void partMover::go_click(GtkButton *button, partMover *currentPart)
{
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
int *SEQUENCE_TMP = currentPart->SEQUENCE;
double *TIMING_TMP = currentPart->TIMING;
double **STORED_POS_TMP = currentPart->STORED_POS;
double **STORED_VEL_TMP = currentPart->STORED_VEL;
GtkWidget **sliderAry = currentPart->sliderArray;
GtkWidget **sliderVelAry = currentPart->sliderVelArray;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
//get the current row index
int i = get_index_selection(currentPart);
if (i != -1)
{
if (TIMING_TMP[i]>0)
{
ipos->setRefSpeeds(STORED_VEL_TMP[i]);
ipos->positionMove(STORED_POS_TMP[i]);
for (int k =0; k < NUMBER_OF_JOINTS; k++)
{
gtk_range_set_value ((GtkRange *) (sliderAry[k]), STORED_POS_TMP[i][k]);
gtk_range_set_value ((GtkRange *) (sliderVelAry[k]), STORED_VEL_TMP[i][k]);
}
}
}
return;
}
void ReachManager::RobotPositionControl(string partName, const Vector &jointAngles)
{
IPositionControl *pos;
IEncoders *encs;
if (!(polydrivers[partName]->view(pos) && polydrivers[partName]->view(encs))) {
printf("Problems acquiring interfaces\n");
return;
}
Vector command;
command.resize(nbJoints[partName]);
//first zero all joints
command=0;
//now set the shoulder to some value
command[0]=jointAngles[0] * 180 / 3.14;
command[1]=jointAngles[1] * 180 / 3.14;
command[2]=jointAngles[2] * 180 / 3.14;
command[3]=jointAngles[3] * 180 / 3.14;
command[4]=jointAngles[4] * 180 / 3.14;
command[5]=jointAngles[5] * 180 / 3.14;
command[6]=jointAngles[6] * 180 / 3.14;
cout << "Moving to : " << command.toString() << endl;
pos->positionMove(command.data());
return;
}
bool goHome()
{
printMessage(0,"Going home...\n");
yarp::sig::Vector poss(7,0.0);
yarp::sig::Vector vels(7,0.0);
printMessage(1,"Configuring arm...\n");
poss[0]=-30.0; vels[0]=10.0; poss[1]=30.0; vels[1]=10.0;
poss[2]= 00.0; vels[2]=10.0; poss[3]=45.0; vels[3]=10.0;
poss[4]= 00.0; vels[4]=10.0; poss[5]=00.0; vels[5]=10.0;
poss[6]= 00.0; vels[6]=10.0;
for (int i=0; i<7; i++)
{
iposs->setRefSpeed(i,vels[i]);
iposs->positionMove(i,poss[i]);
}
printMessage(1,"Configuring hand...\n");
poss.resize(9,0.0);
vels.resize(9,0.0);
poss[0]=40.0; vels[0]=60.0; poss[1]=10.0; vels[1]=60.0;
poss[2]=60.0; vels[2]=60.0; poss[3]=70.0; vels[3]=60.0;
poss[4]=00.0; vels[4]=60.0; poss[5]=00.0; vels[5]=60.0;
poss[6]=70.0; vels[6]=60.0; poss[7]=100.0; vels[7]=60.0;
poss[8]=240.0; vels[8]=120.0;
for (int i=7; i<nEncs; i++)
{
iposs->setRefAcceleration(i,1e9);
iposs->setRefSpeed(i,vels[i-7]);
iposs->positionMove(i,poss[i-7]);
}
return true;
}
void testMotor(PolyDriver& driver) {
IPositionControl *pos;
if (driver.view(pos)) {
int ct = 0;
pos->getAxes(&ct);
printf(" number of axes is: %d\n", ct);
} else {
printf(" could not find IPositionControl interface\n");
}
}
void partMover::home_all(GtkButton *button, partMover* currentPart)
{
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
IControlCalibration2 *ical = currentPart->cal;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
//fprintf(stderr, "Retrieving finder \n");
ResourceFinder *fnd = currentPart->finder;
//fprintf(stderr, "Retrieved finder: %p \n", fnd);
char buffer1[800];
char buffer2[800];
strcpy(buffer1, currentPart->partLabel);
strcpy(buffer2, strcat(buffer1, "_zero"));
//fprintf(stderr, "Finder retrieved %s\n", buffer2);
if (!fnd->findGroup(buffer2).isNull() && !fnd->isNull())
{
bool ok = true;
Bottle xtmp, ytmp;
xtmp = fnd->findGroup(buffer2).findGroup("PositionZero");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
ytmp = fnd->findGroup(buffer2).findGroup("VelocityZero");
ok = ok && (ytmp.size() == NUMBER_OF_JOINTS+1);
if(ok)
{
for (int joint = 0; joint < NUMBER_OF_JOINTS; joint++)
{
double positionZero = xtmp.get(joint+1).asDouble();
//fprintf(stderr, "%f ", positionZero);
double velocityZero = ytmp.get(joint+1).asDouble();
//fprintf(stderr, "%f ", velocityZero);
ipos->setRefSpeed(joint, velocityZero);
ipos->positionMove(joint, positionZero);
}
}
else
dialog_message(GTK_MESSAGE_ERROR,(char *) "Check the number of entries in the group", buffer2, true);
}
else
{
// currentPart->dialog_message(GTK_MESSAGE_ERROR,"No calib file found", strcat("Define a suitable ", strcat(currentPart->partLabel, "Calib")), true);
dialog_message(GTK_MESSAGE_ERROR,(char *) "No zero group found in the supplied file. Define a suitable", buffer2, true);
}
return;
}
void partMover::home_click(GtkButton *button, gtkClassData* currentClassData)
{
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
IControlCalibration2 *ical = currentPart->cal;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
//fprintf(stderr, "Retrieving finder \n");
ResourceFinder *fnd = currentPart->finder;
//fprintf(stderr, "Retrieved finder: %p \n", fnd);
char buffer1[800];
char buffer2[800];
strcpy(buffer1, currentPart->partLabel);
strcpy(buffer2, strcat(buffer1, "_zero"));
//fprintf(stderr, "Finder retrieved %s\n", buffer2);
if (!fnd->findGroup(buffer2).isNull() && !fnd->isNull())
{
//fprintf(stderr, "Home group was not empty \n");
bool ok = true;
Bottle xtmp;
xtmp = fnd->findGroup(buffer2).findGroup("PositionZero");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double positionZero = xtmp.get(*joint+1).asDouble();
//fprintf(stderr, "%f\n", positionZero);
xtmp = fnd->findGroup(buffer2).findGroup("VelocityZero");
//fprintf(stderr, "VALUE VEL is %d \n", fnd->findGroup(buffer2).find("VelocityZero").toString().c_str());
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double velocityZero = xtmp.get(*joint+1).asDouble();
//fprintf(stderr, "%f\n", velocityZero);
if(!ok)
dialog_message(GTK_MESSAGE_ERROR,(char *) "Check the number of entries in the group", buffer2, true);
else
{
ipos->setRefSpeed(*joint, velocityZero);
ipos->positionMove(*joint, positionZero);
}
}
else
{
// currentPart->dialog_message(GTK_MESSAGE_ERROR,"No calib file found", strcat("Define a suitable ", strcat(currentPart->partLabel, "Calib")), true);
dialog_message(GTK_MESSAGE_ERROR,(char *) "No zero group found in the supplied file. Define a suitable", buffer2, true);
}
return;
}
void _send(const ActionItem *x)
{
if (!connected)
{
cerr<<"Error: not connected to control board skipping"<<endl;
return;
}
int size=x->getCmd().size();
int offset=x->getOffset();
double time=x->getTime();
int nJoints=0;
enc->getAxes(&nJoints);
if ((offset+size)>nJoints)
{
cerr<<"Error: detected possible overflow, skipping"<<endl;
cerr<<"For debug --> joints: "<<nJoints<< " off: "<<offset<<" cmd length: "<<size<<endl;
return;
}
Vector disp(size);
if (time==0)
{
return;
}
for (size_t i=0; i<disp.length(); i++)
{
double q;
if (!enc->getEncoder(offset+i,&q))
