Esempio n. 1
0
    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;
    }
    virtual void threadRelease()
    {    
        // we require an immediate stop
        // before closing the client for safety reason
        // (anyway it's already done internally in the
        // destructor)
        igaze->stopControl();

        // it's a good rule to reinstate the tracking mode
        // as it was
        igaze->setTrackingMode(false);

        delete clientGaze;
 //       delete clientTorso; //pramod
    }
Esempio n. 3
0
    bool respond(const Bottle& command, Bottle& reply) 
    {
		
		if(command.size()==0)
        {
            reply.addString("No command received.");
            return true;
			
        }

		switch(command.get(0).asVocab()){
		case HOME:
			if(command.size()>1)
					switch(command.get(1).asVocab()){
                        case ARM:
							int tempCxL,tempCxR;
							icartLeft->storeContext(&tempCxL);
							icartLeft->storeContext(&tempCxR);
							icartLeft->restoreContext(currentArmLeftContextID);
							icartLeft->restoreContext(currentArmRightContextID);

							icartLeft->goToPositionSync(leftArmHomePosition);
							icartRight->goToPositionSync(rightArmHomePosition);
							
							icartRight->waitMotionDone(0.1,2);
							icartLeft->waitMotionDone(0.1,2);
							
							icartLeft->restoreContext(tempCxR);
							icartLeft->restoreContext(tempCxL);
							icartLeft->deleteContext(tempCxR);
							icartLeft->deleteContext(tempCxL);
							reply.addString("Arm home position reached.");
                            return true;
						case TORSO:
							exploreTorso(torsoHomePosition);
							reply.addString("Torso home position reached.");
							return true;
						case GAZE:
							int tempCx;
							igaze->storeContext(&tempCx);
							igaze->restoreContext(currentGazeContextID);
							
							igaze->lookAtFixationPoint(gazeHomePosition);
							igaze->waitMotionDone(0.1,2);

							igaze->restoreContext(tempCx);
							igaze->deleteContext(tempCx);
							reply.addString("Gaze home position reached.");
							return true;
						default:
							reply.addString("Wrong device for home position.");
							return true;
						}
			else{
				int tempCxL,tempCxR,tempCx;
				icartLeft->storeContext(&tempCxL);
				icartLeft->storeContext(&tempCxR);
				icartLeft->restoreContext(currentArmLeftContextID);
				icartLeft->restoreContext(currentArmRightContextID);
				
				igaze->storeContext(&tempCx);
				igaze->restoreContext(currentGazeContextID);


				icartLeft->goToPositionSync(leftArmHomePosition);
				icartRight->goToPositionSync(rightArmHomePosition);
				igaze->lookAtFixationPoint(gazeHomePosition);
				exploreTorso(torsoHomePosition);
				igaze->waitMotionDone(0.1,2);
				icartRight->waitMotionDone(0.1,2);
				icartLeft->waitMotionDone(0.1,2);

				icartLeft->restoreContext(tempCxR);
				igaze->restoreContext(tempCx);
				icartLeft->restoreContext(tempCxL);
				icartLeft->deleteContext(tempCxR);
				icartLeft->deleteContext(tempCxL);
				igaze->deleteContext(tempCx);
							
				reply.addString("Ok, moving to home position.");
				return true;
			}
		case LOOK_AT:
			if(command.size()==2){
				Bottle bAsk,bReply, bGet;
				bAsk.addVocab(Vocab::encode("ask"));
				Bottle &bTempAsk=bAsk.addList().addList();
				bTempAsk.addString("name");
				bTempAsk.addString("==");
				bTempAsk.addString(command.get(1).asString());
				objectsPort.write(bAsk,bReply);
				cout<<"first"<<endl;
				if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("id")==false || 
					bReply.get(1).asList()->find("id").asList()->size()==0){
						reply.addVocab(Vocab::encode("nack"));
						return true;
				}
				bGet.addVocab(Vocab::encode("get"));
				Bottle &bTempGet=bGet.addList().addList();
				bTempGet.addString("id");
				bTempGet.addInt(bReply.get(1).asList()->find("id").asList()->get(0).asInt());
				objectsPort.write(bGet,bReply);
				cout<<"second"<<endl;
				if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("position_3d")==false ||
					bReply.get(1).asList()->find("position_3d").asList()->size()==0){
						reply.addVocab(Vocab::encode("nack"));
						return true;
				}
				cout<<"third"<<endl;
                Vector gazePosition(3);
				gazePosition[0] = bReply.get(1).asList()->find("position_3d").asList()->get(0).asDouble();
                gazePosition[1] = bReply.get(1).asList()->find("position_3d").asList()->get(1).asDouble();
                gazePosition[2] = bReply.get(1).asList()->find("position_3d").asList()->get(2).asDouble();

