void setup_java_options(getopt_t *gopt)
{
getopt_add_string(gopt, 0, "jpath", "", "Java file destination directory");
getopt_add_bool(gopt, 0, "jmkdir", 1, "Make java source directories automatically");
getopt_add_string(gopt, 0, "jdecl", "implements zcm.zcm.ZCMEncodable", "String added to class declarations");
getopt_add_string(gopt, 0, "jdefaultpkg", "zcmtypes", "Default Java package if ZCM type has no package");
}
void setup_c_options(getopt_t *gopt)
{
getopt_add_string (gopt, 0, "c-cpath", ".", "Location for .c files");
getopt_add_string (gopt, 0, "c-hpath", ".", "Location for .h files");
getopt_add_string (gopt, 0, "cinclude", "", "Generated #include lines reference this folder");
getopt_add_bool (gopt, 0, "c-no-pubsub", 0, "Do not generate _publish and _subscribe functions");
getopt_add_bool (gopt, 0, "c-typeinfo", 0, "Generate typeinfo functions for each type");
}
void setup_python_options(getopt_t *gopt)
{
getopt_add_string(gopt, 0, "ppath", "",
"Python destination directory");
getopt_add_bool (gopt, 0, "python-no-init", 0,
"Do not emit __init__.py");
}
int
main (int argc, char *argv[])
{
getopt_t *gopt = getopt_create ();
getopt_add_bool (gopt, 'h', "help", 0, "Show this help screen");
getopt_add_string (gopt, 'd', "device", "/dev/ttyUSB0", "Device name");
getopt_add_int (gopt, 'b', "baud", "1000000", "Device baud rate");
getopt_add_int (gopt, 'n', "num_servos", "6", "Number of servos");
getopt_add_string (gopt, '\0', "status-channel", "ARM_STATUS2", "LCM status channel");
getopt_add_string (gopt, '\0', "command-channel", "ARM_COMMAND2", "LCM command channel");
if (!getopt_parse (gopt, argc, argv, 1) || getopt_get_bool (gopt, "help")) {
getopt_do_usage (gopt);
exit (-1);
}
arm_state_t *arm_state = arm_state_create (getopt_get_string (gopt, "device"),
getopt_get_int (gopt, "baud"),
getopt_get_int (gopt, "num_servos"));
// LCM Initialization
arm_state->lcm = lcm_create (NULL);
arm_state->command_channel = getopt_get_string (gopt, "command-channel");
arm_state->status_channel = getopt_get_string (gopt, "status-channel");
if (!arm_state->lcm)
return -1;
dynamixel_command_list_t_subscribe (arm_state->lcm,
arm_state->command_channel,
command_handler,
arm_state);
pthread_create (&arm_state->status_thread, NULL, status_loop, arm_state);
pthread_create (&arm_state->driver_thread, NULL, driver_loop, arm_state);
// Probably not needed, given how this operates
pthread_join (arm_state->status_thread, NULL);
pthread_join (arm_state->driver_thread, NULL);
// Cleanup
arm_state_destroy (arm_state);
getopt_destroy (gopt);
}
void
getopt_add_double (getopt_t *gopt, char sopt, const char *lname, const char *def, const char *help)
{
getopt_add_string (gopt, sopt, lname, def, help);
}
int main(int argc, char *argv[])
{
getopt_t *getopt = getopt_create();
getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
getopt_add_int(getopt, '\0', "border", "1", "Set tag family border size");
getopt_add_int(getopt, 'i', "iters", "1", "Repeat processing on input set this many times");
getopt_add_int(getopt, 't', "threads", "4", "Use this many CPU threads");
getopt_add_double(getopt, 'x', "decimate", "1.0", "Decimate input image by this factor");
getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input");
getopt_add_bool(getopt, '1', "refine-decode", 0, "Spend more time trying to decode tags");
getopt_add_bool(getopt, '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");
if (!getopt_parse(getopt, argc, argv, 1) || getopt_get_bool(getopt, "help")) {
printf("Usage: %s [options] <input files>\n", argv[0]);
getopt_do_usage(getopt);
exit(0);
}
const zarray_t *inputs = getopt_get_extra_args(getopt);
apriltag_family_t *tf = NULL;
const char *famname = getopt_get_string(getopt, "family");
if (!strcmp(famname, "tag36h11"))
tf = tag36h11_create();
else if (!strcmp(famname, "tag36h10"))
tf = tag36h10_create();
else if (!strcmp(famname, "tag36artoolkit"))
tf = tag36artoolkit_create();
else if (!strcmp(famname, "tag25h9"))
