/**
* Parser for VOCAB commands. It is called by virtual bool respond().
* @param command the bottle containing the user command
* @param reply the bottle which will be returned to the RPC client
* @return true if the command was successfully parsed
*/
bool parse_respond_vocab(const yarp::os::Bottle& command, yarp::os::Bottle& reply)
{
int request = command.get(1).asVocab();
if (request == VOCAB_NAV_GET_CURRENT_POS)
{
//plannerThread->setNewAbsTarget(loc);
reply.addVocab(VOCAB_OK);
reply.addString(m_localization_data.map_id);
reply.addDouble(m_localization_data.x);
reply.addDouble(m_localization_data.y);
reply.addDouble(m_localization_data.theta);
}
else if (request == VOCAB_NAV_SET_INITIAL_POS)
{
yarp::dev::Map2DLocation loc;
loc.map_id = command.get(2).asString();
loc.x = command.get(3).asDouble();
loc.y = command.get(4).asDouble();
loc.theta = command.get(5).asDouble();
initializeLocalization(loc);
reply.addVocab(VOCAB_OK);
}
else
{
reply.addVocab(VOCAB_ERR);
}
return true;
}
bool WorldRpcInterface::handler( const yarp::os::Bottle& command, yarp::os::Bottle& reply )
{
int n = 0; // identifier of the current bottle element
int cmd; // the command (see command vocabs in header)
yarp::os::ConstString prefix = command.get(n).asString();
if ( prefix=="help" )
{
reply.addVocab(yarp::os::Vocab::encode("many"));
reply.addString("\nMoBeE world interface, arguments within brackets: \n");
reply.addString( "ls: list objects");
reply.addString( "mk sph [radius] [xpos] [ypos] [zpos]: create sphere");
reply.addString( "mk cyl [radius] [height] [xpos] [ypos] [zpos]: create sphere");
reply.addString( "mk box [xsize] [ysize] [zsize] [xpos] [ypos] [zpos]: create sphere");
reply.addString( "set [objectname] [xpos] [ypos] [zpos]: set object location (m)");
reply.addString( "def [objectname] [targ/obs]: set object class to target or obstacle");
reply.addString( "get [objectname]: return object state");
reply.addString( "rot [objectname] [xrot] [yrot] [zrot]: set object rotation (degrees)");
reply.addString( "rot [objectname] [1*9 rotation matrix]: set object rotation cosine matrix");
reply.addString( "rm [objectname]: remove object (persistent objects cannot be removed)");
reply.addString( "clr: remove all but persistent objects from the world, and reset object counters");
reply.addString( "grab [objectname] [robotname] [markername]: attach object to robot marker");
reply.addString( "grab [objectname] [robotname]: detach object from robot");
reply.addString("\niCub simulator synchronization commands:");
reply.addString( "sim [objectname] [xpos] [ypos] [zpos] [xrot] [yrot] [zrot]: set rototranslation as returned in iCubSim coordinates");
reply.addString( "srun [period]: run iCubSim synchronization thread");
reply.addString( "sstp: stop iCubSim synchronization thread");
reply.addString( "sync: do one iCubSim synchronization step");
return true;
}
else if ( prefix == "ls, mk (sph, cyl, box), set, def (obs/tgt), get, rot, rm, clr, grab, sim, srun, sstp, sync" ) { n++; }
cmd = command.get(n).asVocab(); n++;
switch (cmd)
{
case VOCAB_LS: getList(reply); break;
case VOCAB_MK: make(command,reply,n); break;
case VOCAB_SET: set(command,reply,n); break;
case VOCAB_DEF: respClass(command,reply,n); break;
case VOCAB_GET: getState(command,reply,n); break;
case VOCAB_ROT: setRot(command,reply,n); break;
case VOCAB_REM: removeObject(command,reply,n); break;
case VOCAB_GRAB: grabObject(command,reply,n); break;
case VOCAB_SIM: setRTfromSim(command, reply, n); break;
case VOCAB_SIMSYNC_RUN: startSimSyncer(command, reply, n); break;
case VOCAB_SIMSYNC_STOP: model->getSimSyncer().stop(); reply.addString("ok"); break;
case VOCAB_SIMSYNC_NOW: model->getSimSyncer().step(); reply.addString("ok"); break;
case VOCAB_CLEAR:
printf("CLEARING THE WORLD\n");
model->clearTheWorld();
s = 0; c = 0; b = 0; ss = 0; sc = 0; sb = 0; // set counters to 0, for icub simulator compatibility
reply.addString("Removed all world objects");
printf("FINISHED CLEARING THE WORLD\n");
break;
default: reply.addString("Unknown RPC command"); return false;
}
return true;
}
/**
* Parser for user command received from the RPC port
* @param command the bottle containing the user command
* @param reply the bottle which will be returned to the RPC client
* @return true if the command was successfully parsed
*/
virtual bool respond(const yarp::os::Bottle& command,yarp::os::Bottle& reply)
{
yarp::os::LockGuard lock(m_mutex);
reply.clear();
//parser for VOCAB commands
if (command.get(0).isVocab())
{
if(command.get(0).asVocab() == VOCAB_INAVIGATION && command.get(1).isVocab())
{
parse_respond_vocab(command,reply);
}
else
{
yError() << "Invalid vocab received";
reply.addVocab(VOCAB_ERR);
}
}
//parser for string commands
else if (command.get(0).isString())
{
if (command.get(0).asString()=="help")
{
reply.addVocab(Vocab::encode("many"));
reply.addString("Available commands are:");
reply.addString("getLoc");
reply.addString("initLoc <map_name> <x> <y> <angle in degrees>");
}
else if (command.get(0).isString())
{
parse_respond_string(command, reply);
}
}
//unknown/invalid command received
else
{
yError() << "Invalid command type";
reply.addVocab(VOCAB_ERR);
}
return true;
}
virtual bool respond(const yarp::os::Bottle &command, yarp::os::Bottle &reply)
{
reply.clear();
if (command.get(0).isString())
{
if (command.get(0).asString()=="help")
{
reply.addVocab(Vocab::encode("many"));
reply.addString("Available commands:");
reply.addString("currently nothing");
return true;
}
else if (command.get(0).asString()=="***")
{
return true;
}
}
reply.addString("Unknown command");
return true;
}
bool Implement_DepthVisualParams_Parser::respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& response)
{
bool ret = false;
response.clear();
if(!iDepthVisual)
{
yError() << "Depth Visual parameter Parser has not been correctly configured. IDepthVisualParams interface is not valid";
response.addVocab(VOCAB_FAILED);
return false;
}
int code = cmd.get(0).asVocab();
if(code != VOCAB_DEPTH_VISUAL_PARAMS)
{
yError() << "Depth Visual Params Parser received a command not belonging to this interface. Required interface was " << yarp::os::Vocab::decode(code);
response.addVocab(VOCAB_FAILED);
return false;
}
switch (cmd.get(1).asVocab())
{
case VOCAB_GET:
{
switch(cmd.get(2).asVocab())
{
case VOCAB_HEIGHT:
{
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_HEIGHT);
response.addVocab(VOCAB_IS);
response.addInt(iDepthVisual->getDepthHeight());
}
break;
case VOCAB_WIDTH:
{
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_WIDTH);
response.addVocab(VOCAB_IS);
response.addInt(iDepthVisual->getDepthWidth());
}
break;
case VOCAB_FOV:
{
double hFov, vFov;
ret = iDepthVisual->getDepthFOV(hFov, vFov);
if(ret)
{
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_FOV);
response.addVocab(VOCAB_IS);
response.addDouble(hFov);
response.addDouble(vFov);
}
else
response.addVocab(VOCAB_FAILED);
}
break;
case VOCAB_INTRINSIC_PARAM:
{
yarp::os::Property params;
ret = iDepthVisual->getDepthIntrinsicParam(params);
if(ret)
{
yarp::os::Bottle params_b;
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_INTRINSIC_PARAM);
response.addVocab(VOCAB_IS);
Property::copyPortable(params, params_b); // will it really work??