{
cerr<<"Error: encoders timed out, cannot rely on encoder feedback, aborted"<<endl;
return;
}
disp[i]=x->getCmd()[i]-q;
if (disp[i]<0.0)
disp[i]=-disp[i];
}
for (size_t i=0; i<disp.length(); i++)
{
pos->setRefSpeed(offset+i,disp[i]/time);
pos->positionMove(offset+i,x->getCmd()[i]);
}
cout << "Script port: " << const_cast<Vector &>(x->getCmd()).toString() << endl;
}
bool partMover::sequence_iterator_time(partMover* currP)
{
//fprintf(stderr, "calling sequence iterator time \n");
IPositionControl *ipos = currP->pos;
IEncoders *iiencs = currP->iencs;
IAmplifierControl *iamp = currP->amp;
IPidControl *ipid = currP->pid;
int *SEQUENCE_TMP = currP->SEQUENCE;
double *TIMING_TMP = currP->TIMING;
double **STORED_POS_TMP = currP->STORED_POS;
double **STORED_VEL_TMP = currP->STORED_VEL;
int *INV_SEQUENCE_TMP = currP->INV_SEQUENCE;
GtkWidget **sliderAry = currP->sliderArray;
GtkWidget **sliderVelAry = currP->sliderVelArray;
GtkWidget *tree_view = currP->treeview;
guint32* timeout_seqeunce_rate_tmp = currP->timeout_seqeunce_rate;
guint* timeout_seqeunce_id_tmp = currP->timeout_seqeunce_id;
int *SEQUENCE_ITERATOR_TMP = currP->SEQUENCE_ITERATOR;
int j = (*SEQUENCE_ITERATOR_TMP);
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
if (INV_SEQUENCE_TMP[j]!=-1)
{
fixed_time_move(STORED_POS_TMP[INV_SEQUENCE_TMP[j]],
TIMING_TMP[j],
currP);
(*SEQUENCE_ITERATOR_TMP)++;
*timeout_seqeunce_rate_tmp = (unsigned int) (TIMING_TMP[j]*1000);
gtk_timeout_remove(*timeout_seqeunce_id_tmp);
*timeout_seqeunce_id_tmp = gtk_timeout_add(*timeout_seqeunce_rate_tmp, (GtkFunction) sequence_iterator_time, currP);
}
else
{
//restart the sequence if finished
*SEQUENCE_ITERATOR_TMP = 0;
j = 0;
fixed_time_move(STORED_POS_TMP[INV_SEQUENCE_TMP[j]],
TIMING_TMP[j],
currP);
(*SEQUENCE_ITERATOR_TMP)++;
*timeout_seqeunce_rate_tmp = (unsigned int) (TIMING_TMP[j]*1000);
gtk_timeout_remove(*timeout_seqeunce_id_tmp);
*timeout_seqeunce_id_tmp = gtk_timeout_add(*timeout_seqeunce_rate_tmp, (GtkFunction) sequence_iterator_time, currP);
}
return false;
}
void partMover::sliderVel_release(GtkRange *range, gtkClassData* currentClassData)
{
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
IPositionControl *ipos = currentPart->pos;
GtkWidget **sliderAry = currentPart->sliderArray;
double val = gtk_range_get_value(range);
double posit = gtk_range_get_value((GtkRange *) sliderAry[*joint]);
ipos->setRefSpeed(*joint, val);
ipos->positionMove(*joint, posit);
return;
}
void partMover::slider_release(GtkRange *range, gtkClassData* currentClassData)
{
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
bool *POS_UPDATE = currentPart->CURRENT_POS_UPDATE;
IPositionControl *ipos = currentPart->pos;
IPidControl *ipid = currentPart->pid;
IPositionDirect *iDir = currentPart->iDir;
GtkWidget **sliderVel = currentPart->sliderVelArray;
double val = gtk_range_get_value(range);
double valVel = gtk_range_get_value((GtkRange *)sliderVel[*joint]);
IControlMode *iCtrl = currentPart->ctrlmode2;
int mode;
iCtrl->getControlMode(*joint, &mode);
if (!POS_UPDATE[*joint])
{
if( ( mode == VOCAB_CM_POSITION) || (mode == VOCAB_CM_MIXED) )
{
ipos->setRefSpeed(*joint, valVel);
ipos->positionMove(*joint, val);
}
else if( ( mode == VOCAB_CM_IMPEDANCE_POS))
{
fprintf(stderr, " using old 'impedance_position' mode, this control mode is deprecated!");
ipos->setRefSpeed(*joint, valVel);
ipos->positionMove(*joint, val);
}
else if ( mode == VOCAB_CM_POSITION_DIRECT)
{
if (position_direct_enabled)
{
iDir->setPosition(*joint, val);
}
else
{
fprintf(stderr, "You cannot send direct position commands without using --direct option!");
}
}
else
{
fprintf(stderr, "Joint not in position nor positionDirect so cannot send references");
}
}
return;
}
void partMover::sequence_click(GtkButton *button, partMover* currentPart)
{
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
int *SEQUENCE_TMP = currentPart->SEQUENCE;
double *TIMING_TMP = currentPart->TIMING;
double **STORED_POS_TMP = currentPart->STORED_POS;
double **STORED_VEL_TMP = currentPart->STORED_VEL;
GtkWidget **sliderAry = currentPart->sliderArray;
GtkWidget **sliderVelAry = currentPart->sliderVelArray;
int j;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
int invSequence[NUMBER_OF_STORED];
for (j = 0; j < NUMBER_OF_STORED; j++)
invSequence[j] = -1;
for (j = 0; j < NUMBER_OF_STORED; j++)
{
if (SEQUENCE_TMP[j]>-1 && (SEQUENCE_TMP[j]<NUMBER_OF_STORED))
invSequence[SEQUENCE_TMP[j]] = j;
}
for (j = 0; j < NUMBER_OF_STORED; j++)
if (invSequence[j]!=-1)
{
if (TIMING_TMP[invSequence[j]] > 0)
{
ipos->setRefSpeeds(STORED_VEL_TMP[invSequence[j]]);
ipos->positionMove(STORED_POS_TMP[invSequence[j]]);
for (int k =0; k < NUMBER_OF_JOINTS; k++)
{
gtk_range_set_value ((GtkRange *) (sliderAry[k]), STORED_POS_TMP[invSequence[j]][k]);
gtk_range_set_value ((GtkRange *) (sliderVelAry[k]), STORED_VEL_TMP[invSequence[j]][k]);
}
Time::delay(TIMING_TMP[invSequence[j]]);
}
}
else
break;
return;
}
void ReachManager::InitPositionControl(string partName)
{
Property options;
options.put("device", "remote_controlboard");
options.put("local", ("/reach_manager/position_control/" + partName).c_str()); //local port names
string remotePortName = "/" + (string)parameters["robot"]->asString() + "/" + partName + "_arm";
options.put("remote", remotePortName.c_str()); //where we connect to
// create a device
polydrivers[partName] = new PolyDriver(options);
if (!polydrivers[partName]->isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return;
}
IPositionControl *pos;
IEncoders *encs;
if (!(polydrivers[partName]->view(pos) && polydrivers[partName]->view(encs))) {
printf("Problems acquiring interfaces\n");
return;
}
pos->getAxes(&nbJoints[partName]);
Vector encoders;
Vector tmp;
encoders.resize(nbJoints[partName]);
tmp.resize(nbJoints[partName]);
for (int i = 0; i < nbJoints[partName]; i++)
{
tmp[i] = 5.0;
}
pos->setRefAccelerations(tmp.data());
for (int i = 0; i < nbJoints[partName]; i++)
{
tmp[i] = 3.0;
pos->setRefSpeed(i, tmp[i]);
}
}
virtual bool threadInit()
{
// open a client interface to connect to the gaze server
// we suppose that:
// 1 - the iCub simulator is running;
// 2 - the gaze server iKinGazeCtrl is running and
// launched with the following options: "--from configSim.ini"
Property optGaze("(device gazecontrollerclient)");
optGaze.put("remote","/iKinGazeCtrl");
optGaze.put("local","/gaze_client");
if (!clientGaze.open(optGaze))
return false;
// open the view
clientGaze.view(igaze);
// latch the controller context in order to preserve
// it after closing the module
// the context contains the tracking mode, the neck limits and so on.
