void CBubbleRob::handleSimulation()
{ // called when the main script calls: simHandleModule
_initialize();
if (_movementDuration>0.0f)
{ // movement mode
if (simReadProximitySensor(_handleOfProximitySensor,NULL,NULL,NULL)>0)
_backMovementDuration=3.0f; // we detected an obstacle, we move backward for 3 seconds
if (_backMovementDuration>0.0f)
{ // We move backward
simSetJointTargetVelocity(_handleOfLeftJoint,-_maxVelocity*_backRelativeVelocities[0]);
simSetJointTargetVelocity(_handleOfRightJoint,-_maxVelocity*_backRelativeVelocities[1]);
_backMovementDuration-=simGetSimulationTimeStep();
}
else
{ // We move forward
simSetJointTargetVelocity(_handleOfLeftJoint,_maxVelocity);
simSetJointTargetVelocity(_handleOfRightJoint,_maxVelocity);
}
_movementDuration-=simGetSimulationTimeStep();
if ((_movementDuration<=0.0f)&&(_setToZeroAtMovementEnd!=NULL))
{
_setToZeroAtMovementEnd[0]=0; // This will unblock the thread that called simExtBubbleMoveAndAvoid(x,y,false)
// Above memory location can only be manipulated if we are sure the simulation is still running!!
_setToZeroAtMovementEnd=NULL;
}
}
else
{ // stopped mode
simSetJointTargetVelocity(_handleOfLeftJoint,0.0f);
simSetJointTargetVelocity(_handleOfRightJoint,0.0f);
}
}
float CK3::getFingerProxSensor(int index)
{
_initialize();
if ( (index<0)||(index>=2) )
return(-1.0f); // error
float ptAndDist[4];
if (((simGetExplicitHandling(_k3GripperDistanceSensorHandles[index])&1)==0)&&(simReadProximitySensor(_k3GripperDistanceSensorHandles[index],ptAndDist,NULL,NULL)>0))
return(ptAndDist[3]);
else
return(NO_DETECTION_VALUE_DISTANCE);
}
void CK3::_updateStateVisualization()
{
_initialize();
// IR sensors on the base:
float ptAndDist[4];
std::string s;
for (int i=0;i<9;i++)
{
if (((simGetExplicitHandling(_k3IrSensorHandles[i])&1)==0)&&(simReadProximitySensor(_k3IrSensorHandles[i],ptAndDist,NULL,NULL)>0))
{
simSetUIButtonLabel(_k3DisplayHandle,110+i,"&&Box",NULL);
std::stringstream out;
out << int(ptAndDist[3]*1000.0f);
s=out.str();
simSetUIButtonLabel(_k3DisplayHandle,210+i,s.c_str(),NULL);
}
else
{
simSetUIButtonLabel(_k3DisplayHandle,110+i,"",NULL);
simSetUIButtonLabel(_k3DisplayHandle,210+i,"",NULL);
}
}
// UI title:
char* objName=simGetObjectName(_associatedObjectID);
if (objName!=NULL)
{
std::string nm(objName);
simReleaseBuffer(objName);
nm+=" state visualization";
simSetUIButtonLabel(_k3DisplayHandle,0,nm.c_str(),NULL);
}
// US sensors on the base:
for (int i=0;i<5;i++)
{
if (((simGetExplicitHandling(_k3UsSensorHandles[i])&1)==0)&&(simReadProximitySensor(_k3UsSensorHandles[i],ptAndDist,NULL,NULL)>0))
{
simSetUIButtonLabel(_k3DisplayHandle,100+i,"&&Box",NULL);
std::stringstream out;
out << int(ptAndDist[3]*1000.0f);
s=out.str();
simSetUIButtonLabel(_k3DisplayHandle,200+i,s.c_str(),NULL);
}
else
{
simSetUIButtonLabel(_k3DisplayHandle,100+i,"",NULL);