response.append(params_b);
}
else
{
response.addVocab(VOCAB_FAILED);
}
}
break;
case VOCAB_ACCURACY:
{
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_ACCURACY);
response.addVocab(VOCAB_IS);
response.addDouble(iDepthVisual->getDepthAccuracy());
}
break;
case VOCAB_CLIP_PLANES:
{
double nearPlane, farPlane;
iDepthVisual->getDepthClipPlanes(nearPlane, farPlane);
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_CLIP_PLANES);
response.addVocab(VOCAB_IS);
response.addDouble(nearPlane);
response.addDouble(farPlane);
}
break;
case VOCAB_MIRROR:
{
bool mirror;
ret = iDepthVisual->getDepthMirroring(mirror);
if(ret)
{
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_MIRROR);
response.addVocab(VOCAB_IS);
response.addInt(mirror);
}
else
response.addVocab(VOCAB_FAILED);
}
break;
default:
{
yError() << "Depth Visual Parameter interface parser received am unknown GET command. Command is " << cmd.toString();
response.addVocab(VOCAB_FAILED);
ret = false;
}
break;
}
}
break;
case VOCAB_SET:
{
switch(cmd.get(2).asVocab())
{
case VOCAB_RESOLUTION:
{
ret = iDepthVisual->setDepthResolution(cmd.get(3).asInt(), cmd.get(4).asInt());
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_SET);
response.addInt(ret);
}
break;
case VOCAB_FOV:
{
ret = iDepthVisual->setDepthFOV(cmd.get(3).asDouble(), cmd.get(4).asDouble());
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_SET);
response.addInt(ret);
}
break;
case VOCAB_ACCURACY:
{
ret = iDepthVisual->setDepthAccuracy(cmd.get(3).asDouble());
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_SET);
response.addInt(ret);
}
break;
case VOCAB_CLIP_PLANES:
{
ret = iDepthVisual->setDepthClipPlanes(cmd.get(3).asDouble(), cmd.get(4).asDouble());
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_SET);
response.addInt(ret);
}
break;
case VOCAB_INTRINSIC_PARAM:
{
yarp::os::Property params;
ret = iDepthVisual->getDepthIntrinsicParam(params);
if(ret)
{
yarp::os::Bottle params_b;
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_INTRINSIC_PARAM);
response.addVocab(VOCAB_IS);
Property::copyPortable(params, params_b); // will it really work??
response.append(params_b);
}
else
response.addVocab(VOCAB_FAILED);
}
break;
case VOCAB_MIRROR:
{
ret = iDepthVisual->setDepthMirroring(cmd.get(3).asBool());
response.addVocab(VOCAB_DEPTH_VISUAL_PARAMS);
response.addVocab(VOCAB_SET);
response.addInt(ret);
}
break;
default:
{
yError() << "Rgb Visual Parameter interface parser received am unknown SET command. Command is " << cmd.toString();
response.addVocab(VOCAB_FAILED);
ret = false;
}
break;
}
}
break;
default:
{
yError() << "Rgb Visual parameter interface Parser received a malformed request. Command should either be 'set' or 'get', received " << cmd.toString();
response.addVocab(VOCAB_FAILED);
ret = false;
}
break;
}
return ret;
}
bool ServerFrameGrabber::respond(const yarp::os::Bottle& cmd,
yarp::os::Bottle& response) {
int code = cmd.get(0).asVocab();
IFrameGrabberControlsDC1394* fgCtrlDC1394=dynamic_cast<IFrameGrabberControlsDC1394*>(fgCtrl);
//printf("%s\n",cmd.toString().c_str());
switch (code)
{
case VOCAB_SET:
printf("set command received\n");
switch(cmd.get(1).asVocab())
{
case VOCAB_BRIGHTNESS:
response.addInt(int(setBrightness(cmd.get(2).asDouble())));
return true;
case VOCAB_EXPOSURE:
response.addInt(int(setExposure(cmd.get(2).asDouble())));
return true;
case VOCAB_SHARPNESS:
response.addInt(int(setSharpness(cmd.get(2).asDouble())));
return true;
case VOCAB_WHITE:
response.addInt(int(setWhiteBalance(cmd.get(2).asDouble(),cmd.get(3).asDouble())));
return true;
case VOCAB_HUE:
response.addInt(int(setHue(cmd.get(2).asDouble())));
return true;
case VOCAB_SATURATION:
response.addInt(int(setSaturation(cmd.get(2).asDouble())));
return true;
case VOCAB_GAMMA:
response.addInt(int(setGamma(cmd.get(2).asDouble())));
return true;
case VOCAB_SHUTTER:
response.addInt(int(setShutter(cmd.get(2).asDouble())));
return true;
case VOCAB_GAIN:
response.addInt(int(setGain(cmd.get(2).asDouble())));
return true;
case VOCAB_IRIS:
response.addInt(int(setIris(cmd.get(2).asDouble())));
return true;
/*
case VOCAB_TEMPERATURE:
response.addInt(int(setTemperature(cmd.get(2).asDouble())));
return true;
case VOCAB_WHITE_SHADING:
response.addInt(int(setWhiteShading(cmd.get(2).asDouble(),cmd.get(3).asDouble(),cmd.get(4).asDouble())));