igaze->storeContext(&startup_context_id);
// set trajectory time:
igaze->setNeckTrajTime(0.8);
igaze->setEyesTrajTime(0.4);
// put the gaze in tracking mode, so that
// when the torso moves, the gaze controller
// will compensate for it
igaze->setTrackingMode(true);
// print out some info about the controller
Bottle info;
igaze->getInfo(info);
fprintf(stdout,"info = %s\n",info.toString().c_str());
Property optTorso("(device remote_controlboard)");
optTorso.put("remote","/icubSim/torso");
optTorso.put("local","/torso_client");
if (!clientTorso.open(optTorso))
return false;
// open the view
clientTorso.view(ienc);
clientTorso.view(ipos);
ipos->setRefSpeed(0,10.0);
fp.resize(3);
state=STATE_TRACK;
t=t0=t1=t2=t3=t4=Time::now();
return true;
}
void partMover::sequence_stop(GtkButton *button,partMover* currP)
{
//fprintf(stderr, "calling sequence time stop\n");
guint* timeout_seqeunce_id_tmp = currP->timeout_seqeunce_id;
GtkWidget **sliderAry = currP->sliderArray;
GtkWidget **sliderVelAry = currP->sliderVelArray;
IPositionControl *ipos = currP->pos;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
//deactivate all buttons
int k;
for (k =0; k < NUMBER_OF_JOINTS; k++)
{
gtk_widget_set_sensitive(sliderVelAry[k], true);
gtk_widget_set_sensitive(sliderAry[k], true);
}
//fprintf(stderr, "Enabling bottons...");
if (currP->button1 != NULL)
//fprintf(stderr, "botton is sensitive...");
gtk_widget_set_sensitive(currP->button1, true);
//fprintf(stderr, "disabled...");
if (currP->button2 != NULL)
gtk_widget_set_sensitive(currP->button2, true);
if (currP->button3 != NULL)
gtk_widget_set_sensitive(currP->button3, true);
if (currP->button4 != NULL)
gtk_widget_set_sensitive(currP->button4, true);
if (currP->button5 != NULL)
gtk_widget_set_sensitive(currP->button5, true);
if (currP->button6 != NULL)
gtk_widget_set_sensitive(currP->button6, true);
if (currP->button7 != NULL)
gtk_widget_set_sensitive(currP->button7, true);
if (currP->button8 != NULL)
gtk_widget_set_sensitive(currP->button8, true);
//fprintf(stderr, "done!\n");
gtk_timeout_remove(*timeout_seqeunce_id_tmp);
return;
}
void partMover::slider_release(GtkRange *range, gtkClassData* currentClassData)
{
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
bool *POS_UPDATE = currentPart->CURRENT_POS_UPDATE;
IPositionControl *ipos = currentPart->pos;
IPidControl *ipid = currentPart->pid;
GtkWidget **sliderVel = currentPart->sliderVelArray;
double val = gtk_range_get_value(range);
double valVel = gtk_range_get_value((GtkRange *)sliderVel[*joint]);
if (!POS_UPDATE[*joint])
{
ipos->setRefSpeed(*joint, valVel);
ipos->positionMove(*joint, val);
//ipid->setReference(*joint, val);
}
return;
}
void partMover::idle_all(GtkButton *button, partMover* currentPart)
{
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
GtkWidget **sliderAry = currentPart->sliderArray;
double posJoint;
int joint;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
for (joint=0; joint < NUMBER_OF_JOINTS; joint++)
{
iiencs->getEncoder(joint, &posJoint);
iamp->disableAmp(joint);
ipid->disablePid(joint);
gtk_range_set_value ((GtkRange *) (sliderAry[joint]), posJoint);
}
return;
}
void partMover::sequence_time(GtkButton *button, partMover* currentPart)
{
IPositionControl *ipos = currentPart->pos;
int *SEQUENCE_TMP = currentPart->SEQUENCE;
double *TIMING_TMP = currentPart->TIMING;
double **STORED_POS_TMP = currentPart->STORED_POS;
double **STORED_VEL_TMP = currentPart->STORED_VEL;
int invSequence[NUMBER_OF_STORED];
int NUMBER_OF_JOINTS;
int j;
ipos->getAxes(&NUMBER_OF_JOINTS);
for (j = 0; j < NUMBER_OF_STORED; j++)
invSequence[j] = -1;
for (j = 0; j < NUMBER_OF_STORED; j++)
{
if (SEQUENCE_TMP[j]>-1 && (SEQUENCE_TMP[j]<NUMBER_OF_STORED))
invSequence[SEQUENCE_TMP[j]] = j;
}
for (j = 0; j < NUMBER_OF_STORED; j++)
if (invSequence[j]!=-1)
{
if (TIMING_TMP[invSequence[j]] > 0)
{
fixed_time_move(STORED_POS_TMP[invSequence[j]],
TIMING_TMP[invSequence[j]],
currentPart);
Time::delay(TIMING_TMP[invSequence[j]]);
}
}
else
break;
return;
}
bool updateModule()
{
if (calibrate)
{
Property options;
options.put("finger",fingerName.c_str());
model->calibrate(options);
calibrate=false;
ipos->setRefAcceleration(joint,1e9);
if ((fingerName=="ring")||(fingerName=="little"))
ipos->setRefSpeed(joint,60.0);
else
ipos->setRefSpeed(joint,30.0);
ipos->positionMove(joint,*val);
}
else
{
if (Node *finger=model->getNode(fingerName))
{
Value data; finger->getSensorsData(data);
Value out; finger->getOutput(out);
fprintf(stdout,"%s sensors data = %s; output = %s\n",
finger->getName().c_str(),data.toString().c_str(),out.toString().c_str());
}
double fb; ienc->getEncoder(joint,&fb);
if (fabs(*val-fb)<5.0)
{
val==&min?val=&max:val=&min;
ipos->positionMove(joint,*val);
}
}
return true;
}
// the motion-done callback
virtual void gazeEventCallback()
{
Vector ang;
igaze->getAngles(ang);
fprintf(stdout,"Actual gaze configuration: (%s) [deg]\n",
ang.toString(3,3).c_str());
fprintf(stdout,"Moving the torso; check if the gaze is compensated ...\n");
// move the torso yaw
double val;
ienc->getEncoder(0,&val);
ipos->positionMove(0,val>0.0?-30.0:30.0);
t4=t;
// detach the callback
igaze->unregisterEvent(*this);
// switch state
state=STATE_STILL;
}
virtual void run(){
tmp = command;
(*command)[0] = -60*(gsl_rng_uniform(r));
(*command)[1] = 100*(gsl_rng_uniform(r));
(*command)[2] = -35 + 95*(gsl_rng_uniform(r));
(*command)[3] = 10 + 90*(gsl_rng_uniform(r));
printf("%.1lf %.1lf %.1lf %.1lf\n", (*command)[0], (*command)[1], (*command)[2], (*command)[3]);
//above 0 doesn't seem to be safe for joint 0
if ((*command)[0] > 0 || (*command)[0] < -60){
(*command)[0] = (*tmp)[0];
}
if ((*command)[1] > 100 || (*command)[1] < -0){
(*command)[1] = (*tmp)[1];
}
if ((*command)[2] > 60 || (*command)[2] < -35){
(*command)[2] = (*tmp)[2];
}
if ((*command)[3] > 100 || (*command)[3] < 10){
(*command)[3] = (*tmp)[3];
}
//use fwd kin to find end effector position
Bottle plan, pred;
for (int i = 0; i < nj; i++){
plan.add((*command)[i]);
}
armPlan->write(plan);
armPred->read(pred);
Vector commandCart(3);
for (int i = 0; i < 3; i++){
commandCart[i] = pred.get(i).asDouble();
}
printf("Cartesian safety check\n");
double rad = sqrt(commandCart[0]*commandCart[0]+commandCart[1]*commandCart[1]);
// safety radius back to 30 cm
if (rad > 0.3){
pos->positionMove(command->data());
bool done = false;
while(!done){
pos->checkMotionDone(&done);
Time::delay(0.1);
}
printf("Moved arm to new location\n");
Vector &armJ = armLocJ->prepare();
Vector encoders(nj);
enc->getEncoders(encoders.data());
armJ = encoders;
Vector noisyArm(3);
for(int i = 0; i < 3; i++){
//noisyArm[i] = commandCart[i] + 0.01*(2*gsl_rng_uniform(r)-1);
//sanity check
noisyArm[i] = commandCart[i] + 0.005*(2*gsl_rng_uniform(r)-1);
}
//insert here:
//read off peak saliences
//fixate there
//calculate cartesian value, compare to real cart. value of arm
printf("Looking at arm\n");
igaze->lookAtFixationPoint(noisyArm);
done = false;
while(!done){
igaze->checkMotionDone(&done);
Time::delay(0.5);
}
//igaze->waitMotionDone(0.1,30);
printf("Saw arm\n");
Vector &headAng = headLoc->prepare();
igaze->getAngles(headAng);
Bottle tStamp;
tStamp.clear();
tStamp.add(Time::now());
headLoc->setEnvelope(tStamp);
headLoc->write();
armLocJ->write();
headLoc->unprepare();
armLocJ->unprepare();
}
else{
printf("Self collision detected!\n");
}
}
bool configure(ResourceFinder &rf)
{
std::string robotname = rf.check("robot",yarp::os::Value("icubSim")).asString();
Property options;
options.put("robot", robotname); // typically from the command line.