				int tempCx;
				igaze->storeContext(&tempCx);
				igaze->restoreContext(currentGazeContextID);
							
				igaze->lookAtFixationPoint(gazePosition);
				igaze->waitMotionDone(0.2,3);
				
				igaze->restoreContext(tempCx);
				igaze->deleteContext(tempCx);
				
				reply.addString("Gaze position reached.");
				
				return true;
			}

			else if(command.size()==4){
				Vector gazePosition(3);
				int tempCx;

				gazePosition[0] = command.get(1).asDouble();
				gazePosition[1] = command.get(2).asDouble();
				gazePosition[2] = command.get(3).asDouble();
				
				igaze->storeContext(&tempCx);
				igaze->restoreContext(currentGazeContextID);
							
				igaze->lookAtFixationPoint(gazePosition);
				igaze->waitMotionDone(0.2,3);
				
				igaze->restoreContext(tempCx);
				igaze->deleteContext(tempCx);
				reply.addString("Gaze position reached.");
				return true;
			}
			else{
				reply.addString("Wrong number of parameters for lookAt.");
				return true;
			}
		case GET:
			if(command.size()==2){
				Bottle bAsk,bReply, bGet;
				bAsk.addVocab(Vocab::encode("ask"));
				Bottle &bTempAsk=bAsk.addList().addList();
				bTempAsk.addString("name");
				bTempAsk.addString("==");
				bTempAsk.addString(command.get(1).asString());
				objectsPort.write(bAsk,bReply);
				if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("id")==false || 
					bReply.get(1).asList()->find("id").asList()->size()==0){
						reply.addVocab(Vocab::encode("nack"));
						return true;
				}
				bGet.addVocab(Vocab::encode("get"));
				Bottle &bTempGet=bGet.addList().addList();
				bTempGet.addString("id");
				bTempGet.addInt(bReply.get(1).asList()->find("id").asList()->get(0).asInt());
				objectsPort.write(bGet,bReply);
				if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("position_2d_left")==false ||
					bReply.get(1).asList()->find("position_2d_left").asList()->size()==0){
						reply.addVocab(Vocab::encode("nack"));
						return true;
				}
                Vector objPosition(4);
				objPosition[0] = bReply.get(1).asList()->find("position_2d_left").asList()->get(0).asInt();
                objPosition[1] = bReply.get(1).asList()->find("position_2d_left").asList()->get(1).asInt();
                objPosition[2] = bReply.get(1).asList()->find("position_2d_left").asList()->get(2).asInt();
                objPosition[3] = bReply.get(1).asList()->find("position_2d_left").asList()->get(3).asInt();
				reply.addVocab(VOCAB3('a','c','k'));
				Bottle &coord  = reply.addList();
				coord.addInt((int)(objPosition[0]+objPosition[2])/2);
				coord.addInt((int)(objPosition[1]+objPosition[3])/2);
				return true;
			}
			else{
				reply.addString("Wrong number of parameters for get.");
				return true;
			}
		case TRACK:
			if(command.size()==3)
				switch(command.get(1).asVocab()){
                        case ARM:
							if (command.get(2).asString() == "on"){
int tempCxL,tempCxR;
							//icartLeft->storeContext(&tempCxL);
							//icartLeft->storeContext(&tempCxR);
							//icartLeft->restoreContext(currentArmLeftContextID);
							//icartLeft->restoreContext(currentArmRightContextID);

								icartLeft->setTrackingMode(true);
								icartRight->setTrackingMode(true);
								icartRight->storeContext(&currentArmRightContextID);
								icartLeft->storeContext(&currentArmLeftContextID);
						//icartLeft->restoreContext(tempCxR);
						//	icartLeft->restoreContext(tempCxL);
						//	icartLeft->deleteContext(tempCxR);
						//	icartLeft->deleteContext(tempCxL);

								reply.addString("Arm tracking mode enabled.");

