int main(int argc, char *argv[])
{
YARP_REGISTER_DEVICES(icubmod)
Network::init();
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("controlBoardDumper");
rf.setDefaultConfigFile("controlBoardDumper.ini");
rf.setDefault("part", "head");
rf.setDefault("robot", "icub");
rf.configure(argc, argv);
Property p;
DumpModule mod;
p.fromString(rf.toString());
if (!p.check("rate"))
p.put("rate", 500);
if (!p.check("joints"))
{
Value v;
v.fromString("(0 1)");
p.put("joints", v);
}
if (!p.check("dataToDump"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors getPidReferences)");
p.put("dataToDump", v);
}
fprintf(stderr, "Current configuration is: %s\n", p.toString().c_str());
if (mod.open(p))
return mod.runModule();
else
return 0;
Network::fini();
}
int main(int argc, char *argv[])
{
Network::init();
ResourceFinder rf;
rf.setVerbose(false);
rf.setDefaultContext("controlBoardDumper");
rf.setDefaultConfigFile("controlBoardDumper.ini");
rf.setDefault("part", "head");
rf.setDefault("robot", "icub");
rf.configure(argc, argv);
Property p;
DumpModule mod;
p.fromString(rf.toString());
if (!p.check("rate"))
{
p.put("rate", 500);
}
if (!p.check("joints"))
{
Value v;
v.fromString("(0)");
p.put("joints", v);
}
if (!p.check("dataToDump"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors)");
p.put("dataToDump", v);
}
if (p.check("dataToDumpAll"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors getPosPidReferences getTrqPidReferences getMotorEncoders getMotorEncoderSpeeds getMotorEncoderAccelerations getControlModes getInteractionModes getTemperatures)");
// v.fromString("(getControlModes getInteractionModes)");
p.put("dataToDump", v);
}
if (p.check("help"))
{
printf ("\ncontrolBoardDumper usage:\n");
printf ("1) controlBoardDumper --robot icub --part left_arm --rate 10 --joints \"(0 1 2)\" \n");
printf (" All data from the controlBoarWrapper will be dumped, except for advanced debugInterface (default).\n");
printf ("\n2) controlBoardDumper --robot icub --part left_arm --rate 10 --joints \"(0 1 2)\" --dataToDump \"(xxx xxx)\"\n");
printf (" where xxx can be uset to select one (or more) from the following:\n");
printf (" getEncoders (joint position)\n");
printf (" getEncoderSpeeds (joint velocity)\n");
printf (" getEncoderAccelerations (joint acceleration)\n");
printf (" getPositionErrors (difference between desired and actual position)\n");
printf (" getTorqueErrors (difference between desired and measured torque, if available)\n");
printf (" getOutputs (voltage (PWM) given to the motor)\n");
printf (" getCurrents (current given to the motor)\n");
printf (" getTorques (joint torques, if available)\n");
printf (" getPosPidReferences (last position referenece)\n");
printf (" getTrqPidReferences (last torque reference)\n");
printf (" getMotorEncoders (motor encoder position)\n");
printf (" getMotorEncoderSpeeds (motor encoder velocity)\n");
printf (" getMotorEncoderAccelerations (motor encoder acceleration\n");
printf (" getControlModes (joint control mode)\n");
printf (" getInteractionModes (joint interaction mode)\n");
printf (" getTemperatures (motor temperatures)\n");
printf ("\n3) controlBoardDumper --robot icub --part left_arm --rate 10 --joints \"(0 1 2)\" --dataToDumpAll\n");
printf (" All data from the controlBoarWrapper will be dumped, including data from the debugInterface (getRotorxxx).\n");
printf ("\n --logToFile can be used to create log files storing the data\n\n");
return 0;
}
if (mod.open(p))
return mod.runModule();
else
return 0;
Network::fini();
}
int main(int argc, char *argv[])
{
YARP_REGISTER_DEVICES(icubmod)
Network::init();
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("controlBoardDumper");
rf.setDefaultConfigFile("controlBoardDumper.ini");
rf.setDefault("part", "head");
rf.setDefault("robot", "icub");
rf.configure(argc, argv);
Property p;
DumpModule mod;
p.fromString(rf.toString());
if (!p.check("rate"))
{
p.put("rate", 500);
}
if (!p.check("joints"))
{
Value v;
v.fromString("(0)");
p.put("joints", v);
}
if (!p.check("dataToDump"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors getPidReferences)");
p.put("dataToDump", v);
}
if (p.check("dataToDumpAll"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors getPidReferences getRotorPositions getRotorSpeeds getRotorAccelerations)");
p.put("dataToDump", v);
}
if (p.check("help"))
{
printf ("controlBoardDumper usage:\n");
printf ("1) controlBoardDumper --robot icub --part left_arm --rate 10 --joints \"(0 1 2)\" --dataToDump \"(xxx)\"\n");
printf (" where xxx can be one of the following:\n");
printf (" getEncoders (joint position)\n");
printf (" getEncoderSpeeds (joint velocity)\n");
printf (" getEncoderAccelerations (joint acceleration)\n");
printf (" getPositionErrors (difference between desired and actual position)\n");
printf (" getTorqueErrors (difference between desired and measured torque, if available)\n");
printf (" getOutputs (voltage (PWM) given to the motor)\n");
printf (" getCurrents (current given to the motor)\n");
printf (" getTorques (joint torques, if available)\n");
printf (" getRotorPositions (hi-res rotor position, if available)\n");
printf (" getRotorSpeeds (hi-res rotor velocity, if available)\n");
printf (" getRotorAccelerations (hi-res rotor acceleration, if available)\n");
printf ("\n2) controlBoardDumper --robot icub --part left_arm --rate 10 --joints \"(0 1 2)\" --dataToDumpAll\n");
return 0;
}
fprintf(stderr, "Current configuration is: %s\n", p.toString().c_str());
if (mod.open(p))
return mod.runModule();
else
return 0;
Network::fini();
}