simSetUIButtonLabel(_k3DisplayHandle,200+i,"",NULL);
}
}
// Color sensors on base:
for (int i=0;i<2;i++)
{
float* auxValues=NULL;
int* auxValuesCount=NULL;
float col[3]={0.0f,0.0f,0.0f};
if (simReadVisionSensor(_k3ColorSensorHandles[i],&auxValues,&auxValuesCount)>=0)
{
if ((auxValuesCount[0]>0)||(auxValuesCount[1]>=15))
{
col[0]=auxValues[11];
col[1]=auxValues[12];
col[2]=auxValues[13];
}
simReleaseBuffer((char*)auxValues);
simReleaseBuffer((char*)auxValuesCount);
}
simSetUIButtonColor(_k3DisplayHandle,300+i,col,NULL,NULL);
}
// Base motor velocities and encoders:
for (int i=0;i<2;i++)
{
std::stringstream out1,out2;
out1 << std::fixed << std::setprecision(1) << _currentVelocities[i]*180.0f/piValue;
s=out1.str();
simSetUIButtonLabel(_k3DisplayHandle,320+i,s.c_str(),NULL);
out2 << int(float(ENCODER_IMPULSES_PER_TURN)*_cumulativeMotorAngles[i]/(2.0f*piValue));
s=out2.str();
simSetUIButtonLabel(_k3DisplayHandle,310+i,s.c_str(),NULL);
}
// Arm position:
std::stringstream out;
out << int((1.0f-(_currentArmPosition*180.0f/(195.0f*piValue)))*600.0f+300.0f);
s=out.str();
simSetUIButtonLabel(_k3DisplayHandle,120,s.c_str(),NULL);
simSetUISlider(_k3DisplayHandle,121,int(1000.0f*_currentArmPosition*180.0f/(195.0f*piValue)));
// Finger motors:
out.str("");
out << int(_currentGripperGap_unscaled*1000.0f);
s=out.str();
simSetUIButtonLabel(_k3DisplayHandle,130,s.c_str(),NULL);
simSetUISlider(_k3DisplayHandle,131,int(0.5f+(1.0f-_currentGripperGap_unscaled/0.055f)*1000.0f));
simSetUISlider(_k3DisplayHandle,132,int(0.5f+(_currentGripperGap_unscaled/0.055f)*1000.0f));
// Gripper proximity sensors:
for (int i=0;i<2;i++)
{
if (((simGetExplicitHandling(_k3GripperDistanceSensorHandles[i])&1)==0)&&(simReadProximitySensor(_k3GripperDistanceSensorHandles[i],ptAndDist,NULL,NULL)>0))
{
out.str("");
out << int(ptAndDist[3]*1000.0f);
s=out.str();
simSetUIButtonLabel(_k3DisplayHandle,133+i,s.c_str(),NULL);
}
else
simSetUIButtonLabel(_k3DisplayHandle,133+i,"",NULL);
}
// Gripper color sensors:
for (int i=0;i<2;i++)
{
float* auxValues=NULL;
int* auxValuesCount=NULL;
float col[3]={0.0f,0.0f,0.0f};
if (simReadVisionSensor(_k3GripperColorSensorHandles[i],&auxValues,&auxValuesCount)>=0)
{
if ((auxValuesCount[0]>0)||(auxValuesCount[1]>=15))
{
col[0]=auxValues[11];
col[1]=auxValues[12];
col[2]=auxValues[13];
}
simReleaseBuffer((char*)auxValues);
simReleaseBuffer((char*)auxValuesCount);
}
simSetUIButtonColor(_k3DisplayHandle,135+i,col,NULL,NULL);
}
}
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
// This function should not generate any error messages:
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
if (message==sim_message_eventcallback_modulehandle)
{
if ( (customData==NULL)||(std::string("K3").compare((char*)customData)==0) ) // is the command also meant for Khepera3?
