void BiclopsAccess::recordLimits()
{
for(int j = 0; j < BICLOPS_NUM_JOINTS; j++)
{
long hlf = 0, hlr = 0, slf = 0, slr = 0;
PMDAxisControl *axis = _biclops->GetAxis(j);
axis->GetHomingLimits(hlf, hlr, slf, slr);
limits[j][0] = axis->CountsToUnits(hlr);
limits[j][1] = axis->CountsToUnits(hlf);
}
}
double BiclopsAccess::getJointDesiredPosition(int jnt)
{
// Can only ask during HOMING, POSITION and PARKED.
if(_mode <= HOMING) return 0.0;
PMDint32 d;
PMDAxisControl *axis = _biclops->GetAxis(jnt);
axis->GetCommandedPosition(d);
double p = axis->CountsToUnits(d);
p = unitsToRadians(p, jnt);
return p;
}
double BiclopsAccess::getJointPosition(int jnt)
{
// Can only ask during HOMING, POSITION and PARKED.
if(_mode <= HOMING) return 0.0;
PMDint32 d;
PMDAxisControl *axis = _biclops->GetAxis(jnt);
axis->GetActualPosition(d);
double p = axis->CountsToUnits(d);
/*
if (jnt == 0) {
std::cout<<"Inside joint position1 :"<<(int) d<< " --> " << p << " cpUnit: " << axis->GetCountsPerEncoderCycle() << std::endl;
}
*/
p = unitsToRadians(p, jnt);
return p;
}
// ------------------------------------------------------------------------
bool PMDNetwork::ChangeCommSettings(int baud) {
tagPMDSerialBaudRate pmdBaud;
tagPMDSerialParity pmdParity;
tagPMDSerialStopBits pmdStopBits;
tagPMDSerialProtocol pmdProtocol;
PMDuint8 pmdMultiDropID;
// Command the new comm settings to each controller.
ControllerCollection::iterator iControl;
for(iControl=controllers->begin();iControl!=controllers->end();iControl++) {
PMDController *controller = (*iControl).second;
PMDAxisControl *axis = controller->GetPrimaryAxis();
axis->GetSerialPortMode(pmdBaud,pmdParity,
pmdStopBits,pmdProtocol,pmdMultiDropID);
axis->SetSerialPortMode(PMDSerial::HostToPMDBaud(baud),pmdParity,
pmdStopBits,pmdProtocol,pmdMultiDropID);
}
// Change the network's common serial port to the new commm settings.
// Change the host interface settings to match.
char portName[32];
int oldBaud;
PortableSerial::Parity parity;
PortableSerial:: StopBits stopBits;
comm->GetConfig(portName,oldBaud,parity,stopBits); // Get port settings
PMDSerial::ConstrainSerialSettings(baud,parity,stopBits);
comm->SetConfig(portName,baud,parity,stopBits); // Change port settings
comm->Open(); // Reopens port with new settings
// Verify connectivity to each controller at the new settings.
for(iControl=controllers->begin();iControl!=controllers->end();iControl++) {
PMDController *controller = (*iControl).second;
// PMDAxisControl *axis = controller->GetPrimaryAxis();
controller->GetPrimaryAxis(); // Prime the axis' primary axis storage
if (((PMDSerial *)controller->GetIOTransport())->Sync() != PMD_ERR_OK)
return false;
}
return true;
}
void BiclopsAccess::biclopsUpdateLoop()
{
bool updated = false;
//cout << "Firing up Biclops update thread." << endl;
// Publish Position & Speed
while(!_threadKill)
{
for(int jnt = 0; jnt < BICLOPS_NUM_JOINTS; jnt++)
{
if(joint_commands[jnt] != joint_last_set[jnt])
{
pthread_mutex_lock(&position_mutex);
double val = joint_commands[jnt];
joint_last_set[jnt] = val;
updated = true;
pthread_mutex_unlock(&position_mutex);
double unit = radiansToUnit(val, jnt);
PMDAxisControl::Profile p;
PMDAxisControl *axis = _biclops->GetAxis(jnt);
axis->SetPosition(axis->UnitsToCounts(unit));
axis->GetProfile(p);
p.pos = unit;
axis->SetProfile(p);
axis->Move(false, true);
}
}
if(updated)
{
usleep(BICLOPS_UPDATE_SLEEP_TIME_MS*1000);
updated = false;
}
else
{
usleep(0);
}
};
}
int main() {
Biclops biclops;
// Create a debug header message for use in this example application.
const char dbgMethod[] = "main: ";
char dbgHdr[32];
sprintf(dbgHdr,"BiclopsPMDTest::main:");
// Defines which axes we want to use.
const int axisMask = Biclops::PanMask
+ Biclops::TiltMask;
// Pointers to each axis (populated once controller is initialized).
