int main(int argc, char *argv[])
{
double myJoints[ROBOT_DOF] = {1,2,3,4,5,6};
double jointsIn[ROBOT_DOF];
robotPose myPose, poseIn;
int kukaConnection;
RCS_TIMER *cycleBlock = new RCS_TIMER(KUKA_DEFAULT_CYCLE);
TiXmlDocument kukaStatus;
TiXmlHandle toSendHandle(&kukaStatus);
TiXmlElement *cartesianStatus;
TiXmlElement *cartesianUpdate;
TiXmlElement *jointStatus;
TiXmlElement *jointUpdate;
TiXmlElement *IPOCUpdate;
int nchars;
TiXmlElement *cartesian;
int debug = 0;
int option;
int counter = 0;
double jointMotorScale[ROBOT_DOF], cmdMotorScale[ROBOT_DOF];
jointMotorScale[0] = 80.;
jointMotorScale[1] = 100.;
jointMotorScale[2] = 80.;
jointMotorScale[3] = 80.;
jointMotorScale[4] = 80.;
jointMotorScale[5] = 40.5;
cmdMotorScale[0] = 1.4;
cmdMotorScale[1] = 1.74;
cmdMotorScale[2] = 1.4;
cmdMotorScale[3] = 1.4;
cmdMotorScale[4] = 1.4;
cmdMotorScale[5] = 0.87;
while (true)
{
option = getopt(argc, argv, ":d");
if (option == -1) break;
switch (option)
{
case 'd':
debug = 1;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", optopt);
return 1;
break;
default:
fprintf (stderr, "unrecognized option -%c\n", optopt);
return 1;
break;
} // switch (option)
} // while (true) for getopt
if( !kukaStatus.LoadFile(DEFAULT_FROM_KUKA))
{
printf( "kukaRobot:: fatal error on load of %s\n", DEFAULT_FROM_KUKA);
exit(1);
}
kukaConnection = ulapi_socket_get_client_id(KUKA_PORT, "localhost");
if( kukaConnection < 0 )
return -1;
myPose.x = 0.1;
myPose.y = 0.2;
myPose.z = 0.3;
myPose.xrot = 0.4;
myPose.yrot = 0.5;
myPose.zrot = 0.6;
while(true)
{
TiXmlDocument kukaCorrections;
TiXmlHandle correctionsHandle(&kukaCorrections);
std::string str;
enum {INBUF_LEN = 2048};
char inbuf[INBUF_LEN];
std::ostringstream s;
cartesianStatus =
toSendHandle.FirstChild("Rob").FirstChild("Dat").Child(1).ToElement();
IPOCUpdate = toSendHandle.FirstChild("Rob").FirstChild("Dat").Child(9).
ToElement();
jointStatus =
toSendHandle.FirstChild("Rob").FirstChild("Dat").Child(3).ToElement();
cartesianStatus->SetDoubleAttribute("X", myPose.x);
cartesianStatus->SetDoubleAttribute ("Y", myPose.y);
cartesianStatus->SetDoubleAttribute ("Z", myPose.z);
cartesianStatus->SetDoubleAttribute ("A", myPose.xrot);
cartesianStatus->SetDoubleAttribute ("B", myPose.yrot);
cartesianStatus->SetDoubleAttribute ("C", myPose.zrot);
jointStatus->SetDoubleAttribute("A1", myJoints[0]);
jointStatus->SetDoubleAttribute("A2", myJoints[1]);
jointStatus->SetDoubleAttribute("A3", myJoints[2]);
jointStatus->SetDoubleAttribute("A4", myJoints[3]);
jointStatus->SetDoubleAttribute("A5", myJoints[4]);
jointStatus->SetDoubleAttribute("A6", myJoints[5]);
s << counter++;
s << '\0';
TiXmlText *text = new TiXmlText((s.str()).c_str());
IPOCUpdate->Clear();
IPOCUpdate->LinkEndChild(text);
// kukaStatus.Print();
str << kukaStatus;
ulapi_socket_write(kukaConnection, str.c_str(), str.length());
inbuf[0] = '\0';
nchars = ulapi_socket_read(kukaConnection, inbuf, sizeof(inbuf)-1);
if (nchars <= 0)
{
printf("kukaRobot::status client disconnected\n");
break;
}
else
{
inbuf[nchars] = '\0';
}
kukaCorrections.Parse(inbuf);
if(debug) kukaCorrections.Print();
cartesianUpdate =
correctionsHandle.FirstChild("Sen").FirstChild("Dat").