{
float dt=simGetSimulationTimeStep();
for (unsigned int k3Index=0;k3Index<allK3s.size();k3Index++)
{
// 1. Run the robot control:
for (int i=0;i<2;i++)
{
if (allK3s[k3Index].targetVelocities[i]>allK3s[k3Index].currentVelocities[i])
{
allK3s[k3Index].currentVelocities[i]=allK3s[k3Index].currentVelocities[i]+allK3s[k3Index].maxAcceleration*dt;
if (allK3s[k3Index].currentVelocities[i]>allK3s[k3Index].targetVelocities[i])
allK3s[k3Index].currentVelocities[i]=allK3s[k3Index].targetVelocities[i];
}
else
{
allK3s[k3Index].currentVelocities[i]=allK3s[k3Index].currentVelocities[i]-allK3s[k3Index].maxAcceleration*dt;
if (allK3s[k3Index].currentVelocities[i]<allK3s[k3Index].targetVelocities[i])
allK3s[k3Index].currentVelocities[i]=allK3s[k3Index].targetVelocities[i];
}
simSetJointTargetVelocity(allK3s[k3Index].wheelMotorHandles[i],allK3s[k3Index].currentVelocities[i]);
float jp;
simGetJointPosition(allK3s[k3Index].wheelMotorHandles[i],&jp);
float dp=jp-allK3s[k3Index].previousMotorAngles[i];
if (fabs(dp)>3.1415f)
dp-=(2.0f*3.1415f*fabs(dp)/dp);
allK3s[k3Index].cumulativeMotorAngles[i]+=dp; // corrected on 5/3/2012 thanks to Felix Fischer
allK3s[k3Index].previousMotorAngles[i]=jp;
}
float adp=allK3s[k3Index].targetArmPosition-allK3s[k3Index].currentArmPosition;
if (adp!=0.0f)
{
if (adp*allK3s[k3Index].currentArmVelocity>=0.0f)
{
float decelToZeroTime=(fabs(allK3s[k3Index].currentArmVelocity)+allK3s[k3Index].maxArmAcceleration*dt*1.0f)/allK3s[k3Index].maxArmAcceleration;
float distToZero=0.5f*allK3s[k3Index].maxArmAcceleration*decelToZeroTime*decelToZeroTime;
float dir=1.0f;
if (allK3s[k3Index].currentArmVelocity!=0.0f)
dir=allK3s[k3Index].currentArmVelocity/fabs(allK3s[k3Index].currentArmVelocity);
else
dir=adp/fabs(adp);
if (fabs(adp)>distToZero)
allK3s[k3Index].currentArmVelocity+=dir*allK3s[k3Index].maxArmAcceleration*dt;
else
allK3s[k3Index].currentArmVelocity-=dir*allK3s[k3Index].maxArmAcceleration*dt;
}
else
allK3s[k3Index].currentArmVelocity*=(1-allK3s[k3Index].maxArmAcceleration*dt/fabs(allK3s[k3Index].currentArmVelocity));
}
else
{
if (allK3s[k3Index].currentArmVelocity!=0.0f)
{
float dv=-allK3s[k3Index].currentArmVelocity*allK3s[k3Index].maxArmAcceleration*dt/fabs(allK3s[k3Index].currentArmVelocity);
if ((allK3s[k3Index].currentArmVelocity+dv)*allK3s[k3Index].currentArmVelocity<0.0f)
allK3s[k3Index].currentArmVelocity=0.0f;
else
allK3s[k3Index].currentArmVelocity+=dv;
}
}
allK3s[k3Index].currentArmPosition+=allK3s[k3Index].currentArmVelocity*dt;
simSetJointTargetPosition(allK3s[k3Index].armMotorHandles[0],allK3s[k3Index].currentArmPosition);
simSetJointTargetPosition(allK3s[k3Index].armMotorHandles[1],-allK3s[k3Index].currentArmPosition);
simSetJointTargetPosition(allK3s[k3Index].armMotorHandles[2],allK3s[k3Index].currentArmPosition);
simSetJointTargetPosition(allK3s[k3Index].armMotorHandles[3],allK3s[k3Index].currentArmPosition);
simSetJointTargetPosition(allK3s[k3Index].armMotorHandles[4],allK3s[k3Index].currentArmPosition);