tf = tag25h9_create();
else if (!strcmp(famname, "tag25h7"))
tf = tag25h7_create();
else {
printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
exit(-1);
}
tf->black_border = getopt_get_int(getopt, "border");
apriltag_detector_t *td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
td->quad_decimate = getopt_get_double(getopt, "decimate");
td->quad_sigma = getopt_get_double(getopt, "blur");
td->nthreads = getopt_get_int(getopt, "threads");
td->debug = getopt_get_bool(getopt, "debug");
td->refine_decode = getopt_get_bool(getopt, "refine-decode");
td->refine_pose = getopt_get_bool(getopt, "refine-pose");
int quiet = getopt_get_bool(getopt, "quiet");
int maxiters = getopt_get_int(getopt, "iters");
const int hamm_hist_max = 10;
for (int iter = 0; iter < maxiters; iter++) {
if (maxiters > 1)
printf("iter %d / %d\n", iter + 1, maxiters);
for (int input = 0; input < zarray_size(inputs); input++) {
int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));
char *path;
zarray_get(inputs, input, &path);
if (!quiet)
printf("loading %s\n", path);
image_u8_t *im = image_u8_create_from_pnm(path);
if (im == NULL) {
printf("couldn't find %s\n", path);
continue;
}
zarray_t *detections = apriltag_detector_detect(td, im);
for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
if (!quiet)
printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, goodness %8.3f, margin %8.3f\n",
i, det->family->d*det->family->d, det->family->h, det->id, det->hamming, det->goodness, det->decision_margin);
hamm_hist[det->hamming]++;
apriltag_detection_destroy(det);
}
zarray_destroy(detections);
if (!quiet) {
timeprofile_display(td->tp);
printf("nedges: %d, nsegments: %d, nquads: %d\n", td->nedges, td->nsegments, td->nquads);
}
if (!quiet)
printf("Hamming histogram: ");
for (int i = 0; i < hamm_hist_max; i++)
printf("%5d", hamm_hist[i]);
if (quiet) {
printf("%12.3f", timeprofile_total_utime(td->tp) / 1.0E3);
}
printf("\n");
image_u8_destroy(im);
}
}
// don't deallocate contents of inputs; those are the argv
apriltag_detector_destroy(td);
tag36h11_destroy(tf);
return 0;
}
int main(int argc, char *argv[])
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show this help");
getopt_add_bool (gopt, 't', "tokenize", 0, "Show tokenization");
getopt_add_bool (gopt, 'd', "debug", 0, "Show parsed file");
getopt_add_bool (gopt, 0, "lazy", 0, "Generate output file only if .lcm is newer");
getopt_add_string(gopt, 0, "package-prefix", "",
"Add this package name as a prefix to the declared package");
getopt_add_bool (gopt, 0, "version", 0, "Show version information and exit");
// we only support portable declarations now.
// getopt_add_bool (gopt, 0, "warn-unsafe", 1, "Warn about unportable declarations");
getopt_add_spacer(gopt, "**** C options ****");
getopt_add_bool (gopt, 'c', "c", 0, "Emit C code");
setup_c_options(gopt);
getopt_add_spacer(gopt, "**** C++ options ****");
getopt_add_bool (gopt, 'x', "cpp", 0, "Emit C++ code");
setup_cpp_options(gopt);
getopt_add_spacer(gopt, "**** Java options ****");
getopt_add_bool (gopt, 'j', "java", 0, "Emit Java code");
setup_java_options(gopt);
getopt_add_spacer(gopt, "**** Python options ****");
getopt_add_bool (gopt, 'p', "python", 0, "Emit Python code");
setup_python_options(gopt);
getopt_add_spacer(gopt, "**** Lua options ****");
getopt_add_bool (gopt, 'l', "lua", 0, "Emit Lua code");
setup_lua_options(gopt);
getopt_add_spacer(gopt, "**** C#.NET options ****");
getopt_add_bool (gopt, 0, "csharp", 0, "Emit C#.NET code");
setup_csharp_options(gopt);
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf("Usage: %s [options] <input files>\n\n", argv[0]);
getopt_do_usage(gopt);
return 0;
}
lcmgen_t *lcm = lcmgen_create();
lcm->gopt = gopt;
for (unsigned int i = 0; i < g_ptr_array_size(gopt->extraargs); i++) {
char *path = (char *) g_ptr_array_index(gopt->extraargs, i);
int res = lcmgen_handle_file(lcm, path);
if (res)
return res;
}
// If "--version" was specified, then show version information and exit.