return true;
case VOCAB_OPTICAL_FILTER:
response.addInt(int(setOpticalFilter(cmd.get(2).asDouble())));
return true;
case VOCAB_CAPTURE_QUALITY:
response.addInt(int(setCaptureQuality(cmd.get(2).asDouble())));
return true;
*/
}
return DeviceResponder::respond(cmd,response);
case VOCAB_GET:
printf("get command received\n");
response.addVocab(VOCAB_IS);
response.add(cmd.get(1));
switch(cmd.get(1).asVocab())
{
case VOCAB_BRIGHTNESS:
response.addDouble(getBrightness());
return true;
case VOCAB_EXPOSURE:
response.addDouble(getExposure());
return true;
case VOCAB_SHARPNESS:
response.addDouble(getSharpness());
return true;
case VOCAB_WHITE:
{
double b=0.0;
double r=0.0;
getWhiteBalance(b,r);
response.addDouble(b);
response.addDouble(r);
}
return true;
case VOCAB_HUE:
response.addDouble(getHue());
return true;
case VOCAB_SATURATION:
response.addDouble(getSaturation());
return true;
case VOCAB_GAMMA:
response.addDouble(getGamma());
return true;
case VOCAB_SHUTTER:
response.addDouble(getShutter());
return true;
case VOCAB_GAIN:
response.addDouble(getGain());
return true;
case VOCAB_IRIS:
response.addDouble(getIris());
return true;
/*
case VOCAB_CAPTURE_QUALITY:
response.addDouble(getCaptureQuality());
return true;
case VOCAB_OPTICAL_FILTER:
response.addDouble(getOpticalFilter());
return true;
*/
case VOCAB_WIDTH:
// normally, this would come from stream information
response.addInt(width());
return true;
case VOCAB_HEIGHT:
// normally, this would come from stream information
response.addInt(height());
return true;
}
return DeviceResponder::respond(cmd,response);
//////////////////
// DC1394 COMMANDS
//////////////////
default:
if (fgCtrlDC1394) switch(code)
{
case VOCAB_DRHASFEA: // VOCAB_DRHASFEA 00
response.addInt(int(fgCtrlDC1394->hasFeatureDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRSETVAL: // VOCAB_DRSETVAL 01
response.addInt(int(fgCtrlDC1394->setFeatureDC1394(cmd.get(1).asInt(),cmd.get(2).asDouble())));
return true;
case VOCAB_DRGETVAL: // VOCAB_DRGETVAL 02
response.addDouble(fgCtrlDC1394->getFeatureDC1394(cmd.get(1).asInt()));
return true;
case VOCAB_DRHASACT: // VOCAB_DRHASACT 03
response.addInt(int(fgCtrlDC1394->hasOnOffDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRSETACT: // VOCAB_DRSETACT 04
response.addInt(int(fgCtrlDC1394->setActiveDC1394(cmd.get(1).asInt(),(cmd.get(2).asInt()!=0))));
return true;
case VOCAB_DRGETACT: // VOCAB_DRGETACT 05
response.addInt(int(fgCtrlDC1394->getActiveDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRHASMAN: // VOCAB_DRHASMAN 06
response.addInt(int(fgCtrlDC1394->hasManualDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRHASAUT: // VOCAB_DRHASAUT 07
response.addInt(int(fgCtrlDC1394->hasAutoDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRHASONP: // VOCAB_DRHASONP 08
response.addInt(int(fgCtrlDC1394->hasOnePushDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRSETMOD: // VOCAB_DRSETMOD 09
response.addInt(int(fgCtrlDC1394->setModeDC1394(cmd.get(1).asInt(),(cmd.get(2).asInt()!=0))));
return true;
case VOCAB_DRGETMOD: // VOCAB_DRGETMOD 10
response.addInt(int(fgCtrlDC1394->getModeDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRSETONP: // VOCAB_DRSETONP 11
response.addInt(int(fgCtrlDC1394->setOnePushDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRGETMSK: // VOCAB_DRGETMSK 12
response.addInt(int(fgCtrlDC1394->getVideoModeMaskDC1394()));
return true;
case VOCAB_DRGETVMD: // VOCAB_DRGETVMD 13
response.addInt(int(fgCtrlDC1394->getVideoModeDC1394()));
return true;
case VOCAB_DRSETVMD: // VOCAB_DRSETVMD 14
response.addInt(int(fgCtrlDC1394->setVideoModeDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRGETFPM: // VOCAB_DRGETFPM 15
response.addInt(int(fgCtrlDC1394->getFPSMaskDC1394()));
return true;
case VOCAB_DRGETFPS: // VOCAB_DRGETFPS 16
response.addInt(int(fgCtrlDC1394->getFPSDC1394()));
return true;
case VOCAB_DRSETFPS: // VOCAB_DRSETFPS 17
response.addInt(int(fgCtrlDC1394->setFPSDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRGETISO: // VOCAB_DRGETISO 18
response.addInt(int(fgCtrlDC1394->getISOSpeedDC1394()));
return true;
case VOCAB_DRSETISO: // VOCAB_DRSETISO 19
response.addInt(int(fgCtrlDC1394->setISOSpeedDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRGETCCM: // VOCAB_DRGETCCM 20