simSetJointTargetPosition(allK3s[k3Index].armMotorHandles[5],allK3s[k3Index].currentArmPosition);
float jp;
simGetJointPosition(allK3s[k3Index].fingerMotorHandles[0],&jp);
allK3s[k3Index].currentGripperGap=(jp)+0.04f;
float dp=allK3s[k3Index].targetGripperGap-allK3s[k3Index].currentGripperGap;
float velToRegulate=0.0f;
if (fabs(dp)<0.005f)
{
if (dp!=0.0f)
velToRegulate=(fabs(dp)/0.005f)*0.045f*dp/fabs(dp);
}
else
velToRegulate=0.045f*dp/fabs(dp);
simSetJointTargetVelocity(allK3s[k3Index].fingerMotorHandles[0],velToRegulate);
simSetJointTargetPosition(allK3s[k3Index].fingerMotorHandles[1],-jp*0.5f);
simSetJointTargetPosition(allK3s[k3Index].fingerMotorHandles[2],-jp*0.5f);
// 2. Update the robot's UI:
// IR sensors on the base:
float ptAndDist[4];
std::string s;
for (int i=0;i<9;i++)
{
if (((simGetExplicitHandling(allK3s[k3Index].irSensorHandles[i])&1)==0)&&(simReadProximitySensor(allK3s[k3Index].irSensorHandles[i],ptAndDist,NULL,NULL)>0))
{
simSetUIButtonLabel(allK3s[k3Index].uiHandle,110+i,"&&Box",NULL);
std::stringstream out;
out << int(ptAndDist[3]*1000.0f);
s=out.str();
simSetUIButtonLabel(allK3s[k3Index].uiHandle,210+i,s.c_str(),NULL);
}
else
{
simSetUIButtonLabel(allK3s[k3Index].uiHandle,110+i,"",NULL);
simSetUIButtonLabel(allK3s[k3Index].uiHandle,210+i,"",NULL);
}
}
// UI title:
char* objName=simGetObjectName(allK3s[k3Index].k3BaseHandle);
if (objName!=NULL)
{
std::string nm(objName);
simReleaseBuffer(objName);
nm+=" state visualization";
simSetUIButtonLabel(allK3s[k3Index].uiHandle,0,nm.c_str(),NULL);
}
// US sensors on the base:
for (int i=0;i<5;i++)
{
if (((simGetExplicitHandling(allK3s[k3Index].usSensorHandles[i])&1)==0)&&(simReadProximitySensor(allK3s[k3Index].usSensorHandles[i],ptAndDist,NULL,NULL)>0))
{
simSetUIButtonLabel(allK3s[k3Index].uiHandle,100+i,"&&Box",NULL);
std::stringstream out;
out << int(ptAndDist[3]*1000.0f);
s=out.str();
simSetUIButtonLabel(allK3s[k3Index].uiHandle,200+i,s.c_str(),NULL);
}
else
{
simSetUIButtonLabel(allK3s[k3Index].uiHandle,100+i,"",NULL);
simSetUIButtonLabel(allK3s[k3Index].uiHandle,200+i,"",NULL);
}
}
// Color sensors on base:
for (int i=0;i<2;i++)
{
float* auxValues=NULL;
int* auxValuesCount=NULL;
float col[3]={0.0f,0.0f,0.0f};
if (simReadVisionSensor(allK3s[k3Index].colorSensorHandles[i],&auxValues,&auxValuesCount)>=0)
{
if ((auxValuesCount[0]>0)||(auxValuesCount[1]>=15))
{
col[0]=auxValues[11];
col[1]=auxValues[12];
col[2]=auxValues[13];
}
simReleaseBuffer((char*)auxValues);
simReleaseBuffer((char*)auxValuesCount);
}
simSetUIButtonColor(allK3s[k3Index].uiHandle,300+i,col,NULL,NULL);
}
// Base motor velocities and encoders:
for (int i=0;i<2;i++)
{
std::stringstream out1,out2;
out1 << std::fixed << std::setprecision(1) << allK3s[k3Index].currentVelocities[i]*180.0f/3.1415f;
s=out1.str();
simSetUIButtonLabel(allK3s[k3Index].uiHandle,320+i,s.c_str(),NULL);
out2 << int(float(2764)*allK3s[k3Index].cumulativeMotorAngles[i]/(2.0f*3.1415f));