if (getopt_get_bool(gopt, "version")) {
printf("lcm-gen %d.%d.%d\n", LCM_MAJOR_VERSION, LCM_MINOR_VERSION,
LCM_MICRO_VERSION);
return 0;
}
// If "-t" or "--tokenize" was specified, then show tokenization
// information and exit.
if (getopt_get_bool(gopt, "tokenize")) {
return 0;
}
int did_something = 0;
if (getopt_get_bool(gopt, "debug")) {
did_something = 1;
lcmgen_dump(lcm);
}
if (getopt_get_bool(gopt, "c")) {
did_something = 1;
if (emit_c(lcm)) {
printf("An error occurred while emitting C code.\n");
}
}
if (getopt_get_bool(gopt, "cpp")) {
did_something = 1;
if (emit_cpp(lcm)) {
printf("An error occurred while emitting C++ code.\n");
}
}
if (getopt_get_bool(gopt, "java")) {
did_something = 1;
if (emit_java(lcm)) {
perror("An error occurred while emitting Java code.\n");
}
}
if (getopt_get_bool(gopt, "python")) {
did_something = 1;
if (emit_python(lcm)) {
printf("An error occurred while emitting Python code.\n");
}
}
if (getopt_get_bool(gopt, "lua")) {
did_something = 1;
if (emit_lua(lcm)) {
printf("An error occurred while emitting Lua code.\n");
}
}
if (getopt_get_bool(gopt, "csharp")) {
did_something = 1;
if (emit_csharp(lcm)) {
printf("An error occurred while emitting C#.NET code.\n");
}
}
if (did_something == 0) {
printf("No actions specified. Try --help.\n");
}
return 0;
}
int main(int argc, char** argv)
{
// camera
CameraHandler camera;
// getopt
getopt_t* gopt = getopt_create();
getopt_add_string(gopt, 'f', "file", "", "Use static camera image");
if (!getopt_parse(gopt, argc, argv, 1)) {
getopt_do_usage(gopt);
exit(1);
}
const char* fileName = getopt_get_string(gopt, "file");
if (strncmp(fileName, "", 1)) {
// if fileName is not empty
camera.setStaticImage(fileName);
}
getopt_destroy(gopt);
// initialize with first image
image_u32_t* tempIm = camera.getImage();
CalibrationHandler::instance()->calibrateImageSize(tempIm->height, tempIm->width, true);
image_u32_destroy(tempIm);
// lcm
LcmHandler::instance()->launchThreads();
// vx
VxHandler vx(1024, 768);
vx.launchThreads();
while (1) {
CalibrationInfo calibrationInfo =
CalibrationHandler::instance()->getCalibration();
RenderInfo render;
render.im = camera.getImage();
CalibrationHandler::instance()->clipImage(render.im);
// std::array<float, 2> pos;
// if (Arm::instance()->forwardKinematics(pos)) {
// printf("pos: %f, %f\n", pos[0], pos[1]);
// }
if (buttonStates.blobDetect) {
std::vector<BlobDetector::Blob> blobs =
BlobDetector::findBlobs(render.im, calibrationInfo, blobMinPixels);
for (const auto& blob : blobs) {
std::array<int, 2> imageCoords{{blob.x, blob.y}};
std::array<float, 2> screenCoords =
CoordinateConverter::imageToScreen(imageCoords);
switch (blob.type) {
case REDBALL:
render.redBlobs.push_back(screenCoords);
break;
case GREENBALL:
render.greenBlobs.push_back(screenCoords);
break;
case BLUESQUARE:
render.blueBlobs.push_back(screenCoords);
break;
default:
break;
}
}
}
VxButtonStates buttonStates = vx.getButtonStates();
if (buttonStates.colorMask) {
maskWithColors(render.im, calibrationInfo);
}
vx.changeRenderInfo(render);
usleep(1e3);
}
}
void setup_lua_options(getopt_t *gopt)
{
getopt_add_string(gopt, 0, "lpath", "",
"Lua destination directory");
}
void setup_python_options(getopt_t *gopt)
{
getopt_add_string(gopt, 0, "ppath", "",
"Python destination directory");
}
int
main (int argc, char *argv[])
{
// so that redirected stdout won't be insanely buffered.