Child(1).ToElement();
jointUpdate =
correctionsHandle.FirstChild("Sen").FirstChild("Dat").
Child(2).ToElement();
cartesianUpdate->QueryDoubleAttribute("X", &(poseIn.x));
cartesianUpdate->QueryDoubleAttribute("Y", &(poseIn.y));
cartesianUpdate->QueryDoubleAttribute("Z", &(poseIn.z));
cartesianUpdate->QueryDoubleAttribute("A", &(poseIn.xrot));
cartesianUpdate->QueryDoubleAttribute("B", &(poseIn.yrot));
cartesianUpdate->QueryDoubleAttribute("C", &(poseIn.zrot));
jointUpdate->QueryDoubleAttribute("A1", &(jointsIn[0]));
jointUpdate->QueryDoubleAttribute("A2", &(jointsIn[1]));
jointUpdate->QueryDoubleAttribute("A3", &(jointsIn[2]));
jointUpdate->QueryDoubleAttribute("A4", &(jointsIn[3]));
jointUpdate->QueryDoubleAttribute("A5", &(jointsIn[4]));
jointUpdate->QueryDoubleAttribute("A6", &(jointsIn[5]));
myPose.x += poseIn.x;
myPose.y += poseIn.y;
myPose.z += poseIn.z;
myPose.xrot += poseIn.xrot;
myPose.yrot += poseIn.yrot;
myPose.zrot += poseIn.zrot;
for( int i=0; i<ROBOT_DOF; i++ )
{
myJoints[i] += jointsIn[i] * cmdMotorScale[i] / jointMotorScale[i];
if( debug )
printf( "J%d <%lf %lf> ", i+1, myJoints[i], jointsIn[i] );
}
if(debug)
printf( "\nkukaRobot Status: <%4.2f, %4.2f, %4.2f> <%4.2f, %4.2f, %4.2f>\n\n",
myPose.x,
myPose.y,
myPose.z,
myPose.xrot,
myPose.yrot,
myPose.zrot);
cycleBlock->wait();
}
}
rtapi_integer rtapi_socket_client(rtapi_integer port,
const char *hostname)
{
return ulapi_socket_get_client_id(port, hostname);
}
int main(int argc, char *argv[])
{
enum {HOST_LEN = 256};
char host[HOST_LEN] = "localhost";
int state_port = STATE_PORT_DEFAULT;
int cognex_port = COGNEX_PORT_DEFAULT;
const double confidence = 0.95;
double period = 1;
int option;
int ival;
double dval;
int state_client_id;
ulapi_task_struct cognex_client_thread;
cognex_object_info_db db;
ulapi_task_struct *server_task;
ulapi_integer retval;
opterr = 0;
while (true) {
option = getopt(argc, argv, ":h:s:p:t:d");
if (option == -1) break;
switch (option) {
case 'h':
strncpy(host, optarg, sizeof(host));
host[sizeof(host)-1] = 0;
break;
case 's':
ival = atoi(optarg);
state_port = ival;
break;
case 'p':
ival = atoi(optarg);
cognex_port = ival;
break;
case 't':
dval = atof(optarg);
period = dval;
break;
case 'd':
debug = true;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", optopt);
return 1;
break;
default:
fprintf (stderr, "unrecognized option -%c\n", optopt);
return 1;
break;
} // switch (option)
} // while (true) for getopt
// set up mapping of integer ids with object names
object_names[1] = std::string("small_gear");
object_names[2] = std::string("medium_gear");
object_names[3] = std::string("large_gear");
object_names[4] = std::string("bottom_cover");
object_names[5] = std::string("top_cover");
// connect to state server
state_client_id = ulapi_socket_get_client_id(state_port, host);
if (state_client_id < 0) {
fprintf(stderr, "can't connect to %s on port %d\n", host, state_port);
return 1;
}
server_task = db.serve(cognex_port, period * 1e9);
if (server_task == NULL) {
fprintf(stderr, "can't serve port %d\n", cognex_port);
return 1;
}
while (true) {
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
char *ptr;
int nchars;
int nleft;
int length;
int message_type;
object_state_message obj_state;
nchars = ulapi_socket_read(state_client_id, inbuf, sizeof(inbuf));
if (nchars <= 0) break;