PMDAxisControl *panAxis = NULL;
PMDAxisControl *tiltAxis = NULL;
// Set Debug level depending on how much info you want to see about
// the inner workings of the API. Level 2 is highest with 0 being
// the default (i.e., no messages).
biclops.SetDebugLevel(2);
//setting up the Kinect
Mat rgbMat(Size(640,480),CV_8UC3);
Mat depthMat(Size(640,480),CV_16UC1);
//specify path to calibration file
char calib_filepath[] = "calib/kinect_calibration2.yml";
//initialize the kinect
kinect myKinect(0, calib_filepath, false);
myKinect.start();
coutDbg << "Initializing Biclops\n";
if (biclops.Initialize("data/BiclopsDefault.cfg")) {
cout << "Initializing Kinect" << endl;
for(int i=0;i<10;i++)
{
myKinect.getVideo(rgbMat);
myKinect.getDepth(depthMat);
}
// Initialize the Biclops unit.
coutDbg << "Initializing Biclops\n";
// Initialization completed successfully.
coutDbg << "Biclops initialized\n";
biclops.SetDebugLevel(0);
// Get shortcut references to each axis.
panAxis = biclops.GetAxis(Biclops::Pan);
tiltAxis = biclops.GetAxis(Biclops::Tilt);
coutDbg << "Begin homing sequence." << endl;
if (biclops.HomeAxes(axisMask,true)) {
// Get the currently defined (default) motion profiles.
PMDAxisControl::Profile panProfile,tiltProfile;
panAxis->GetProfile(panProfile);
tiltAxis->GetProfile(tiltProfile);
// Set a position to move to by modifying the respective profiles.
// NOTE: profile values are in revolutions, so here we convert
// from degrees (divide by 360) for readability.
panProfile.pos = PMDUtils::DegsToRevs(panAngles[0]);
tiltProfile.pos = PMDUtils::DegsToRevs(tiltAngles[0]);
// Inform the controller of the new desired position.
panAxis->SetProfile(panProfile);
tiltAxis->SetProfile(tiltProfile);
// Move one axis to its destination in series.
coutDbg << "Individual axis move" << endl;
panAxis->Move();
tiltAxis->Move();
coutDbg << "Individual axis move complete" << endl;
//create folder to store the Kinect data
int fCount = 0;
string mainFolder = "Scan";
std::ostringstream folderPath;
for(;;)
{
folderPath.str("");
folderPath << mainFolder << fCount;
if(!utils::checkDirectory(folderPath.str(), false))
{
utils::checkDirectory(folderPath.str(), true);
break;
}
fCount++;
}
for(int i=0;i<sizeof(tiltAngles)/sizeof(double);i++)
{
for(int j=0;j<sizeof(panAngles)/sizeof(double);j++)
{
// Pick a new destination and tell the controller.
panProfile.pos = PMDUtils::DegsToRevs(panAngles[j]);
panAxis->SetProfile(panProfile);
tiltProfile.pos = PMDUtils::DegsToRevs(tiltAngles[i]);
tiltAxis->SetProfile(tiltProfile);
coutDbg << "Moving to Pan: " << panAngles[j] << " Tilt: " << tiltAngles[i] << endl;
// Issue the move command for all the axes simultaneously.
coutDbg << "Multiple axis move" << endl;
biclops.Move(axisMask);
coutDbg << "Multiple axis move complete" << endl;
if(j==0)
sleep(4);
else
sleep(2);
//creating folders and subfolders to store the images
std::ostringstream subFolderPath, rgbFolderPath, depthFolderPath;
subFolderPath << folderPath.str() << "/P" << panAngles[j] << "T" << tiltAngles[i];
rgbFolderPath << subFolderPath.str() << "/rgb";
depthFolderPath << subFolderPath.str() << "/depth";
utils::checkDirectory(subFolderPath.str(), true);
utils::checkDirectory(rgbFolderPath.str(), true);
utils::checkDirectory(depthFolderPath.str(), true);
//grabbing kinect frames
for(int k=0;k<10;k++)
{
myKinect.getVideo(rgbMat);
myKinect.getDepth(depthMat);
//save kinect frames to folder
std::ostringstream rgbPath, depthPath;
rgbPath << rgbFolderPath.str() << "/rgb" << k << ".png";
depthPath << depthFolderPath.str() << "/depth" << k << ".png";
cv::imwrite(rgbPath.str().c_str(),rgbMat);
cv::imwrite(depthPath.str().c_str(),depthMat);
}
}
}
//back to home position
panProfile.pos = PMDUtils::DegsToRevs(0);
panAxis->SetProfile(panProfile);
tiltProfile.pos = PMDUtils::DegsToRevs(0);
tiltAxis->SetProfile(tiltProfile);
biclops.Move(axisMask);
// Turn off motor amps to conserve power.
panAxis->DisableAmp();
tiltAxis->DisableAmp();
}
else {
coutDbg << "initialization failed" << endl;
}
}
// Stop the Kinect
myKinect.stop();
return 0;
}