setvbuf (stdout, (char *) NULL, _IONBF, 0);
state_t *state = calloc (1, sizeof *state);
state->meters_per_tick = METERS_PER_TICK; // IMPLEMENT ME
state->alpha = ALPHA;
state->beta = BETA;
// file for gyro integration test
//state->fp = fopen("gyro-yaw-integration.txt","w");
state->fp = fopen("yaw.txt","w");
// Tests for the position estimate
/*
update_position(state,4456,4456);
update_position(state,0,1208);
update_position(state,4456,4456);
while(1);
*/
// Used for testing the gyro bias
/*
for(int i=0; i<100; i++){
state->yaw_cal_array[i] = 15*i;
}
state->gyro_bias = find_gyro_bias(state);
printf("Gyro Bias: %llu\n", state->gyro_bias);
*/
//printf("getting options\n");
state->gopt = getopt_create ();
getopt_add_bool (state->gopt, 'h', "help", 0, "Show help");
getopt_add_bool (state->gopt, 'g', "use-gyro", 0, "Use gyro for heading instead of wheel encoders");
getopt_add_string (state->gopt, '\0', "odometry-channel", "BOTLAB_ODOMETRY", "LCM channel name");
getopt_add_string (state->gopt, '\0', "feedback-channel", "MAEBOT_MOTOR_FEEDBACK", "LCM channel name");
getopt_add_string (state->gopt, '\0', "sensor-channel", "MAEBOT_SENSOR_DATA", "LCM channel name");
getopt_add_double (state->gopt, '\0', "alpha", ALPHA_STRING, "Longitudinal covariance scaling factor");
getopt_add_double (state->gopt, '\0', "beta", BETA_STRING, "Lateral side-slip covariance scaling factor");
getopt_add_double (state->gopt, '\0', "gyro-rms", GYRO_RMS_STRING, "Gyro RMS deg/s");
if (!getopt_parse (state->gopt, argc, argv, 1) || getopt_get_bool (state->gopt, "help")) {
printf ("Usage: %s [--url=CAMERAURL] [other options]\n\n", argv[0]);
getopt_do_usage (state->gopt);
exit (EXIT_FAILURE);
}
state->use_gyro = getopt_get_bool (state->gopt, "use-gyro");
state->odometry_channel = getopt_get_string (state->gopt, "odometry-channel");
state->feedback_channel = getopt_get_string (state->gopt, "feedback-channel");
state->sensor_channel = getopt_get_string (state->gopt, "sensor-channel");
state->alpha = getopt_get_double (state->gopt, "alpha");
state->beta = getopt_get_double (state->gopt, "beta");
state->gyro_rms = getopt_get_double (state->gopt, "gyro-rms") * DTOR;
state->yaw_calibrated = 0;
state->yaw = 0;
state->yaw_old = 0;
//printf("subscribing to channels\n");
// initialize LCM
state->lcm = lcm_create (NULL);
maebot_motor_feedback_t_subscribe (state->lcm, state->feedback_channel,
motor_feedback_handler, state);
maebot_sensor_data_t_subscribe (state->lcm, state->sensor_channel,
sensor_data_handler, state);
printf ("ticks per meter: %f\n", 1.0/state->meters_per_tick);
while (1){
lcm_handle (state->lcm);
}
}
int main(int argc, char ** argv)
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show help");
getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");
// parse and print help
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf ("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage (gopt);
exit (1);
}
vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library
state_t * state = state_create();
// Load a pnm from file, and repack the data so that it's understandable by vx
if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
state->img = image_u32_create_from_pnm(getopt_get_string(gopt, "pnm"));
printf("Loaded image %d x %d from %s\n",
state->img->width, state->img->height,
getopt_get_string(gopt, "pnm"));
}
draw(state, state->world);
vx_remote_display_source_attr_t remote_attr;
vx_remote_display_source_attr_init(&remote_attr);
remote_attr.advertise_name = "Vx Demo";
vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&state->app, &remote_attr);
pthread_create(&state->animate_thread, NULL, render_loop, state);
if (!getopt_get_bool(gopt,"no-gtk")) {
gdk_threads_init ();
gdk_threads_enter ();
gtk_init (&argc, &argv);
vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&state->app);
GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
gtk_container_add(GTK_CONTAINER(window), canvas);
gtk_widget_show (window);
gtk_widget_show (canvas); // XXX Show all causes errors!