s=out2.str();
simSetUIButtonLabel(allK3s[k3Index].uiHandle,310+i,s.c_str(),NULL);
}
// Arm position:
std::stringstream out;
out << int((1.0f-(allK3s[k3Index].currentArmPosition*180.0f/(195.0f*3.1415f)))*600.0f+300.0f);
s=out.str();
simSetUIButtonLabel(allK3s[k3Index].uiHandle,120,s.c_str(),NULL);
simSetUISlider(allK3s[k3Index].uiHandle,121,int(1000.0f*allK3s[k3Index].currentArmPosition*180.0f/(195.0f*3.1415f)));
// Finger motors:
out.str("");
out << int(allK3s[k3Index].currentGripperGap*1000.0f);
s=out.str();
simSetUIButtonLabel(allK3s[k3Index].uiHandle,130,s.c_str(),NULL);
simSetUISlider(allK3s[k3Index].uiHandle,131,int(0.5f+(1.0f-allK3s[k3Index].currentGripperGap/0.055f)*1000.0f));
simSetUISlider(allK3s[k3Index].uiHandle,132,int(0.5f+(allK3s[k3Index].currentGripperGap/0.055f)*1000.0f));
// Gripper proximity sensors:
for (int i=0;i<2;i++)
{
if (((simGetExplicitHandling(allK3s[k3Index].gripperDistanceSensorHandles[i])&1)==0)&&(simReadProximitySensor(allK3s[k3Index].gripperDistanceSensorHandles[i],ptAndDist,NULL,NULL)>0))
{
out.str("");
out << int(ptAndDist[3]*1000.0f);
s=out.str();
simSetUIButtonLabel(allK3s[k3Index].uiHandle,133+i,s.c_str(),NULL);
}
else
simSetUIButtonLabel(allK3s[k3Index].uiHandle,133+i,"",NULL);
}
// Gripper color sensors:
for (int i=0;i<2;i++)
{
float* auxValues=NULL;
int* auxValuesCount=NULL;
float col[3]={0.0f,0.0f,0.0f};
if (simReadVisionSensor(allK3s[k3Index].gripperColorSensorHandles[i],&auxValues,&auxValuesCount)>=0)
{
if ((auxValuesCount[0]>0)||(auxValuesCount[1]>=15))
{
col[0]=auxValues[11];
col[1]=auxValues[12];
col[2]=auxValues[13];
}
simReleaseBuffer((char*)auxValues);
simReleaseBuffer((char*)auxValuesCount);
}
simSetUIButtonColor(allK3s[k3Index].uiHandle,135+i,col,NULL,NULL);
}
}
}
}
if (message==sim_message_eventcallback_simulationended)
{ // simulation ended. Destroy all Khepera3 instances:
allK3s.clear();
}
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
void LUA_GETGRIPPERPROXSENSOR_CALLBACK(SLuaCallBack* p)
{
p->outputArgCount=0;
CLuaFunctionData D;
bool success=false;
float distance=100.0f;
if (D.readDataFromLua(p,inArgs_GETGRIPPERPROXSENSOR,inArgs_GETGRIPPERPROXSENSOR[0],LUA_GETGRIPPERPROXSENSOR_COMMAND))
{
std::vector<CLuaFunctionDataItem>* inData=D.getInDataPtr();
int k3Index=getK3IndexFromHandle(inData->at(0).intData[0]);
int sensorIndex=inData->at(1).intData[0];
if (k3Index!=-1)
{
if ( (sensorIndex>=0)&&(sensorIndex<2) )
{
float ptAndDist[4];
if (((simGetExplicitHandling(allK3s[k3Index].gripperDistanceSensorHandles[sensorIndex])&1)==0)&&(simReadProximitySensor(allK3s[k3Index].gripperDistanceSensorHandles[sensorIndex],ptAndDist,NULL,NULL)>0))
distance=ptAndDist[3];
success=true;
}
else
simSetLastError(LUA_GETGRIPPERPROXSENSOR_COMMAND,"Invalid index.");
}
else
simSetLastError(LUA_GETGRIPPERPROXSENSOR_COMMAND,"Invalid Khepera3 handle.");
}
if (success)
D.pushOutData(CLuaFunctionDataItem(distance));
D.writeDataToLua(p);
}