options.put("device", "remote_controlboard");
string s("/");
s += robotname;
s += "/right_arm/keyBabbling";
options.put("local", s.c_str());
s.clear();
s += "/";
s += robotname;
s += "/right_arm";
options.put("remote", s.c_str());
if (!dd.open(options)) {
cout << "Device not available. Here are the known devices:\n"<< endl;
cout << Drivers::factory().toString().c_str() << endl;;
return false;
}
portStreamer.open("/keyboardBabbling/stream:o");
portFromCart.open("/keyboardBabbling/stream:i");
portRpc.open("/keyboarBabbling/rpc");
attach(portRpc);
Property optionCart("(device cartesiancontrollerclient)");
optionCart.put("remote", "/" + robotname +"/cartesianController/right_arm");
optionCart.put("local","/keyboardBabbling/cartesian_client/right_arm");
if (!driverCart.open(optionCart))
return false;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(armCtrlModeUsed);
ok &= dd.view(armImpUsed);
ok &= driverCart.view(armCart);
ok &= dd.view(ilimRight);
iCubFinger* fingerRight = new iCubFinger("right_index");
deque<IControlLimits*> limRight;
limRight.push_back(ilimRight);
fingerRight->alignJointsBounds(limRight);
if (!ok) {
cout << "Device not able to acquire views" << endl;
dd.close();
return false;
}
int jnts = 0;
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
vector<bool> mask;
mask.resize(jnts);
mask[0] = false;
mask[1] = false;
mask[2] = false;
mask[3] = false;
mask[4] = true;
mask[5] = false;
mask[6] = true;
mask[7] = false;
mask[8] = true;
mask[9] = true;
mask[10] = true;
mask[11] = true;
mask[12] = true;
mask[13] = true;
mask[14] = true;
mask[15] = true;
cout << "Closing the hand" << endl;
// closing the hand:
pos->positionMove(4, 30.0);
pos->positionMove(6, 10.0);
pos->positionMove(8, 10.0);
pos->positionMove(9, 17.0);
pos->positionMove(10, 170.0);
pos->positionMove(11, 0.0);
pos->positionMove(12, 0.0);
pos->positionMove(13, 90.0);
pos->positionMove(14, 180.0);
pos->positionMove(15, 180.0);
cout << "Waiting to be in initial position...";
bool motionDone=false;
while (!motionDone)
{
motionDone=true;
for (int i=0; i<jnts; i++)
{
if (mask[i])
{
bool jntMotionDone = false;
pos->checkMotionDone(i, &jntMotionDone);
motionDone &= jntMotionDone;
}
}
Time::yield(); // to avoid killing cpu
}
cout << "ok" << endl;
// wait for the hand to be in initial position
Matrix R=zeros(3,3);
R(0,0)=-1.0; R(1,1)=1; R(2,2)=-1.0;
orientation=dcm2axis(R);
// enable torso movements as well
// in order to enlarge the workspace
Vector dof;
armCart->getDOF(dof);
dof=1.0; dof[1]=0.0; // every dof but the torso roll
armCart->setDOF(dof,dof);
armCart->setTrajTime(1.0);
Vector initPos(3,0.0);
if (rf.check("rightHandInitial"))
{
Bottle *botPos = rf.find("rightHandInitial").asList();
initPos[0] = botPos->get(0).asDouble();
initPos[1] = botPos->get(1).asDouble();
initPos[2] = botPos->get(2).asDouble();
cout<<"Reaching initial position with right hand"<<initPos.toString(3,3).c_str()<<endl;
armCart->goToPoseSync(initPos,orientation);
armCart->waitMotionDone(0.1,3.0);
}
else
{
cout << "Cannot find the inital position" << endl << "closing module" << endl;
return false;
}
minY = rf.find("min").asDouble();
maxY = rf.find("max").asDouble();
gap = rf.find("gap").asDouble();
delay = rf.find("delay").asDouble();
thrMove = rf.find("threshold_move").asDouble();
yDivisions = rf.check("yDivisions",Value(10)).asInt();
Bottle* bsequenceToPlay = rf.find("sequence").asList();
if (bsequenceToPlay)
{
cout << "Using sequence, not random." << endl;
for (int i = 0; i < bsequenceToPlay->size(); i++)
sequenceToPlay.push_back(bsequenceToPlay->get(i).asInt());
indexInSequence = 0;
}
tempPos=initPos;
state=up;
forward = false;
timeBeginIdle = Time::now();
Rand::init();
return true;
}
int main(int argc, char *argv[]){
Network yarp;
Port armPlan;
Port armPred;
BufferedPort<Vector> objAngles;
BufferedPort<Vector> armOut;
armPlan.open("/learnedReach/plan");
armPred.open("/learnedReach/pred");
objAngles.open("/learnedReach/loc:i");
armOut.open("/learnedReach/arm:o");
bool fwCvOn = 0;
fwCvOn = Network::connect("/learnedReach/plan","/fwdConv:i");
fwCvOn *= Network::connect("/fwdConv:o","/learnedReach/pred");
if (!fwCvOn){
printf("Please run command:\n ./fwdConv --input /fwdConv:i --output /fwdConv:o\n");
return -1;
}
Property params;
params.fromCommand(argc,argv);
if (!params.check("robot")){
fprintf(stderr, "Please specify robot name\n");
fprintf(stderr, "e.g. --robot icub\n");
return -1;
}
std::string robotName = params.find("robot").asString().c_str();
std::string remotePorts = "/";
remotePorts += robotName;
remotePorts += "/";
if (params.check("arm")){
remotePorts += params.find("arm").asString().c_str();
}
else{
remotePorts += "left";
}
remotePorts += "_arm";
std::string localPorts = "/learnedReach/cmd";
if(!params.check("map")){
fprintf(stderr, "Please specify learned visuomotor map file\n");
fprintf(stderr, "e.g. --map map.dat\n");
return -1;
}
string fName = params.find("map").asString().c_str();
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str());
options.put("remote", remotePorts.c_str());
PolyDriver robotDevice(options);
if (!robotDevice.isValid()){
printf("Device not available. Here are known devices: \n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return 1;
}
IPositionControl *pos;
IEncoders *enc;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(enc);
if (!ok){
printf("Problems acquiring interfaces\n");
return 0;
}
int nj = 0;
pos->getAxes(&nj);
Vector encoders;
Vector command;
Vector commandCart;
Vector tmp;
encoders.resize(nj);
tmp.resize(nj);
command.resize(nj);
commandCart.resize(3);
for (int i = 0; i < nj; i++) {
tmp[i] = 25.0;
}
pos->setRefAccelerations(tmp.data());
for (int i = 0; i < nj; i++) {
tmp[i] = 20.0;
pos->setRefSpeed(i, tmp[i]);
}
command = 0;
//set the arm joints to "middle" values
command[0] = -45;
command[1] = 45;
command[2] = 0;
command[3] = 45;
pos->positionMove(command.data());
bool done = false;
while (!done){
pos->checkMotionDone(&done);
Time::delay(0.1);
}
//not really yaw and pitch
int azMin = -80; int azMax = 0;
int elMin = -60; int elMax = 0;
int verMin = 0; int verMax = 20;
int Y; int P; int V;
int mmapSize; int usedJoints;
//read in first lines to get map dimensions
string line;
string buf;
ifstream mapFile(fName.c_str());
if(mapFile.is_open()){
getline(mapFile,line);
stringstream ss(line);
ss >> buf;
Y = atoi(buf.c_str());
ss >> buf;
P = atoi(buf.c_str());
ss >> buf;
V = atoi(buf.c_str());
ss.clear();
getline(mapFile,line);
ss.str(line);
ss >> buf;
mmapSize = atoi(buf.c_str());
ss >> buf;
usedJoints = atoi(buf.c_str());
}
virtual void run() {
while (isStopping() != true) {
/* poll the click ports containers to see if we have left/right ready to go */
bfL.lock(); bfR.lock();
if (bfL.size() == 2 && bfR.size() == 2) {
printf("got a hit!\n");
/* if they are, raise the flag that action is beginning, save current joint configuration */
Bottle susmsg;
susmsg.addInt(1);
susPort->write(susmsg);
//get the current joint configuration for the torso, head, and arm
tang.clear(); tang.resize(3);
tEnc->getEncoders(tang.data());
hang.clear(); hang.resize(6);
hEnc->getEncoders(hang.data());
aang.clear(); aang.resize(16);
aEnc->getEncoders(aang.data());
/* get the xyz location of the gaze point */
