C++ (Cpp) handlePlay Examples

Example #1

File: motionplayer.cpp Project: NimbRo-Copter/nimbro-op-ros

bool MotionPlayer::init(robotcontrol::RobotModel* model)
{
	if (! robotcontrol::MotionModule::init(model))
		return false;


	fs::path p((ros::package::getPath("launch") + "/motions"));
	if (! loadMotionFiles(p))
		return false;

	m_model = model;

	m_state_prone   = m_model->registerState("prone");
	m_state_supine  = m_model->registerState("supine");
	m_state_init    = m_model->registerState("init");
	m_state_relaxed = m_model->registerState("relaxed");

	initMotions();
	m_cmdPositions.resize(model->numJoints());
	m_cmdEffort.resize(model->numJoints());

	/*
	 * 	Change the initial Pose of the Robot from standing (zero-positions) to
	 * 	a sitting pose
	 */

	motion_player::PlayMotion initPose;
	initPose.request.name = "INIT_POSE";
	handlePlay(initPose.request, initPose.response);

	return true;
}

Example #2

File: MprFromStream.cpp Project: ciuc/sipxecs

// Handle messages for this resource.
UtlBoolean MprFromStream::handleMessage(MpFlowGraphMsg& rMsg)
{
   UtlBoolean bHandled = FALSE ;

   switch (rMsg.getMsg())
   {
      case SOURCE_RENDER:
         bHandled = handleRender((MpStreamFeeder*) rMsg.getPtr1()) ;
         break ;
      case SOURCE_PLAY:
         bHandled = handlePlay((MpStreamFeeder*) rMsg.getPtr1()) ;
         break ;
      case SOURCE_REWIND:
         bHandled = handleRewind((MpStreamFeeder*) rMsg.getPtr1()) ;
         break ;
      case SOURCE_PAUSE:
         bHandled = handlePause((MpStreamFeeder*) rMsg.getPtr1()) ;
         break ;
      case SOURCE_STOP:
         bHandled = handleStop((MpStreamFeeder*) rMsg.getPtr1()) ;
         break ;
      case SOURCE_DESTROY:
         bHandled = handleDestroy((MpStreamFeeder*) rMsg.getPtr1()) ;
         break ;
      default:
         bHandled = MpResource::handleMessage(rMsg);
         break;
   }
   return bHandled ;
}

Example #3

File: motionplayer.cpp Project: NimbRo-Copter/nimbro-op-ros

bool MotionPlayer::isTriggered()
{
	if (isPlaying)
		return true;

	if (model()->state() == m_state_relaxed && m_isInitialized)
	{
		m_isInitialized = false;

		motion_player::PlayMotion init_pose;
		init_pose.request.name = "INIT_POSE";

		handlePlay(init_pose.request, init_pose.response);
	}

	if(model()->state() == m_state_init && ! m_isInitialized)
	{
		m_isInitialized = true;
		std::string initMotionName = "INIT";
		motion_player::PlayMotion initMotion;
		initMotion.request.name = initMotionName;
		handlePlay(initMotion.request, initMotion.response);
	}

	if (model()->state() == m_state_prone || model()->state() == m_state_supine)
	{

		m_isInitialized = false;
		robotcontrol::FadeTorqueGoal goal;
		goal.torque = 1.0;
		m_torqueAct.cancelAllGoals();
		m_torqueAct.sendGoal(goal);

		motion_player::PlayMotion getUp;
		if (model()->state() == m_state_prone)
			getUp.request.name = "PRONE_GETUP";
		else
			getUp.request.name = "SUPINE_GETUP";

		handlePlay(getUp.request, getUp.response);
	}


	return false;
}