							}
							else if (command.get(2).asString() == "off"){
int tempCxL,tempCxR;
							//icartLeft->storeContext(&tempCxL);
							//icartLeft->storeContext(&tempCxR);
							//icartLeft->restoreContext(currentArmLeftContextID);
							//icartLeft->restoreContext(currentArmRightContextID);

								icartLeft->setTrackingMode(false);
								icartRight->setTrackingMode(false);

								icartRight->storeContext(&currentArmRightContextID);
								icartLeft->storeContext(&currentArmLeftContextID);

						//icartLeft->restoreContext(tempCxR);
						//	icartLeft->restoreContext(tempCxL);
						//	icartLeft->deleteContext(tempCxR);
						//	icartLeft->deleteContext(tempCxL);
								reply.addString("Arm tracking mode disabled.");
							}
							else
								reply.addString("Wrong parameter: on/off");
							return true;
						case GAZE:
							if (command.get(2).asString() == "on"){
                                int tempCx;
    							//igaze->storeContext(&tempCx);
    							//igaze->restoreContext(currentGazeContextID);

								igaze->setTrackingMode(true);

                                igaze->storeContext(&currentGazeContextID);
								//igaze->restoreContext(tempCx);
							    //igaze->deleteContext(tempCx);

								reply.addString("Gaze tracking mode enabled.");
							}
							else if (command.get(2).asString() == "off"){

								int tempCx;
    							//igaze->storeContext(&tempCx);
    							//igaze->restoreContext(currentGazeContextID);

								igaze->setTrackingMode(false);

                                igaze->storeContext(&currentGazeContextID);
								//igaze->restoreContext(tempCx);
							    //igaze->deleteContext(tempCx);

								reply.addString("Gaze tracking mode disabled.");
							}
							else
								reply.addString("Wrong parameter for trac: on/off");
							return true;
						default:
								reply.addString("Wrong device for tracking mode.");
								return true;

			}
			else{
				reply.addString("Missing parameters for track.");
				return true;
			}

		case BLOCK:
			if(command.size()>1)
				switch(command.get(1).asVocab()){
						case GAZE:
							if(command.size()==3){
                                // int tempCx;
    							//igaze->storeContext(&tempCx);
    							//igaze->restoreContext(currentGazeContextID);

								igaze->blockEyes(command.get(2).asDouble());
                                
                                igaze->storeContext(&currentGazeContextID);
								//igaze->restoreContext(tempCx);
							    //igaze->deleteContext(tempCx);

								reply.addString("Gaze blocking mode enabled.");
							}
							else{
								//int tempCx;
    							//igaze->storeContext(&tempCx);
    							//igaze->restoreContext(currentGazeContextID);

								igaze->blockEyes(DEFAULT_VERGENCE);
                                
                                igaze->storeContext(&currentGazeContextID);
								//igaze->restoreContext(tempCx);
							    //igaze->deleteContext(tempCx);
								
								reply.addString("Default vergence set.");
							}
							return true;
						default:
								reply.addString("Wrong device for blocking mode.");
								return true;

			}
			else{
				reply.addString("Missing parameters for block.");
				return true;
			}

		case GOTO:
			if(command.size()==4){
				Vector torsoTarget(3);
				torsoTarget[0]  = command.get(1).asDouble();
				torsoTarget[1]  = command.get(2).asDouble();
				torsoTarget[2]  = command.get(3).asDouble();
				exploreTorso(torsoTarget);
				reply.addString("Torso position reached.");
			}
			else{
				reply.addString("Missing parameters for goto.");
				return true;
			}
			return true;
			
		case RUN: 
			running = true;
			reply.addString("Ready for exploration. next or stop?");
			return true;
		case NEXT:
			if(running){
				exploreTorso(waypoints.getRow(index));
				index++;
				if (index > 2){
					running = false;
					index = 0;
					reply.addString("Waypoint reached. End of waypoints.");
					}
				else{
					reply.addString("Waypoint reached. next or stop?");
				}
			}
			else
				reply.addString("Not running.");
			return true;
		case STOP:
			index = 0;
			running = false;
			reply.addString("Run stopped. Index reset.");
			return true;
			

		default:
                RFModule::respond(command,reply);
				return true;
		}
        return true;

    }