inbuf[sizeof(inbuf)-1] = 0;
ptr = inbuf;
nleft = nchars;
while (nleft > 0) {
// get the length and type of the message
memcpy(&length, ptr, sizeof(length));
memcpy(&message_type, ptr + sizeof(length), sizeof(message_type));
// switch on the message type and handle it
switch (message_type) {
case MESSAGE_ROBOT_STATUS:
case MESSAGE_JOINT_POSITION:
break;
case MESSAGE_OBJECT_STATE:
if (0 == obj_state.read_object_state(ptr)) {
if (debug) obj_state.print_object_state();
for (int t = 0; t < obj_state.number; t++) {
db.add(obj_state.objects[t].id, cognex_object_info(object_names[obj_state.objects[t].id].c_str(), 2*atan2(obj_state.objects[t].qz, obj_state.objects[t].qw), obj_state.objects[t].x, obj_state.objects[t].y, confidence));
}
}
break;
default:
// unknown message
break;
} // switch (message type)
nleft -= (sizeof(length) + length);
ptr += (sizeof(length) + length);
} // while (nleft)
} // while (true)
ulapi_task_join(server_task, &retval);
return 0;
}
int main(int argc, char *argv[])
{
int option;
ulapi_integer port = SAMPLE_APP_DEFAULT_PORT;
enum {BUFFERLEN = 256};
char host[BUFFERLEN] = "localhost";
ulapi_integer debug = 0;
ulapi_integer client_id;
ulapi_task_struct *client_task;
client_args *client_args_ptr;
client_db_struct client_db;
char buffer[BUFFERLEN];
char *ptr;
int number;
ulapi_opterr = 0;
for (;;) {
option = ulapi_getopt(argc, argv, ":p:h:d");
if (option == -1)
break;
switch (option) {
case 'p':
port = atoi(ulapi_optarg);
break;
case 'h':
strncpy(host, ulapi_optarg, sizeof(host));
host[sizeof(host) - 1] = 0;
break;
case 'd':
debug = 1;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", ulapi_optopt);
return 1;
break;
default: /* '?' */
fprintf(stderr, "unrecognized option -%c\n", ulapi_optopt);
return 1;
break;
}
}
if (ulapi_optind < argc) {
fprintf(stderr, "extra non-option characters: %s\n", argv[ulapi_optind]);
return 1;
}
if (ULAPI_OK != ulapi_init()) {
fprintf(stderr, "ulapi_init error\n");
return 1;
}
if (debug) ulapi_set_debug(ULAPI_DEBUG_ALL);
if (0 != sample_app_init()) {
fprintf(stderr, "can't init the sample app\n");
return 1;
}
client_id = ulapi_socket_get_client_id(port, host);
if (client_id < 0) {
fprintf(stderr, "can't connect to port %d\n", (int) port);
ulapi_exit();
return 1;
}
if (debug) {
printf("serving port %d\n", (int) port);
}
client_db.mutex = ulapi_mutex_new(0);
client_db.number = 0;
client_task = ulapi_task_new();
client_args_ptr = reinterpret_cast<client_args *>(malloc(sizeof(client_args)));
client_args_ptr->client_task = client_task;
client_args_ptr->client_id = client_id;
client_args_ptr->client_db_ptr = &client_db;
client_args_ptr->debug = debug;
ulapi_task_start(client_task, client_code, client_args_ptr, ulapi_prio_lowest(), 0);
/* enter application main loop */
while (!feof(stdin)) {
if (NULL == fgets(buffer, sizeof(buffer), stdin)) {
break;
}
ptr = buffer;
while (isspace(*ptr)) ptr++;
if ('q' == *ptr) break;
if (0 == *ptr) {
ulapi_mutex_take(client_db.mutex);
number = client_db.number;
ulapi_mutex_give(client_db.mutex);
printf("%d\n", number);
continue;
}
if (1 == sscanf(ptr, "%d", &number)) {
ulapi_mutex_take(client_db.mutex);
client_db.number = number;
ulapi_mutex_give(client_db.mutex);
continue;
}
}
ulapi_socket_close(client_id);
ulapi_exit();
sample_app_exit();
return 0;
}
int main(int argc, char *argv[])