Vector bvL(2); Vector bvR(2);
bvL[0] = bfL.get(0).asDouble(); bvL[1] = bfL.get(1).asDouble();
bvR[0] = bfR.get(0).asDouble(); bvR[1] = bfR.get(1).asDouble();
objPos.clear(); objPos.resize(3);
gaze->triangulate3DPoint(bvL,bvR,objPos);
/* servo the head to gaze at that point */
//gaze->lookAtStereoPixels(bvL,bvR);
gaze->lookAtFixationPoint(objPos);
gaze->waitMotionDone(1.0,10.0);
gaze->stopControl();
printf("object position estimated as: %f, %f, %f\n", objPos[0], objPos[1], objPos[2]);
printf("is this ok?\n");
string posResp = Network::readString().c_str();
if (posResp == "yes" || posResp == "y") {
/* move to hover the hand over the XY position of the target: [X, Y, Z=0.2], with palm upright */
objPos[2] = 0.1;
Vector axa(4);
axa.zero();
if (armInUse) {
axa[2] = 1.0; axa[3] = M_PI;
} else {
axa[1] = 1.0; axa[3] = M_PI;
}
carm->goToPoseSync(objPos,axa);
carm->waitMotionDone(1.0,10.0);
Time::delay(2.0);
//curl fingers and thumb slightly to hold object
Vector armCur(16);
aEnc->getEncoders(armCur.data());
armCur[8] = 3; armCur[10] = 25;
armCur[11] = 25; armCur[12] = 25;
armCur[13] = 25; armCur[14] = 25;
armCur[15] = 55;
aPos->positionMove(armCur.data());
Time::delay(2.0);
/* wait for terminal signal from user that object has been moved to the hand */
bool validTarg = false;
printf("object position reached, place in hand and enter target xy position\n");
while (!validTarg) {
string objResp = Network::readString().c_str();
/* ask the user to enter in an XY target location, or confirm use of previous one */
Bottle btarPos(objResp.c_str());
if (btarPos.size() < 2) {
//if user enters no target position, try to use last entered position
if (targetPos.length() != 3) {
printf("no previous target position available, please re-enter:\n");
} else {
validTarg = true;
}
} else {
targetPos.clear(); targetPos.resize(3);
targetPos[0] = btarPos.get(0).asDouble();
targetPos[1] = btarPos.get(1).asDouble();
targetPos[2] = 0.1;
validTarg = true;
}
}
/* move the arm to above the target location */
axa.zero();
if (armInUse) {
axa[2] = 1.0; axa[3] = M_PI;
} else {
axa[1] = 1.0; axa[3] = M_PI;
}
carm->goToPoseSync(targetPos,axa);
//carm->goToPosition(targetPos);
carm->waitMotionDone(1.0,10.0);
Time::delay(2.0);
/* wait for user signal that the object has been removed */
printf("object has been moved to target location. please remove object and hit enter\n");
string tarResp = Network::readString().c_str();
}
/* return to saved motor configuration, clear click buffers, lower flag signaling action done */
printf("gaze done, attempting reset\n");
tPos->positionMove(tang.data());
hPos->positionMove(hang.data());
aPos->positionMove(aang.data());
bfL.clear(); bfR.clear();
bfL.unlock(); bfR.unlock();
susmsg.clear();
susmsg.addInt(0);
susPort->write(susmsg);
}
else {
bfL.unlock(); bfR.unlock();
}
}
}
virtual bool threadInit() {
/* Read in parameters from resource finder */
loadParams();
/* Start up gaze control client interface */
Property option("(device gazecontrollerclient)");
option.put("remote","/iKinGazeCtrl");
option.put("local","/client/gaze");
clientGazeCtrl.open(option);
gaze=NULL;
if (clientGazeCtrl.isValid()) {
clientGazeCtrl.view(gaze);
} else {
printf("could not initialize gaze control interface, failing...\n");
return false;
}
//set gaze control interface params
gaze->setNeckTrajTime(neckTT);
gaze->setEyesTrajTime(eyeTT);
gaze->bindNeckPitch(-30,30);
gaze->bindNeckYaw(-25,25);
gaze->bindNeckRoll(-10,10);
/* Start up arm cartesian control client interface */
Property optiona("(device cartesiancontrollerclient)");
if (armInUse) {
string tmpcrname = "/" + robotname + "/cartesianController/right_arm";
optiona.put("remote",tmpcrname.c_str());
optiona.put("local","/cartesian_client/right_arm");
}
else {
string tmpcrname = "/" + robotname + "/cartesianController/left_arm";
optiona.put("remote",tmpcrname.c_str());
optiona.put("local","/cartesian_client/left_arm");
}
clientArmCart.open(optiona);
carm = NULL;
if (clientArmCart.isValid())
{
clientArmCart.view(carm);
} else {
printf("could not initialize arm cartesian control interface, failing...\n");
return false;
}
// set trajectory time
carm->setTrajTime(trajTime); //slow for safety
// get the torso dofs
Vector newDof, curDof;
carm->getDOF(curDof);
newDof=curDof;
//enable torso pitch and yaw, also wrist movements
newDof[0]=1;
newDof[1]=0;
newDof[2]=1;
newDof[7]=1;
newDof[8]=1;
newDof[9]=1;
// impose some restriction on the torso pitch
double tpmin, tpmax;
carm->getLimits(0,&tpmin,&tpmax);
carm->setLimits(0,tpmin,maxPitch);
// send the request for dofs reconfiguration
carm->setDOF(newDof,curDof);
string lname, rname;
Property doption;
doption.put("device", "remote_controlboard");
lname = "/"+name+"/torso"; rname = "/"+robotname+"/torso";
doption.put("local", lname.c_str());
doption.put("remote", rname.c_str());
robotTorso.open(doption);
if (!robotTorso.isValid()) {
printf("could not initialize torso control interface, failing...\n");
return false;
}
robotTorso.view(tPos); robotTorso.view(tEnc);
lname = "/"+name+"/head"; rname = "/"+robotname+"/head";
doption.put("local", lname.c_str());
doption.put("remote", rname.c_str());
robotHead.open(doption);
if (!robotHead.isValid()) {
printf("could not initialize head control interface, failing...\n");
return false;
}
robotHead.view(hPos); robotHead.view(hEnc);
lname = "/"+name+"/"+armname+"_arm"; rname = "/"+robotname+"/"+armname+"_arm";
doption.put("local", lname.c_str());
doption.put("remote", rname.c_str());
robotArm.open(doption);
if (!robotArm.isValid()) {
printf("could not initialize arm control interface, failing...\n");
return false;
}
robotArm.view(aPos); robotArm.view(aEnc);
for (int i=0; i<7; i++) {
aPos->setRefSpeed(i, 10.0);
}
/* Create and open ports */
cportL=new ClickPort(bfL);
string cplName="/"+name+"/clk:l";
cportL->open(cplName.c_str());
cportL->useCallback();
cportR=new ClickPort(bfR);
string cprName="/"+name+"/clk:r";
cportR->open(cprName.c_str());
cportR->useCallback();
susPort=new Port;
string suspName="/"+name+"/sus:o";
susPort->open(suspName.c_str());
return true;
}
void _send(const ActionItem *x)
{
if (!connected)
{
cerr<<"Error: not connected to control board skipping"<<endl;
return;
}
int size=x->getCmd().size();
int offset=x->getOffset();
double time=x->getTime();
int nJoints=0;
enc->getAxes(&nJoints);
if ((offset+size)>nJoints)
{
cerr<<"Error: detected possible overflow, skipping"<<endl;
cerr<<"For debug --> joints: "<<nJoints<< " off: "<<offset<<" cmd length: "<<size<<endl;
return;
}
Vector disp(size);
if (time==0)
{
return;
}
for (size_t i=0; i<disp.length(); i++)
{
double q;
if (!enc->getEncoder(offset+i,&q))
{
cerr<<"Error: encoders timed out, cannot rely on encoder feedback, aborted"<<endl;
return;
}
disp[i]=x->getCmd()[i]-q;
if (disp[i]<0.0)
disp[i]=-disp[i];
}
// don't blend together the two "for"
// since we have to enforce the modes on the whole
// prior to commanding the joints
std::vector<int> joints;
std::vector<int> modes;
std::vector<double> speeds;
std::vector<double> positions;
for (size_t i=0; i<disp.length(); i++)
{
joints.push_back(offset+i);
speeds.push_back(disp[i]/time);
modes.push_back(VOCAB_CM_POSITION);
positions.push_back(x->getCmd()[i]);