response.addInt(int(fgCtrlDC1394->getColorCodingMaskDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRGETCOD: // VOCAB_DRGETCOD 21
response.addInt(int(fgCtrlDC1394->getColorCodingDC1394()));
return true;
case VOCAB_DRSETCOD: // VOCAB_DRSETCOD 22
response.addInt(int(fgCtrlDC1394->setColorCodingDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRSETWHB: // VOCAB_DRSETWHB 23
response.addInt(int(fgCtrlDC1394->setWhiteBalanceDC1394(cmd.get(1).asDouble(),cmd.get(2).asDouble())));
return true;
case VOCAB_DRGETWHB: // VOCAB_DRGETWHB 24
{
double b,r;
fgCtrlDC1394->getWhiteBalanceDC1394(b,r);
response.addDouble(b);
response.addDouble(r);
}
return true;
case VOCAB_DRGETF7M: // VOCAB_DRGETF7M 25
{
unsigned int xstep,ystep,xdim,ydim,xoffstep,yoffstep;
fgCtrlDC1394->getFormat7MaxWindowDC1394(xdim,ydim,xstep,ystep,xoffstep,yoffstep);
response.addInt(xdim);
response.addInt(ydim);
response.addInt(xstep);
response.addInt(ystep);
response.addInt(xoffstep);
response.addInt(yoffstep);
}
return true;
case VOCAB_DRGETWF7: // VOCAB_DRGETWF7 26
{
unsigned int xdim,ydim;
int x0,y0;
fgCtrlDC1394->getFormat7WindowDC1394(xdim,ydim,x0,y0);
response.addInt(xdim);
response.addInt(ydim);
response.addInt(x0);
response.addInt(y0);
}
return true;
case VOCAB_DRSETWF7: // VOCAB_DRSETWF7 27
response.addInt(int(fgCtrlDC1394->setFormat7WindowDC1394(cmd.get(1).asInt(),cmd.get(2).asInt(),cmd.get(3).asInt(),cmd.get(4).asInt())));
return true;
case VOCAB_DRSETOPM: // VOCAB_DRSETOPM 28
response.addInt(int(fgCtrlDC1394->setOperationModeDC1394(cmd.get(1).asInt()!=0)));
return true;
case VOCAB_DRGETOPM: // VOCAB_DRGETOPM 29
response.addInt(fgCtrlDC1394->getOperationModeDC1394());
return true;
case VOCAB_DRSETTXM: // VOCAB_DRSETTXM 30
response.addInt(int(fgCtrlDC1394->setTransmissionDC1394(cmd.get(1).asInt()!=0)));
return true;
case VOCAB_DRGETTXM: // VOCAB_DRGETTXM 31
response.addInt(fgCtrlDC1394->getTransmissionDC1394());
return true;
/*
case VOCAB_DRSETBAY: // VOCAB_DRSETBAY 32
response.addInt(int(fgCtrlDC1394->setBayerDC1394(bool(cmd.get(1).asInt()))));
return true;
case VOCAB_DRGETBAY: // VOCAB_DRGETBAY 33
response.addInt(fgCtrlDC1394->getBayerDC1394());
return true;
*/
case VOCAB_DRSETBCS: // VOCAB_DRSETBCS 34
response.addInt(int(fgCtrlDC1394->setBroadcastDC1394(cmd.get(1).asInt()!=0)));
return true;
case VOCAB_DRSETDEF: // VOCAB_DRSETDEF 35
response.addInt(int(fgCtrlDC1394->setDefaultsDC1394()));
return true;
case VOCAB_DRSETRST: // VOCAB_DRSETRST 36
response.addInt(int(fgCtrlDC1394->setResetDC1394()));
return true;
case VOCAB_DRSETPWR: // VOCAB_DRSETPWR 37
response.addInt(int(fgCtrlDC1394->setPowerDC1394(cmd.get(1).asInt()!=0)));
return true;
case VOCAB_DRSETCAP: // VOCAB_DRSETCAP 38
response.addInt(int(fgCtrlDC1394->setCaptureDC1394(cmd.get(1).asInt()!=0)));
return true;
case VOCAB_DRSETBPP: // VOCAB_DRSETCAP 39
response.addInt(int(fgCtrlDC1394->setBytesPerPacketDC1394(cmd.get(1).asInt())));
return true;
case VOCAB_DRGETBPP: // VOCAB_DRGETTXM 40
response.addInt(fgCtrlDC1394->getBytesPerPacketDC1394());
return true;
}
}
return DeviceResponder::respond(cmd,response);
}
virtual bool respond(const yarp::os::Bottle &command, yarp::os::Bottle &reply)
{
reply.clear();
yDebug("receiving command from port\n");
int index = 0;
int cmdSize = command.size();
while(cmdSize>0)
{
switch(command.get(index).asVocab())
{
case VOCAB4('s','u','s','p'):
reply.addVocab(Vocab::encode("ack"));
vc->halt();
cmdSize--;
index++;
break;
case VOCAB3('r','u','n'):
reply.addVocab(Vocab::encode("ack"));
vc->go();
cmdSize--;
index++;
break;
//this set current position reference
case VOCAB3('s','e','t'):
if (command.size()>=3)
{
int i=command.get(index+1).asInt();
double pos=command.get(index+2).asDouble();
vc->setRef(i, pos);
index +=3;
cmdSize-=3;
}
else
{
cmdSize--;
index++;
yError("Invalid set message, ignoring\n");
}
reply.addVocab(Vocab::encode("ack"));
break;
//this set maximum velocity (limiter)
case VOCAB4('s','v','e','l'):
if(command.size()>=3)
{
int i=command.get(index+1).asInt();
double vel = command.get(index+2).asDouble();
vc->setVel(i,vel);
index += 3;
cmdSize-=3;;
reply.addVocab(Vocab::encode("ack"));
}
else
{
cmdSize--;
index++;
yError("Invalid set vel message, ignoring\n");
reply.addVocab(Vocab::encode("fail"));
}
break;
case VOCAB4('g','a','i','n'):
if(command.size()>=3)
{
