void WheelControllerByMyo::onRecvMsg(RecvMsgEvent &evt)
{
const std::string allMsg = evt.getMsg();
// std::cout << allMsg << std::endl;
std::map<std::string, std::vector<std::string> > sensorDataMap = MyoSensorData::decodeSensorData(allMsg);
if (sensorDataMap.find(MSG_KEY_DEV_TYPE) == sensorDataMap.end()){ return; }
if(sensorDataMap[MSG_KEY_DEV_TYPE][0] !=this->myoDeviceManager.deviceType ){ return; }
if(sensorDataMap[MSG_KEY_DEV_UNIQUE_ID][0]!=this->myoDeviceManager.deviceUniqueID){ return; }
MyoSensorData sensorData;
sensorData.setSensorData(sensorDataMap);
// std::cout << "roll=" << sensorData.roll << ",pitch=" << sensorData.pitch << ",yaw=" << sensorData.yaw << ",pose=" << sensorData.poseStr << std::endl;
// std::cout << "emg1=" << sensorData.emgData[0] << ",emg2=" << sensorData.emgData[1] << ", emg3=" << sensorData.emgData[2] << std::endl;
SimObj *obj = getObj(myname());
float vel = 0.0;
for(int i=0; i<MyoSensorData::EMG_SENSOR_NUM; i++)
{
vel += std::abs(sensorData.emgData[i]);
}
double rvel=0.0, lvel=0.0;
// Turn left.
if(sensorData.poseStr==MyoSensorData::mapPoseType2Str.at(MyoSensorData::WaveIn))
{
rvel = 3.0*vel;
lvel = 0.05*vel;
}
// Turn right.
if(sensorData.poseStr==MyoSensorData::mapPoseType2Str.at(MyoSensorData::WaveOut))
{
rvel = 0.05*vel;
lvel = 3.0*vel;
}
// Brake.
if(sensorData.poseStr==MyoSensorData::mapPoseType2Str.at(MyoSensorData::Fist))
{
rvel = -3.0*vel;
lvel = -3.0*vel;
}
// std::cout << "rvel=" << rvel << ",lvel=" << lvel << std::endl;
obj->setJointVelocity("JOINT_RWHEEL", rvel, 500.0);
obj->setJointVelocity("JOINT_LWHEEL", lvel, 500.0);
}