}
mode->setControlModes(disp.length(), joints.data(), modes.data());
yarp::os::Time::delay(0.01); // give time to update control modes value
mode->getControlModes(disp.length(), joints.data(), modes.data());
for (size_t i=0; i<disp.length(); i++)
{
if(modes[i] != VOCAB_CM_POSITION)
{
yError() << "Joint " << i << " not in position mode";
}
}
pos->setRefSpeeds(disp.length(), joints.data(), speeds.data());
pos->positionMove(disp.length(), joints.data(), positions.data());
cout << "Script port: " << x->getCmd().toString() << endl;
}
int main(int argc, char **argv)
{
Network yarp;
printf("Going to stress rpc connections to the robot\n");
printf("Run as --id unique-id\n");
printf("Optionally:\n");
printf("--part robot-part\n");
printf("--prot protocol\n");
printf("--time dt (seconds)\n");
printf("--robot name \n");
Property parameters;
parameters.fromCommand(argc, argv);
ConstString part=parameters.find("part").asString();
int id=parameters.find("id").asInt();
double time=0;
if (parameters.check("time"))
{
time=parameters.find("time").asDouble();
}
else
time=-1;
ConstString protocol;
if (parameters.check("prot"))
{
protocol=parameters.find("prot").asString();
}
else
protocol="tcp";
ConstString rname;
if (parameters.check("robot"))
{
rname=parameters.find("robot").asString();
}
else
rname="controlboard";
PolyDriver dd;
Property p;
Random::seed((unsigned int)Time::now());
string remote=string("/")+rname.c_str();
if (part!="")
{
remote+=string("/");
remote+=part;
}
string local=string("/")+string(rname.c_str());
if (part!="")
{
local+=string("/");
local+=part;
}
local+=string("/stress");
stringstream lStream;
lStream << id;
local += lStream.str();
p.put("device", "remote_controlboard");
p.put("local", local.c_str());
p.put("remote", remote.c_str());
p.put("carrier", protocol.c_str());
dd.open(p);
if (!dd.isValid())
{
fprintf(stderr, "Error, could not open controlboard\n");
return -1;
}
IEncoders *ienc;
IPositionControl *ipos;
IAmplifierControl *iamp;
IPidControl *ipid;
IControlLimits *ilim;
IControlCalibration2 *ical;
dd.view(ienc);
dd.view(ipos);
dd.view(iamp);
dd.view(ipid);
dd.view(ilim);
dd.view(ical);
int c=100;
int nj;
Vector encoders;
ienc->getAxes(&nj);
encoders.resize(nj);
int count=0;
bool done=false;
double startT=Time::now();
double now=0;
while((!done) || (time==-1))
{
count++;
double v;
int jj=0;
for(jj=0; jj<nj; jj++)
{
// ienc->getEncoder(jj, encoders.data()+jj);
// iamp->enableAmp(jj);
// ilim->setLimits(jj, 0, 0);
// double max;
// double min;
// ilim->getLimits(jj, &min, &max);
fprintf(stderr, ".");
// Pid pid;
// ipid->getPid(jj, &pid);
bool done;
ipos->checkMotionDone(jj, &done);
fprintf(stderr, "#\n");
}
fprintf(stderr, "%u\n", count);
Time::delay(0.1);
now=Time::now();
if ((now-startT)>time)
done=true;
}
printf("bye bye from %d\n", id);
return 0;
}
bool partMover::entry_update(partMover *currentPart)
{
GdkColor color_black;
GdkColor color_grey;
GdkColor color_yellow;
GdkColor color_green;
GdkColor color_green_blue;
GdkColor color_dark_green;
GdkColor color_red;
GdkColor color_fault_red;
GdkColor color_pink;
GdkColor color_indaco;
GdkColor color_white;
GdkColor color_blue;
color_pink.red=219*255;
color_pink.green=166*255;
color_pink.blue=171*255;
color_fault_red.red=255*255;
color_fault_red.green=10*255;
color_fault_red.blue=10*255;
color_black.red=10*255;
color_black.green=10*255;
color_black.blue=10*255;
color_red.red=255*255;
color_red.green=100*255;
color_red.blue=100*255;
color_grey.red=220*255;
color_grey.green=220*255;
color_grey.blue=220*255;
color_white.red=250*255;
color_white.green=250*255;
color_white.blue=250*255;
color_green.red=149*255;
color_green.green=221*255;
color_green.blue=186*255;
color_dark_green.red=(149-30)*255;
color_dark_green.green=(221-30)*255;
color_dark_green.blue=(186-30)*255;
color_blue.red=150*255;
color_blue.green=190*255;
color_blue.blue=255*255;
color_green_blue.red=(149+150)/2*255;
color_green_blue.green=(221+190)/2*255;
color_green_blue.blue=(186+255)/2*255;
color_indaco.red=220*255;
color_indaco.green=190*255;
color_indaco.blue=220*255;
color_yellow.red=249*255;
color_yellow.green=236*255;
color_yellow.blue=141*255;
GdkColor* pColor= &color_grey;
static int slowSwitcher = 0;
IControlMode *ictrl = currentPart->ctrlmode2;
IInteractionMode *iint = currentPart->iinteract;
IPositionControl *ipos = currentPart->pos;
IVelocityControl *ivel = currentPart->iVel;
IPositionDirect *iDir = currentPart->iDir;
IEncoders *iiencs = currentPart->iencs;
ITorqueControl *itrq = currentPart->trq;
IAmplifierControl *iamp = currentPart->amp;
GtkEntry * *pos_entry = (GtkEntry **) currentPart->currPosArray;
GtkEntry **trq_entry = (GtkEntry **) currentPart->currTrqArray;
GtkEntry **speed_entry = (GtkEntry **) currentPart->currSpeedArray;
GtkEntry **inEntry = (GtkEntry **) currentPart->inPosArray;
GtkWidget **colorback = (GtkWidget **) currentPart->frameColorBack;
GtkWidget **sliderAry = currentPart->sliderArray;
bool *POS_UPDATE = currentPart->CURRENT_POS_UPDATE;
char buffer[40] = {'i', 'n', 'i', 't'};
char frame_title [255];
double positions[MAX_NUMBER_OF_JOINTS];
double torques[MAX_NUMBER_OF_JOINTS];
double speeds[MAX_NUMBER_OF_JOINTS];
double max_torques[MAX_NUMBER_OF_JOINTS];
double min_torques[MAX_NUMBER_OF_JOINTS];
static int controlModes[MAX_NUMBER_OF_JOINTS];
static int controlModesOld[MAX_NUMBER_OF_JOINTS];
static yarp::dev::InteractionModeEnum interactionModes[MAX_NUMBER_OF_JOINTS];
static yarp::dev::InteractionModeEnum interactionModesOld[MAX_NUMBER_OF_JOINTS];
int k;
int NUMBER_OF_JOINTS=0;
bool done = false;
bool ret = false;
ipos->getAxes(&NUMBER_OF_JOINTS);
if (NUMBER_OF_JOINTS == 0)
{
fprintf(stderr,"Lost connection with iCubInterface. You should save and restart.\n" );
Time::delay(0.1);
pColor=&color_grey;
strcpy(frame_title,"DISCONNECTED");
for (k = 0; k < MAX_NUMBER_OF_JOINTS; k++)
{
if (currentPart->framesArray[k]!=0)
{
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
}
}
return true;
}
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
max_torques[k]=0;
min_torques[k]=0;
torques[k]=0;
}
if (!iiencs->getEncoders(positions))
return true;
itrq->getTorques(torques);
iiencs->getEncoderSpeeds(speeds);
//update all joints positions
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
sprintf(buffer, "%.1f", positions[k]);
gtk_entry_set_text((GtkEntry*) pos_entry[k], buffer);
sprintf(buffer, "%.3f", torques[k]);
gtk_entry_set_text((GtkEntry*) trq_entry[k], buffer);
sprintf(buffer, "%.1f", speeds[k]);
gtk_entry_set_text((GtkEntry*) speed_entry[k], buffer);
}
//update all joint sliders
for (k = 0; k < NUMBER_OF_JOINTS; k++)
if(POS_UPDATE[k])
gtk_range_set_value((GtkRange*)sliderAry[k], positions[k]);
// *** update the checkMotionDone box section ***
// (only one at a time in order to save badwidth)
k = slowSwitcher%NUMBER_OF_JOINTS;
slowSwitcher++;
#if DEBUG_GUI
gtk_entry_set_text((GtkEntry*) inEntry[k], "off");
#else
ipos->checkMotionDone(k, &done);
if (!done)
gtk_entry_set_text((GtkEntry*) inEntry[k], " ");
else
gtk_entry_set_text((GtkEntry*) inEntry[k], "@");
#endif
// *** update the controlMode section ***
// the new icubinterface does not increase the bandwidth consumption
// ret = true; useless guys!