int i=command.get(index+1).asInt();
double gain = command.get(index+2).asDouble();
vc->setGain(i,gain);
index+=3;
cmdSize-=3;
reply.addVocab(Vocab::encode("ack"));
}
else
{
cmdSize--;
index++;
yError("Invalid set gain message, ignoring\n");
reply.addVocab(Vocab::encode("fail"));
}
break;
case VOCAB4('h','e','l','p'):
fprintf(stdout,"VelocityControl module, valid commands are:\n");
fprintf(stdout,"- [susp] suspend the controller (command zero velocity)\n");
fprintf(stdout,"- [run] start (and resume after being suspended) the controller\n");
fprintf(stdout,"- [quit] quit the module (exit)\n");
fprintf(stdout,"- [set] <j> <p> move joint j to p (degrees)\n");
fprintf(stdout,"- [svel] <j> <v> set maximum speed for joint j to v (deg/sec)\n");
fprintf(stdout,"- [gain] <j> <k> set P gain for joint j to k\n");
fprintf(stdout,"- [help] to get this help\n");
fprintf(stdout,"\n typical commands:\n gain 0 10\n svel 0 10\n run\n set 0 x\n\n");
reply.addVocab(Vocab::encode("many"));
reply.addVocab(Vocab::encode("ack"));
reply.addString("VelocityControl module, valid commands are:");
reply.addString("- [susp] suspend the controller (command zero velocity)");
reply.addString("- [run] start (and resume after being suspended) the controller");
reply.addString("- [quit] quit the module (exit)");
reply.addString("- [set] <j> <p> move joint j to p (degrees)");
reply.addString("- [svel] <j> <v> set maximum speed for joint j to v (deg/sec)");
reply.addString("- [gain] <j> <k> set P gain for joint j to k");
reply.addString("- [help] to get this help");
reply.addString("\n typical commands:\n gain 0 10\n svel 0 10\n run\n set 0 x\n\n");
break;
default:
yError("Invalid command, ignoring\n");
reply.addVocab(Vocab::encode("fail"));
//cmdSize--;
//index++;
//return respond(command, reply); // call default
break;
}
return true;
}
return false;
}
void handleImpedanceMsg(IImpedanceControl *iimp, const yarp::os::Bottle& cmd,
yarp::os::Bottle& response, bool *rec, bool *ok)
{
fprintf(stderr, "Handling IImpedance messages\n");
if (!iimp)
{
fprintf(stderr, "Error, I do not have a valid IImpedance interface\n");
*ok=false;
return;
}
int controlledJoints;
iimp->getAxes(&controlledJoints);
int code = cmd.get(1).asVocab();
switch (code)
{
case VOCAB_SET:
{
*rec = true;
switch(cmd.get(2).asVocab())
{
case VOCAB_IMP_PARAM:
{
*ok = iimp->setImpedance(cmd.get(3).asInt(), cmd.get(4).asDouble(),cmd.get(5).asDouble());
}
break;
case VOCAB_IMP_OFFSET:
{
*ok = iimp->setImpedanceOffset (cmd.get(3).asInt(), cmd.get(4).asDouble());
}
break;
}
}
break;
case VOCAB_GET:
{
*rec = true;
int tmp = 0;
double dtmp0 = 0.0;
double dtmp1 = 0.0;
double dtmp2 = 0.0;
response.addVocab(VOCAB_IS);
response.add(cmd.get(1));
switch(cmd.get(2).asVocab())
{
case VOCAB_IMP_PARAM:
{
*ok = iimp->getImpedance(cmd.get(3).asInt(), &dtmp0, &dtmp1);
response.addDouble(dtmp0);
response.addDouble(dtmp1);
}
break;
case VOCAB_IMP_OFFSET:
{
*ok = iimp->getImpedanceOffset(cmd.get(3).asInt(), &dtmp0);
response.addDouble(dtmp0);
}
break;
}
}
break;
}
//rec --> true se il comando e' riconosciuto
//ok --> contiene il return value della chiamata all'interfaccia
// ...*ok=torque->setPid();
//torque->
}
void handleTorqueMsg(ITorqueControl *torque, const yarp::os::Bottle& cmd,
yarp::os::Bottle& response, bool *rec, bool *ok)
{
fprintf(stderr, "Handling ITorque messages\n");
if (!torque)
{
fprintf(stderr, "Error, I do not have a valid ITorque interface\n");
*ok=false;
return;
}
int controlledJoints;
torque->getAxes(&controlledJoints);
int code = cmd.get(1).asVocab();
switch (code)
{
case VOCAB_SET:
{
*rec = true;
switch(cmd.get(2).asVocab())
{
case VOCAB_REF:
{
*ok = torque->setRefTorque(cmd.get(3).asInt(), cmd.get(4).asDouble());
}
break;
case VOCAB_REFS:
{
Bottle& b = *(cmd.get(3).asList());
int i;
const int njs = b.size();
if (njs==controlledJoints)
{
double *p = new double[njs]; // LATER: optimize to avoid allocation.
for (i = 0; i < njs; i++)
p[i] = b.get(i).asDouble();
*ok = torque->setRefTorques (p);
delete[] p;
}
}
break;
case VOCAB_LIM:
{
*ok = torque->setTorqueErrorLimit (cmd.get(3).asInt(), cmd.get(4).asDouble());
}
break;
case VOCAB_LIMS:
{
Bottle& b = *(cmd.get(3).asList());
int i;
const int njs = b.size();
if (njs==controlledJoints)
{
double *p = new double[njs]; // LATER: optimize to avoid allocation.
