void ConsoleLogger::logCallback( U32 level, const char *consoleLine )
{
ConsoleLogger *curr;
// Loop through active consumers and send them the message
for( int i = 0; i < mActiveLoggers.size(); i++ )
{
curr = mActiveLoggers[i];
// If the log level is within the log threshhold, log it
if( curr->mLevel <= level )
curr->log( consoleLine );
}
}
int
main(int argc, char **argv)
{
printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
string robotFile = SRCDIR"/../manipulators/katana.robot.xml";
ConsoleLogger* cl = new ConsoleLogger();
OpenRaveRobotPtr robot( new OpenRaveRobot(cl) );
OpenRaveEnvironmentPtr env( new OpenRaveEnvironment(cl) );
vector<OpenRAVE::RobotBasePtr> robots;
list<OpenRAVE::ModuleBasePtr> modules;
env->create();
env->get_env_ptr()->GetModules(modules);
env->get_env_ptr()->GetRobots(robots);
cl->log_debug("qa_modules", "Environment created");
cl->log_debug("qa_modules", "#modules:%u #robots:%u", modules.size(), robots.size());
try {
robot->load(robotFile, env);
} catch (Exception &e) {
cl->log_error("qa_modules", "error:%s", e.what());
return 0;
}
env->get_env_ptr()->GetModules(modules);
env->get_env_ptr()->GetRobots(robots);
cl->log_debug("qa_modules", "Robot loaded");
cl->log_debug("qa_modules", "#modules:%u #robots:%u", modules.size(), robots.size());
env->add_robot(robot);
robot->set_ready();
env->get_env_ptr()->GetModules(modules);
env->get_env_ptr()->GetRobots(robots);
cl->log_debug("qa_modules", "Robot initialized");
cl->log_debug("qa_modules", "#modules:%u #robots:%u", modules.size(), robots.size());
robot = NULL;
env->get_env_ptr()->GetModules(modules);
env->get_env_ptr()->GetRobots(robots);
cl->log_debug("qa_modules", "Robot Destroyed");
cl->log_debug("qa_modules", "#modules:%u #robots:%u", modules.size(), robots.size());
env->destroy();
return 0;
}
int
main(int argc, char **argv)
{
printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
string robotFile = SRCDIR"/../manipulators/katana.robot.xml";
ConsoleLogger* cl = new ConsoleLogger();
OpenRaveManipulator* manip = new OpenRaveManipulatorKatana6M180(6, 5);
OpenRaveRobot* robot = new OpenRaveRobot(cl);
OpenRaveEnvironment* env = new OpenRaveEnvironment(cl);
env->create();
try {
robot->load(robotFile, env);
} catch (Exception &e) {
cl->log_error("qa_robot", "error:%s", e.what());
return 0;
}
// configure manip
manip->add_motor(0,0);
manip->add_motor(1,1);
manip->add_motor(2,2);
manip->add_motor(4,3);
manip->add_motor(5,4);
robot->set_manipulator(manip);
env->add_robot(robot);
robot->set_ready();
env->lock();
vector<float> val, v;
val.push_back(0.1);
val.push_back(0.2);
val.push_back(0.3);
val.push_back(0.4);
val.push_back(0.5);
manip->set_angles_device(val);
manip->get_angles(v);
printVector(v);
manip->get_angles_device(v);
printVector(v);
env->start_viewer();
//print angles taken from OpenRAVE Model (can be modified in GUI)
while(1) {
robot->update_manipulator();
manip->get_angles(v);
printVector(v);
manip->get_angles_device(v);
printVector(v);
usleep(1000*500);
}
env->destroy();
return 0;
}
void ServerPipeline::sendMsgToLogger(const Message *msg)
{
ConsoleLogger logger;
logger.WARN("ServerPipeline sendMsgToLogger","sendMsgToLogger is running...\n");
}