ret=ictrl->getControlModes(controlModes);
if (ret==false) fprintf(stderr,"ictrl->getControlMode failed\n" );
ret=iint->getInteractionModes(interactionModes);
if (ret==false) fprintf(stderr,"iint->getInteractionlMode failed\n" );
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
if (currentPart->first_time==false && controlModes[k] == controlModesOld[k]) continue;
controlModesOld[k]=controlModes[k];
sprintf(frame_title,"Joint %d ",k );
switch (controlModes[k])
{
case VOCAB_CM_IDLE:
pColor=&color_yellow;
strcat(frame_title," (IDLE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_POSITION:
pColor=&color_green;
strcat(frame_title," (POSITION)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Position:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Velocity:");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_POSITION_DIRECT:
pColor=&color_dark_green;
strcat(frame_title," (POSITION_DIRECT)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Position:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"---");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_MIXED:
pColor=&color_green_blue;
strcat(frame_title," (MIXED_MODE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Position:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Velocity");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_VELOCITY:
pColor=&color_blue;
strcat(frame_title," (VELOCITY)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_TORQUE:
pColor=&color_pink;
strcat(frame_title," (TORQUE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Torque:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Torque2:");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_IMPEDANCE_POS:
pColor=&color_indaco;
strcat(frame_title," (IMPEDANCE POS)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_IMPEDANCE_VEL:
pColor=&color_indaco;
strcat(frame_title," (IMPEDANCE VEL)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_OPENLOOP:
pColor=&color_white;
strcat(frame_title," (OPENLOOP)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_HW_FAULT:
pColor=&color_fault_red;
strcat(frame_title," (HARDWARE_FAULT)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"---");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"---");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_CALIBRATING:
pColor=&color_grey;
strcat(frame_title," (CALIBRATING)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_CALIB_DONE:
pColor=&color_grey;
strcat(frame_title," (CALIB DONE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_NOT_CONFIGURED:
pColor=&color_grey;
strcat(frame_title," (NOT CONFIGURED)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_CONFIGURED:
pColor=&color_grey;
strcat(frame_title," (CONFIGURED)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
default:
case VOCAB_CM_UNKNOWN:
pColor=&color_grey;
strcat(frame_title," (UNKNOWN)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
}
}
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
if (currentPart->first_time==false && interactionModes[k] == interactionModesOld[k]) continue;
interactionModesOld[k]=interactionModes[k];
switch (interactionModes[k])
{
case VOCAB_IM_STIFF:
gtk_widget_modify_base ((GtkWidget*)inEntry[k], GTK_STATE_NORMAL, &color_green);
break;
case VOCAB_IM_COMPLIANT:
gtk_widget_modify_base ((GtkWidget*)inEntry[k], GTK_STATE_NORMAL, &color_fault_red);
break;
default:
case VOCAB_CM_UNKNOWN:
gtk_widget_modify_base ((GtkWidget*)inEntry[k], GTK_STATE_NORMAL, &color_white);
break;
}
}
currentPart->first_time =false;
return true;
}
int main(int argc, char *argv[])
{
// just list the devices if no argument given
if (argc <= 2) {
printf("You can call %s like this:\n", argv[0]);
printf(" %s --robot ROBOTNAME --OPTION VALUE ...\n", argv[0]);
printf("For example:\n");
printf(" %s --robot icub --local /talkto/james --remote /controlboard/rpc\n", argv[0]);
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
// get command line options
Property options;
options.fromCommand(argc, argv);
if (!options.check("robot") || !options.check("part")) {
printf("Missing either --robot or --part options\n");
return 0;
}
Network::init();
Time::turboBoost();
std::string name;
Value& v = options.find("robot");
Value& part = options.find("part");
Value *val;
if (!options.check("device", val)) {
options.put("device", "remote_controlboard");
}
if (!options.check("local", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str())+"/simpleclient";
//sprintf(&name[0], "/%s/%s/client", v.asString().c_str(), part.asString().c_str());
options.put("local", name.c_str());
}
if (!options.check("remote", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str());
//sprintf(&name[0], "/%s/%s", v.asString().c_str(), part.asString().c_str());
options.put("remote", name.c_str());
}
fprintf(stderr, "%s", options.toString().c_str());
// create a device
PolyDriver dd(options);
if (!dd.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return 1;
}
IPositionControl *pos;
IPositionDirect *posDir;
IVelocityControl *vel;
IEncoders *enc;
IPidControl *pid;
IAmplifierControl *amp;
IControlLimits *lim;
// IControlMode *icm;
IControlMode2 *iMode2;
ITorqueControl *itorque;
IOpenLoopControl *iopenloop;
IImpedanceControl *iimp;
IInteractionMode *iInteract;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(enc);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(lim);
// ok &= dd.view(icm);
ok &= dd.view(itorque);
ok &= dd.view(iopenloop);
ok &= dd.view(iimp);
ok &= dd.view(posDir);
ok &= dd.view(iMode2);
ok &= dd.view(iInteract);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 1;
}
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
double *tmp = new double[jnts];
printf("Device active...\n");
while (dd.isValid()) {
std::string s;
s.resize(1024);
printf("-> ");
char c = 0;
int i = 0;
while (c != '\n') {
c = (char)fgetc(stdin);
s[i++] = c;
}
s[i-1] = s[i] = 0;
Bottle p;
Bottle response;
bool ok=false;
bool rec=false;
p.fromString(s.c_str());
printf("Bottle: %s\n", p.toString().c_str());
switch(p.get(0).asVocab()) {
case VOCAB_HELP:
printf("\n\n");
printf("Available commands:\n");
printf("-------------------\n\n");
printf("IOpenLoop:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IOPENLOOP).c_str());
printf(" [set] [%s] <int> <float>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s]\n\n",
Vocab::decode(VOCAB_OUTPUTS).c_str());
printf("IControlMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_ICONTROLMODE).c_str());
printf(" [set] [%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s][%s]|[%s]\n",
Vocab::decode(VOCAB_CM_POSITION).c_str(),
Vocab::decode(VOCAB_CM_POSITION_DIRECT).c_str(),
Vocab::decode(VOCAB_CM_VELOCITY).c_str(),
Vocab::decode(VOCAB_CM_MIXED).c_str(),
Vocab::decode(VOCAB_CM_TORQUE).c_str(),
Vocab::decode(VOCAB_CM_OPENLOOP).c_str(),
Vocab::decode(VOCAB_CM_IDLE).c_str(),
Vocab::decode(VOCAB_CM_FORCE_IDLE).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_POS).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_VEL).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_CM_CONTROL_MODE).c_str());
printf("ITorqueControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_TORQUE).c_str());
printf(" [get] [%s] <int> to read the measured torque for a single axis\n", Vocab::decode(VOCAB_TRQ).c_str());
printf(" [get] [%s] to read the measured torque for all axes\n", Vocab::decode(VOCAB_TRQS).c_str());
printf(" [set] [%s] <int> <float> to set the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [set] [%s] <float list> to set the reference torque for all axes\n", Vocab::decode(VOCAB_REFS).c_str());
printf(" [get] [%s] <int> to read the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [get] [%s] to read the reference torque for all axes\n\n", Vocab::decode(VOCAB_REFS).c_str());
printf("IImpedanceControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IMPEDANCE).c_str());
printf(" [set] [%s] <int> <float> <float> \n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [set] [%s] <int> <float>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf("IInteractionMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_INTERFACE_INTERACTION_MODE).c_str());
printf(" [set] [%s]|[%s] <int>\n",
Vocab::decode(VOCAB_IM_STIFF).c_str(),
Vocab::decode(VOCAB_IM_COMPLIANT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_INTERACTION_MODE).c_str());
printf(" [get] [%s] \n\n",
Vocab::decode(VOCAB_INTERACTION_MODES).c_str());
printf("Standard Interfaces:\n");
printf("type [get] and one of the following:\n");
printf(" [%s] to read the number of controlled axes\n", Vocab::decode(VOCAB_AXES).c_str());
printf(" [%s] to read the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf(" [%s] to read the PID values for all axes\n", Vocab::decode(VOCAB_PIDS).c_str());
printf(" [%s] <int> to read the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> to read the limit values for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] to read the PID error for all axes\n", Vocab::decode(VOCAB_ERRS).c_str());
printf(" [%s] to read the PID output for all axes\n", Vocab::decode(VOCAB_OUTPUTS).c_str());
printf(" [%s] to read the reference position for all axes\n", Vocab::decode(VOCAB_REFERENCES).c_str());
printf(" [%s] <int> to read the reference position for a single axis\n", Vocab::decode(VOCAB_REFERENCE).c_str());
printf(" [%s] to read the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <int> to read the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] to read the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to read the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] to read the current consumption for all axes\n", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
printf("\n");
printf("type [set] and one of the following:\n");
printf(" [%s] <int> <double> to move a single axis\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str());
printf(" [%s] <int> <double> to accelerate a single axis to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str());