for (i = 0; i < njs; i++)
p[i] = b.get(i).asDouble();
*ok = torque->setTorqueErrorLimits (p);
delete[] p;
}
}
break;
case VOCAB_PID:
{
Pid p;
int j = cmd.get(3).asInt();
Bottle& b = *(cmd.get(4).asList());
p.kp = b.get(0).asDouble();
p.kd = b.get(1).asDouble();
p.ki = b.get(2).asDouble();
p.max_int = b.get(3).asDouble();
p.max_output = b.get(4).asDouble();
p.offset = b.get(5).asDouble();
p.scale = b.get(6).asDouble();
*ok = torque->setTorquePid(j, p);
}
break;
case VOCAB_PIDS:
{
Bottle& b = *(cmd.get(3).asList());
int i;
const int njs = b.size();
if (njs==controlledJoints)
{
Pid *p = new Pid[njs];
for (i = 0; i < njs; i++)
{
Bottle& c = *(b.get(i).asList());
p[i].kp = c.get(0).asDouble();
p[i].kd = c.get(1).asDouble();
p[i].ki = c.get(2).asDouble();
p[i].max_int = c.get(3).asDouble();
p[i].max_output = c.get(4).asDouble();
p[i].offset = c.get(5).asDouble();
p[i].scale = c.get(6).asDouble();
}
*ok = torque->setTorquePids(p);
delete[] p;
}
}
break;
case VOCAB_RESET:
{
*ok = torque->resetTorquePid (cmd.get(3).asInt());
}
break;
case VOCAB_DISABLE:
{
*ok = torque->disableTorquePid (cmd.get(3).asInt());
}
break;
case VOCAB_ENABLE:
{
*ok = torque->enableTorquePid (cmd.get(3).asInt());
}
break;
case VOCAB_TORQUE_MODE:
{
*ok = torque->setTorqueMode();
}
break;
}
}
break;
case VOCAB_GET:
{
*rec = true;
int tmp = 0;
double dtmp = 0.0;
response.addVocab(VOCAB_IS);
response.add(cmd.get(1));
switch(cmd.get(2).asVocab())
{
case VOCAB_AXES:
{
int tmp;
*ok = torque->getAxes(&tmp);
response.addInt(tmp);
}
break;
case VOCAB_TRQ:
{
*ok = torque->getTorque(cmd.get(3).asInt(), &dtmp);
response.addDouble(dtmp);
}
break;
case VOCAB_TRQS:
{
double *p = new double[controlledJoints];
*ok = torque->getTorques(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < controlledJoints; i++)
b.addDouble(p[i]);
delete[] p;
}
break;
case VOCAB_ERR:
{
*ok = torque->getTorqueError(cmd.get(3).asInt(), &dtmp);
response.addDouble(dtmp);
}
break;
case VOCAB_ERRS:
{
double *p = new double[controlledJoints];
*ok = torque->getTorqueErrors(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < controlledJoints; i++)
b.addDouble(p[i]);
delete[] p;
}
break;
case VOCAB_OUTPUT:
{
*ok = torque->getTorquePidOutput(cmd.get(3).asInt(), &dtmp);
response.addDouble(dtmp);
}
break;
case VOCAB_OUTPUTS:
{
double *p = new double[controlledJoints];
*ok = torque->getTorquePidOutputs(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < controlledJoints; i++)
b.addDouble(p[i]);
delete[] p;
}
break;
case VOCAB_PID:
{
Pid p;
*ok = torque->getTorquePid(cmd.get(3).asInt(), &p);
Bottle& b = response.addList();
b.addDouble(p.kp);
b.addDouble(p.kd);
b.addDouble(p.ki);
b.addDouble(p.max_int);
b.addDouble(p.max_output);
b.addDouble(p.offset);
b.addDouble(p.scale);
}
break;
case VOCAB_PIDS:
{
Pid *p = new Pid[controlledJoints];
*ok = torque->getTorquePids(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < controlledJoints; i++)
{
Bottle& c = b.addList();
c.addDouble(p[i].kp);
c.addDouble(p[i].kd);
c.addDouble(p[i].ki);
c.addDouble(p[i].max_int);
c.addDouble(p[i].max_output);
c.addDouble(p[i].offset);
c.addDouble(p[i].scale);
}
delete[] p;
}
break;
case VOCAB_REFERENCE:
{
*ok = torque->getRefTorque(cmd.get(3).asInt(), &dtmp);
response.addDouble(dtmp);
}
break;
case VOCAB_REFERENCES:
{
double *p = new double[controlledJoints];
*ok = torque->getRefTorques(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < controlledJoints; i++)
b.addDouble(p[i]);
delete[] p;
}
break;
case VOCAB_LIM:
{
*ok = torque->getTorqueErrorLimit(cmd.get(3).asInt(), &dtmp);
response.addDouble(dtmp);
}
break;
case VOCAB_LIMS:
{
double *p = new double[controlledJoints];
*ok = torque->getTorqueErrorLimits(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < controlledJoints; i++)
b.addDouble(p[i]);
delete[] p;
}
break;
}
}
break;
}
//rec --> true se il comando e' riconosciuto
//ok --> contiene il return value della chiamata all'interfaccia
// ...*ok=torque->setPid();
//torque->
}
void handleInteractionModeMsg(IInteractionMode *iInteract, const yarp::os::Bottle& cmd,
yarp::os::Bottle& response, bool *rec, bool *ok)
{
fprintf(stderr, "Handling IInteractionMode message %s\n", cmd.toString().c_str());
if (!iInteract)
{
fprintf(stderr, "Error I do not have a valid interface\n");
*ok=false;
return;
}
int code = cmd.get(1).asVocab();
*ok=true;
switch(code)
{
case VOCAB_SET:
{
int axis = cmd.get(3).asInt();
yarp::dev::InteractionModeEnum mode = (yarp::dev::InteractionModeEnum) cmd.get(2).asVocab();
*ok = iInteract->setInteractionMode(axis, mode);
*rec=true; //or false
}
break;
case VOCAB_GET:
{
int which = cmd.get(2).asVocab();
switch(which)
{
case VOCAB_INTERACTION_MODE:
{
int axis = cmd.get(3).asInt();
