptic device.
if (dhdSetForceAndTorqueAndGripperForce(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) < DHD_NO_ERROR)
{
std::cout << "error: failed to render force (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
break;
}
// Retrieve the haptic device position.
if (dhdGetPosition(&px, &py, &pz) < DHD_NO_ERROR)
{
std::cout << std::endl << "error: failed to read position (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
break;
}
// Retrieve the haptic device force.
if (dhdGetForce(&fx, &fy, &fz) < DHD_NO_ERROR)
{
std::cout << std::endl << "error: failed to read forces (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
break;
}
// Periodically display the haptic device status and flush stdout.
double time = dhdGetTime();
if (time - lastDisplayUpdateTime > 0.1)
{
lastDisplayUpdateTime = time;
std::cout << std::showpos << std::fixed << std::setprecision(3);
std::cout << "p (" << std::setw(6) << px << " " << std::setw(6) << py << " " << std::setw(6) << pz << ") m | ";
std::cout << "f (" << std::setw(6) << fx << " " << std::setw(6) << fy << " " << std::setw(6) << fz << ") N | ";
std::cout << "freq " << std::noshowpos << std::setprecision(2) << std::setw(4) << dhdGetComFreq() << " kHz \r";
std::cout.flush();
}
// Process user input.
if (dhdKbHit() && dhdKbGet() == 'q')
{
std::cout << std::endl << std::endl << "exiting at user's request" << std::endl;
break;
}
}
// Close the connection to the haptic device.
if (drdClose() < 0)
{
std::cout << "error: failed to close the connection (" << dhdErrorGetLastStr() << ")" << std::endl;
dhdSleep(2.0);
return -1;
}
// Report success.
std::cout << "connection closed" << std::endl;
return 0;
}
dhdKbGet
char __SDK dhdKbGet()
dhdGetComFreq
double __SDK dhdGetComFreq(char ID=-1)
dhdGetForce
int __SDK dhdGetForce(double *fx, double *fy, double *fz, char ID=-1)
dhdSetForceAndTorqueAndGripperForce
int __SDK dhdSetForceAndTorqueAndGripperForce(double fx, double fy, double fz, double tx, double ty, double tz, double fg, char ID=-1)
dhdSleep
void __SDK dhdSleep(double sec)
DHD_NO_ERROR
DHD_NO_ERROR
dhdKbHit
bool __SDK dhdKbHit()
dhdGetSDKVersionStr
const char *__SDK dhdGetSDKVersionStr()
dhdGetPosition
int __SDK dhdGetPosition(double *px, double *py, double *pz, char ID=-1)
dhdGetSystemName
const char *__SDK dhdGetSystemName(char ID=-1)
dhdGetTime
double __SDK dhdGetTime()
dhdErrorGetLastStr
const char *__SDK dhdErrorGetLastStr()
drdOpen
int __SDK drdOpen()
Definition drdc.cpp:220
drdAutoInit
int __SDK drdAutoInit(char ID)
Definition drdc.cpp:590
drdCheckInit
int __SDK drdCheckInit(char ID)
Definition drdc.cpp:868
drdClose
int __SDK drdClose(char ID)
Definition drdc.cpp:367
drdIsSupported
bool __SDK drdIsSupported(char ID)
Definition drdc.cpp:423
drdStop
int __SDK drdStop(bool frc, char ID)
Definition drdc.cpp:2420
drdc.h
DRD header file.