g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);
gtk_main (); // Blocks as long as GTK window is open
gdk_threads_leave ();
vx_gtk_display_source_destroy(appwrap);
// quit when gtk closes? Or wait for remote displays/Ctrl-C
if (!getopt_get_bool(gopt, "stay-open"))
state->running = 0;
}
pthread_join(state->animate_thread, NULL);
vx_remote_display_source_destroy(cxn);
state_destroy(state);
vx_global_destroy();
getopt_destroy(gopt);
}
void setup_cpp_options(getopt_t *gopt)
{
getopt_add_string (gopt, 0, "cpp-std", "c++98", "C++ standard(c++98, c++11)");
getopt_add_string (gopt, 0, "cpp-hpath", ".", "Location for .hpp files");
getopt_add_string (gopt, 0, "cpp-include", "", "Generated #include lines reference this folder");
}
int main(int argc, char ** argv)
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show help");
getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
getopt_add_int (gopt, 'l', "limitKBs", "-1", "Remote display bandwidth limit. < 0: unlimited.");
getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");
// parse and print help
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf ("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage (gopt);
exit (1);
}
signal(SIGPIPE, SIG_IGN); // potential fix for Valgrind "Killed" on
// remote viewer exit
state_t * state = state_create();
// Load a pnm from file, and repack the data so that it's understandable by vx
if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
image_u8_t * img2 = image_u8_create_from_pnm(getopt_get_string(gopt, "pnm"));
state->img = image_util_convert_rgb_to_rgba (img2);
image_u8_destroy (img2);
}
vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library
vx_application_t app = {.impl=state, .display_started=display_started, .display_finished=display_finished};
vx_remote_display_source_attr_t remote_attr;
vx_remote_display_source_attr_init(&remote_attr);
remote_attr.max_bandwidth_KBs = getopt_get_int(gopt, "limitKBs");
remote_attr.advertise_name = "Vx Stress Test";
vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&app, &remote_attr);
for (int i = 0; i < NRENDER; i++) {
tinfo_t * tinfo = calloc(1,sizeof(tinfo_t));
tinfo->state = state;
tinfo->id = i;
pthread_create(&state->render_threads[i], NULL, render_loop, tinfo);
}
pthread_create(&state->camera_thread, NULL, camera_loop, state);
if (!getopt_get_bool(gopt,"no-gtk")) {
gdk_threads_init ();
gdk_threads_enter ();
gtk_init (&argc, &argv);
vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&app);
GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
gtk_container_add(GTK_CONTAINER(window), canvas);
gtk_widget_show (window);
gtk_widget_show (canvas); // XXX Show all causes errors!
g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);
gtk_main (); // Blocks as long as GTK window is open
gdk_threads_leave ();
vx_gtk_display_source_destroy(appwrap);
// quit when gtk closes? Or wait for remote displays/Ctrl-C
if (!getopt_get_bool(gopt, "stay-open"))
state->running = 0;
}
for (int i = 0; i < NRENDER; i++)
pthread_join(state->render_threads[i], NULL);
vx_remote_display_source_destroy(cxn);
state_destroy(state);
vx_global_destroy();
getopt_destroy(gopt);
}
void setup_m_options(getopt_t *gopt)
{
getopt_add_string (gopt, 0, "mpath", ".", "Path for .m files");
}