yarp::dev::InteractionModeEnum mode;
*ok = iInteract->getInteractionMode(axis, &mode);
// create response
if(*ok)
{
response.addVocab(VOCAB_IS);
response.addInt(axis);
response.addVocab(VOCAB_INTERACTION_MODE);
response.addVocab(mode);
*rec=true;
}
else
{
response.addVocab(VOCAB_FAILED);
*rec = false;
}
}
break;
case VOCAB_INTERACTION_MODES:
{
int axis = cmd.get(3).asInt();
yarp::dev::InteractionModeEnum *modes;
modes = new yarp::dev::InteractionModeEnum[jnts];
*ok = iInteract->getInteractionMode(axis, modes);
// create response
if(*ok)
{
response.addVocab(VOCAB_IS);
response.addVocab(VOCAB_INTERACTION_MODES);
for(int i=0; i<jnts; i++)
response.addVocab(modes[i]);
*rec=true;
}
else
{
response.addVocab(VOCAB_FAILED);
*rec = false;
}
}
break;
default:
{
fprintf(stderr, "get command not understood");
*rec=false;
break;
}
break;
}
}
break;
default:
{
fprintf(stderr, "type of command not understood");
*rec=false;
}
break;
}
}
void handleControlModeMsg(IControlMode2 *iMode, const yarp::os::Bottle& cmd,
yarp::os::Bottle& response, bool *rec, bool *ok)
{
fprintf(stderr, "Handling IControlMode message %s\n", cmd.toString().c_str());
if (!iMode)
{
fprintf(stderr, "Error I do not have a valid interface\n");
*ok=false;
return;
}
int code = cmd.get(1).asVocab();
*ok=true;
switch(code)
{
case VOCAB_SET:
{
int axis = cmd.get(3).asInt();
int mode=cmd.get(2).asVocab();
switch (mode)
{
case VOCAB_CM_POSITION:
*ok = iMode->setPositionMode(axis);
break;
case VOCAB_CM_POSITION_DIRECT:
*ok = iMode->setControlMode(axis, VOCAB_CM_POSITION_DIRECT);
break;
case VOCAB_CM_VELOCITY:
*ok = iMode->setVelocityMode(axis);
break;
case VOCAB_CM_MIXED:
*ok = iMode->setControlMode(axis, VOCAB_CM_MIXED);
break;
case VOCAB_CM_TORQUE:
*ok = iMode->setTorqueMode(axis);
break;
case VOCAB_CM_OPENLOOP:
*ok = iMode->setOpenLoopMode(axis);
break;
case VOCAB_CM_IDLE:
*ok = iMode->setControlMode(axis, VOCAB_CM_IDLE);
break;
case VOCAB_CM_FORCE_IDLE:
*ok = iMode->setControlMode(axis, VOCAB_CM_FORCE_IDLE);
break;
case VOCAB_CM_IMPEDANCE_POS:
*ok = iMode->setControlMode(axis, VOCAB_CM_IMPEDANCE_POS);
break;
case VOCAB_CM_IMPEDANCE_VEL:
*ok = iMode->setControlMode(axis, VOCAB_CM_IMPEDANCE_VEL);
break;
default:
*ok = false;
break;
}
*rec=true; //or false
}
break;
case VOCAB_GET:
{
if (cmd.get(2).asVocab()==VOCAB_CM_CONTROL_MODE)
{
int p=-1;
int axis = cmd.get(3).asInt();
fprintf(stderr, "Calling getControlMode\n");
*ok = iMode->getControlMode(axis, &p);
response.addVocab(VOCAB_IS);
response.addInt(axis);
response.addVocab(VOCAB_CM_CONTROL_MODE);
response.addVocab(p);
//fprintf(stderr, "Returning %d\n", p);
*rec=true;
}
}
break;
default:
{
*rec=false;
}
break;
}
}
// Callback handler for RPC commands (?)
bool RpcMsgHandler::respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& reply)
{
bool ok = true;
bool commandUnderstood = true; // is the command recognized?
if (caller->verbose())
printf("command received: %s\n", cmd.toString().c_str());
int code = cmd.get(0).asVocab();
switch (code)
{
case VOCAB_GET:
{
double dtmp = 0.0;
double dtmp2 = 0.0;
reply.addVocab(VOCAB_IS);
reply.add(cmd.get(1));
switch(cmd.get(1).asVocab())
{
case VOCAB_AXES:
{
int axes;
caller->getAxes(axes);
reply.addInt(axes);
}
break;
case VOCAB_DEBUG_PARAMETER:
{
int j = cmd.get(2).asInt();
int index = cmd.get(3).asInt();
ok = caller->getDebugParameter(j, index, &dtmp);
reply.addInt(j);
reply.addInt(index);
reply.addDouble(dtmp);
}
break;
case VOCAB_GENERIC_PARAMETER:
{
int j = cmd.get(2).asInt();
int param = cmd.get(3).asInt();
ok = caller->getParameter(j, param, &dtmp);
reply.addInt(j);
reply.addInt(param);
reply.addDouble(dtmp);
}
break;
default:
{
commandUnderstood = false;
std::cout << "Debug Interface 1: command not understood! received " << cmd.toString().c_str() << std::endl;
}
break;
}
}
break; // case VOCAB_GET
case VOCAB_SET:
{
switch(cmd.get(1).asVocab())
{
case VOCAB_GENERIC_PARAMETER:
{
int j = cmd.get(2).asInt();
int param = cmd.get(3).asInt();
double val = cmd.get(4).asDouble();
ok = caller->setParameter(j, param, val);
}
break;
case VOCAB_DEBUG_PARAMETER:
{
int j = cmd.get(2).asInt();
int index = cmd.get(3).asInt();
double val = cmd.get(4).asDouble();
ok = caller->setDebugParameter(j, index, val);
}
break;
default:
{
commandUnderstood = false;
std::cout << "Debug Interface 2: command not understood! received " << cmd.toString().c_str() << std::endl;
}
break;
}
}
break; // case VOCAB_SET
default:
{
commandUnderstood = false;
std::cout << "Debug Interface 3: command not understood! received " << cmd.toString().c_str() << std::endl;
}
break;
} //switch code
if (!commandUnderstood)
{
ok = DeviceResponder::respond(cmd,reply);
}
if (!ok)
{
// failed thus send only a VOCAB back.