printf(" [%s] <int> <double> to set the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] <int> <double> to set the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] <list> to move multiple axes\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
printf(" [%s] <list> to accelerate multiple axes to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
printf(" [%s] <list> to set the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <list> to set the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to stop a single axis\n", Vocab::decode(VOCAB_STOP).c_str());
printf(" [%s] <int> to stop all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
printf(" [%s] <int> <list> to set the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> <list> to set the limits for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] <int> to disable the PID control for a single axis\n", Vocab::decode(VOCAB_DISABLE).c_str());
printf(" [%s] <int> to enable the PID control for a single axis\n", Vocab::decode(VOCAB_ENABLE).c_str());
printf(" [%s] <int> <double> to set the encoder value for a single axis\n", Vocab::decode(VOCAB_ENCODER).c_str());
printf(" [%s] <list> to set the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("\n");
printf("NOTES: - A list is a sequence of numbers in parenthesis, e.g. (10 2 1 10)\n");
printf(" - Pids are expressed as a list of 7 numbers, type get pid <int> to see an example\n");
printf("\n");
break;
case VOCAB_QUIT:
goto ApplicationCleanQuit;
break;
case VOCAB_ICONTROLMODE:
{
handleControlModeMsg(iMode2, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_IMPEDANCE:
{
handleImpedanceMsg(iimp, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_TORQUE:
{
handleTorqueMsg(itorque, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_INTERFACE_INTERACTION_MODE:
{
handleInteractionModeMsg(iInteract, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_GET:
switch(p.get(1).asVocab()) {
case VOCAB_AXES: {
int nj = 0;
enc->getAxes(&nj);
printf ("%s: %d\n", Vocab::decode(VOCAB_AXES).c_str(), nj);
}
break;
case VOCAB_ENCODERS: {
enc->getEncoders(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ENCODERS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
pid->getPid(j, &pd);
printf("%s: ", Vocab::decode(VOCAB_PID).c_str());
printf("kp %.2f ", pd.kp);
printf("kd %.2f ", pd.kd);
printf("ki %.2f ", pd.ki);
printf("maxi %.2f ", pd.max_int);
printf("maxo %.2f ", pd.max_output);
printf("off %.2f ", pd.offset);
printf("scale %.2f ", pd.scale);
printf("\n");
}
break;
case VOCAB_PIDS: {
Pid *p = new Pid[jnts];
ok = pid->getPids(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < jnts; i++)
{
Bottle& c = b.addList();
c.addDouble(p[i].kp);
c.addDouble(p[i].kd);
c.addDouble(p[i].ki);
c.addDouble(p[i].max_int);
c.addDouble(p[i].max_output);
c.addDouble(p[i].offset);
c.addDouble(p[i].scale);
}
printf("%s\n", b.toString().c_str());
delete[] p;
}
break;
case VOCAB_LIMITS: {
double min, max;
int j = p.get(2).asInt();
lim->getLimits(j, &min, &max);
printf("%s: ", Vocab::decode(VOCAB_LIMITS).c_str());
printf("limits: (%.2f %.2f)\n", min, max);
}
break;
case VOCAB_ERRS: {
pid->getErrors(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ERRS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUTS: {
iopenloop->getOutputs(tmp);
printf ("%s: (", Vocab::decode(VOCAB_OUTPUTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUT: {
int j = p.get(2).asInt();
double v;
iopenloop->getOutput(j, &v);
printf("%s: ", Vocab::decode(VOCAB_OUTPUT).c_str());
printf("%.2f ", v);
printf("\n");
}
break;
case VOCAB_REFERENCE: {
double ref_pos;
int j = p.get(2).asInt();
pid->getReference(j,&ref_pos);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCE).c_str());
printf ("%.2f ", ref_pos);
printf (")\n");
}
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEED: {
double ref_speed;
int j = p.get(2).asInt();
pos->getRefSpeed(j,&ref_speed);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf ("%.2f ", ref_speed);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATION: {
double ref_acc;
int j = p.get(2).asInt();
pos->getRefAcceleration(j,&ref_acc);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf ("%.2f ", ref_acc);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str(), j);
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
Bottle *l = p.get(3).asList();
if (l==0)
{
printf("Check you specify a 7 elements list, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
else
{
int elems=l->size();
if (elems>=3)
{
pd.kp = l->get(0).asDouble();
pd.kd = l->get(1).asDouble();
pd.ki = l->get(2).asDouble();
if (elems>=7)
{
pd.max_int = l->get(3).asDouble();
pd.max_output = l->get(4).asDouble();
pd.offset = l->get(5).asDouble();
pd.scale = l->get(6).asDouble();
}
printf("%s: setting PID values for axis %d\n", Vocab::decode(VOCAB_PID).c_str(), j);
pid->setPid(j, pd);
}
else
{
printf("Error, check you specify at least 7 elements, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
}
}
break;
case VOCAB_DISABLE: {
int j = p.get(2).asInt();
printf("%s: disabling control for axis %d\n", Vocab::decode(VOCAB_DISABLE).c_str(), j);
pid->disablePid(j);
amp->disableAmp(j);
}
break;
case VOCAB_ENABLE: {
int j = p.get(2).asInt();
printf("%s: enabling control for axis %d\n", Vocab::decode(VOCAB_ENABLE).c_str(), j);
amp->enableAmp(j);
pid->enablePid(j);
}
break;
case VOCAB_LIMITS: {
int j = p.get(2).asInt();
printf("%s: setting limits for axis %d\n", Vocab::decode(VOCAB_LIMITS).c_str(), j);
Bottle *l = p.get(3).asList();
lim->setLimits(j, l->get(0).asDouble(), l->get(1).asDouble());
}
break;
case VOCAB_OUTPUT: {
int j=p.get(2).asInt();
double v=p.get(3).asDouble();
iopenloop->setRefOutput(j,v);
printf("%s: setting output for axis %d to %f\n", Vocab::decode(VOCAB_OUTPUT).c_str(), j, v);
}
break;
}
break;
} /* switch get(0) */
} /* while () */
ApplicationCleanQuit:
dd.close();
delete[] tmp;
Network::fini();
return 0;
}
void partMover::calib_click(GtkButton *button, gtkClassData* currentClassData)
{
//ask for confirmation
if (!dialog_question("Do you really want to recalibrate the joint?"))
{
return;
}
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
IControlCalibration2 *ical = currentPart->cal;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
ResourceFinder *fnd = currentPart->finder;
//fprintf(stderr, "opening file \n");
char buffer1[800];
char buffer2[800];
strcpy(buffer1, currentPart->partLabel);
strcpy(buffer2, strcat(buffer1, "_calib"));
if (!fnd->findGroup(buffer2).isNull())
{
bool ok = true;
Bottle xtmp;
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("CalibrationType");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
unsigned char type = (unsigned char) xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%d ", type);
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("Calibration1");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double param1 = xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%f ", param1);
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("Calibration2");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double param2 = xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%f ", param2);
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("Calibration3");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double param3 = xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%f \n", param3);
if(!ok)
dialog_message(GTK_MESSAGE_ERROR,(char *)"Check number of calib entries in the group", buffer2, true);
else
ical->calibrate2(*joint, type, param1, param2, param3);
}
else
dialog_message(GTK_MESSAGE_ERROR,(char *)"The supplied file does not conatain a group named:", buffer2, true);
return;
}
virtual bool threadInit(){
if(!handleParams()){
return false;
}
armPlan = new Port;
armPred = new Port;
armLocJ = new BufferedPort<Vector>;
headLoc = new BufferedPort<Vector>;
armPlan->open("/babbleTrack/plan:o");
armPred->open("/babbleTrack/pred:i");
armLocJ->open("/babbleTrack/arm:o");
headLoc->open("/babbleTrack/head:o");
gsl_rng_env_setup();
T = gsl_rng_default;
r = gsl_rng_alloc(T);
igaze = NULL;
Property options;
options.put("device","gazecontrollerclient");
options.put("remote","/iKinGazeCtrl");
options.put("local","/client/gaze");
clientGazeCtrl = new PolyDriver;
clientGazeCtrl->open(options);
options.clear();
string localPorts = "/babbleTrack/cmd";
string remotePorts = "/" + robotName + "/" + arm + "_arm";
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str());
options.put("remote", remotePorts.c_str());
robotDevice = new PolyDriver;
robotDevice->open(options);
if(clientGazeCtrl->isValid()){
clientGazeCtrl->view(igaze);
}
else{
return false;
}
if (!robotDevice->isValid()){
printf("Device not available. Here are known devices: \n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return false;
}
bool ok;
ok = robotDevice->view(pos);
ok = ok && robotDevice->view(enc);
if (!ok){
printf("Problems acquiring interfaces\n");
return false;
}
pos->getAxes(&nj);
command = new Vector;
tmp = new Vector;
command->resize(nj);
tmp->resize(nj);
for (int i = 0; i < nj; i++) {
(*tmp)[i] = 25.0;
}
pos->setRefAccelerations(tmp->data());
for (int i = 0; i < nj; i++) {
(*tmp)[i] = 20.0;
pos->setRefSpeed(i, (*tmp)[i]);
}
*command = 0;
//set the arm joints to "middle" values
(*command)[0] = -45;
(*command)[1] = 45;
(*command)[2] = 0;
(*command)[3] = 45;
//flex hand
(*command)[4] = 60;
(*command)[7] = 20;
(*command)[10] = 15;
(*command)[11] = 15;
(*command)[12] = 15;
(*command)[13] = 15;
(*command)[14] = 15;
(*command)[15] = 15;
pos->positionMove(command->data());
bool done = false;
while (!done){
pos->checkMotionDone(&done);
Time::delay(0.1);
}
bool fwCvOn = 0;
fwCvOn = Network::connect("/babbleTrack/plan:o","/fwdConv:i");
fwCvOn *= Network::connect("/fwdConv:o","/babbleTrack/pred:i");
if (!fwCvOn){
printf("Please run command:\n ./fwdConv --input /fwdConv:i --output /fwdConv:o\n");
return false;
}
return true;
}