{
bool done;
int option;
int cmdConnection;
int script = 1;
char msgOut[buffSize];
RCS_TIMER *cycleBlock = new RCS_TIMER(KUKA_DEFAULT_CYCLE);
CRCLStatus status;
ulapi_task_struct statusTask;
RobotStatus robotStatus;
GripperStatus gripperStatus;
bool useFile = false;
char *fileName;
std::ifstream inFile;
std::istream *inputSource;
float counter = 0;
debug = 1;
while (true)
{
option = getopt(argc, argv, ":cdf:");
if (option == -1) break;
switch (option)
{
case 'd':
debug = 1;
break;
case 'c':
script = 0;
break;
case 'f':
script = 0;
useFile = true;
fileName = optarg;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", optopt);
return 1;
break;
default:
fprintf (stderr, "unrecognized option -%c\n", optopt);
return 1;
break;
} // switch (option)
} // while (true) for getopt
// this code uses the ULAPI library to provide portability
// between different operating systems and architectures
if (ULAPI_OK != ulapi_init())
{
printf ("crclClient:: can't initialize ulapi");
return 1;
}
cmdConnection = ulapi_socket_get_client_id(CRCL_CMD_PORT_DEFAULT,
"localhost");
if(cmdConnection < 0)
return -1;
// start status thread
ulapi_task_init(&statusTask);
ulapi_task_start(&statusTask,
reinterpret_cast<ulapi_task_code>(statusThread),
reinterpret_cast<void*>(&status),
ulapi_prio_lowest(), 0);
if(!script)
{
if( useFile )
{
inFile.open(fileName);
inputSource = &inFile;
if( !inputSource->good() )
{
printf( "unable to open %s\n", fileName );
exit(1);
}
}
else
inputSource = &std::cin;
while(inputSource->good())
{
inputSource->getline(msgOut, buffSize);
if( msgOut[0] == ' ' || msgOut[0] == '/' )
continue;
ulapi_socket_write(cmdConnection, msgOut, strlen(msgOut));
printf( "Sent: %s\n", msgOut);
done = false;
if(useFile)
{
for(int ii=0; ii<5; ii++)
cycleBlock->wait();
}
while( !done )
{
cycleBlock->wait();
gripperStatus = status.getGripperStatus();
robotStatus = status.getRobotStatus();
if( !useFile || status.getCurrentStatus()==CRCL_DONE )
done = true;
// printf( "Fmod: %f\n", fmod(counter, 100.));
if( fmod(counter++, 100.)==0 || done )
{
printf( "Status Cmd: %s Status: %s\n",
getCRCLCmdString((status.getCurrentCmd()).cmd).c_str(),
getCRCLStatusString(status.getCurrentStatus()).c_str());
printf( "\x1b[32mCart Status: <%3.4f, %3.4f, %3.4f> <%3.4f, %3.4f, %3.4f>\x1b[0m\n",
robotStatus.pose.x, robotStatus.pose.y,
robotStatus.pose.z,
robotStatus.pose.xrot, robotStatus.pose.yrot,
robotStatus.pose.zrot);
printf( "\x1b[32mJoint Status: <%4.2f %4.2f %4.2f %4.2f %4.2f %4.2f>\x1b[0m\n",
robotStatus.joint[0],
robotStatus.joint[1],
robotStatus.joint[2],
robotStatus.joint[3],
robotStatus.joint[4],
robotStatus.joint[5]);
}
}
}
}
for(int i=0; i<1; i++ )
{
ulapi_strncpy(msgOut, "InitCanon", strlen("InitCanon"));
ulapi_socket_write(cmdConnection, msgOut, strlen(msgOut));
/*
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "MoveTo 1. 2. 3. 4. 5. 6.";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "Dwell 1";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "MoveTo 7. 8. 9. 10. 11. 12.";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "Dwell 4";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
msgOut = "EndCanon";
ulapi_socket_write(cmdConnection, msgOut.c_str(), msgOut.length());
printf( "crclClient writing: %s\n", msgOut.c_str());
sleep(2);
*/
cycleBlock->wait();
}
}