reply.clear();
reply.addVocab(VOCAB_FAILED);
}
else
reply.addVocab(VOCAB_OK);
return ok;
}
bool FrameGrabberControls2_Parser::respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& response)
{
bool ok = false;
int action = cmd.get(1).asVocab();
int param = cmd.get(2).asVocab();
// yTrace() << "cmd received\n\t" << cmd.toString().c_str();
if(!fgCtrl2)
{
yError() << " Selected camera device has no IFrameGrabberControl2 interface";
return false;
}
response.clear();
switch (action)
{
case VOCAB_HAS:
{
response.addVocab(VOCAB_FRAMEGRABBER_CONTROL2);
response.addVocab(VOCAB_HAS);
response.addVocab(VOCAB_FEATURE);
response.addInt(param);
switch (param)
{
case VOCAB_FEATURE:
{
bool _hasFeat;
ok = fgCtrl2->hasFeature(cmd.get(3).asInt(), &_hasFeat);
response.addInt(_hasFeat);
} break;
case VOCAB_ONOFF:
{
bool _hasOnOff;
ok = fgCtrl2->hasOnOff(cmd.get(3).asInt(), &_hasOnOff);
response.addInt(_hasOnOff);
} break;
case VOCAB_AUTO:
{
bool _hasAuto;
ok = fgCtrl2->hasAuto(cmd.get(3).asInt(), &_hasAuto);
response.addInt(_hasAuto);
} break;
case VOCAB_MANUAL:
{
bool _hasManual;
ok = fgCtrl2->hasManual(cmd.get(3).asInt(), &_hasManual);
response.addInt(_hasManual);
} break;
case VOCAB_ONEPUSH:
{
bool _hasOnePush;
ok = fgCtrl2->hasOnePush(cmd.get(3).asInt(), &_hasOnePush);
response.addInt(_hasOnePush);
} break;
default:
{
yError() << "Unknown command 'HAS " << Vocab::decode(param) << "' received on IFrameGrabber2 interface";
response.clear();
ok = false;
} break;
} break; // end switch (param)
} break; // end VOCAB_HAS
case VOCAB_SET:
{
switch (param)
{
case VOCAB_FEATURE:
{
ok = fgCtrl2->setFeature(cmd.get(3).asInt(), cmd.get(4).asDouble());
} break;
case VOCAB_FEATURE2:
{
ok = fgCtrl2->setFeature(cmd.get(3).asInt(), cmd.get(4).asDouble(), cmd.get(5).asDouble());
} break;
case VOCAB_ACTIVE:
{
ok = fgCtrl2->setActive(cmd.get(3).asInt(), cmd.get(4).asInt());
} break;
case VOCAB_MODE:
{
ok = fgCtrl2->setMode(cmd.get(3).asInt(), (FeatureMode) cmd.get(4).asInt());
} break;
case VOCAB_ONEPUSH:
{
ok = fgCtrl2->setOnePush(cmd.get(3).asInt());
} break;
default:
{
yError() << "Unknown command 'SET " << Vocab::decode(param) << "' received on IFrameGrabber2 interface";
response.clear();
ok = false;
}
} break; // end switch (param)
} break; // end VOCAB_SET
case VOCAB_GET:
{
response.addVocab(VOCAB_FRAMEGRABBER_CONTROL2);
response.addVocab(param);
response.addVocab(VOCAB_IS);
switch (param)
{
case VOCAB_CAMERA_DESCRIPTION:
{
CameraDescriptor camera;
ok = fgCtrl2->getCameraDescription(&camera);
response.addInt(camera.busType);
response.addString(camera.deviceDescription);
yDebug() << "Response is " << response.toString();
} break;
case VOCAB_FEATURE:
{
double value;
ok = fgCtrl2->getFeature(cmd.get(3).asInt(), &value);
response.addDouble(value);
} break;
case VOCAB_FEATURE2:
{
double value1, value2;
ok = fgCtrl2->getFeature(cmd.get(3).asInt(), &value1, &value2);
response.addDouble(value1);
response.addDouble(value2);
} break;
case VOCAB_ACTIVE:
{
bool _isActive;
ok = fgCtrl2->getActive(cmd.get(3).asInt(), &_isActive);
response.addInt(_isActive);
} break;
case VOCAB_MODE:
{
FeatureMode _mode;
ok = fgCtrl2->getMode(cmd.get(3).asInt(), &_mode);
response.addInt(_mode);
} break;
default:
{
yError() << "Unknown command 'GET " << Vocab::decode(param) << "' received on IFrameGrabber2 interface";
response.clear();
ok = false;
}
} break; // end switch (param)
} break; // end VOCAB_GET
}
// yTrace() << "response is\n\t" << response.toString().c_str();
return ok;
}
bool JoypadCtrlParser::respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& response)
{
bool ret;
ret = false;
if(cmd.get(0).asVocab() != VOCAB_IJOYPADCTRL || !cmd.get(1).isVocab() || !cmd.get(2).isVocab() || !cmd.get(3).isVocab())
{
response.addVocab(VOCAB_FAILED);
return ret;
}
if(cmd.get(1).asVocab() == VOCAB_GET)
{
int toGet;
toGet = cmd.get(2).asVocab();
if(cmd.get(3).asVocab() == VOCAB_COUNT)
{
if(countGetters.find(toGet) != countGetters.end())
{
unsigned int count;
getcountmethod getter;
getter = countGetters[toGet];
if((device->*getter)(count))
{
response.addVocab(VOCAB_OK);
response.addInt32(count);
ret = true;
}
}
else if (toGet == VOCAB_STICKDOF && cmd.get(4).isInt32())
{
unsigned int count;
if (device->getStickDoF(cmd.get(4).asInt32(), count))
{
response.addVocab(VOCAB_OK);
response.addInt32(count);
ret = true;
}
else
{
response.addVocab(VOCAB_FAILED);
ret = false;
}
}
else
{
response.addVocab(VOCAB_FAILED);
ret = false;
}
}
else if(cmd.get(3).asVocab() == VOCAB_VALUE)
{
switch (cmd.get(2).asVocab()) {
case VOCAB_BUTTON:
{
float value;
if(cmd.get(4).isInt32() && device->getButton(cmd.get(4).asInt32(), value))
{
response.addVocab(VOCAB_OK);
response.addFloat64(value);
ret = true;
}
break;
}
case VOCAB_AXIS:
{
double value;
if(cmd.get(4).isInt32() && device->getAxis(cmd.get(4).asInt32(), value))
{
response.addVocab(VOCAB_OK);
response.addFloat64(value);
ret = true;
}
break;
}
case VOCAB_STICK:
{
if(cmd.get(4).isVocab())
{
yarp::sig::Vector frame;
auto mode = cmd.get(4).asVocab() == VOCAB_CARTESIAN ? yarp::dev::IJoypadController::JypCtrlcoord_CARTESIAN : yarp::dev::IJoypadController::JypCtrlcoord_POLAR;
if(cmd.get(5).isInt32() && device->getStick(cmd.get(5).asInt32(), frame, mode))
{
response.addVocab(VOCAB_OK);
for(size_t i = 0; i < frame.size(); ++i)
{
response.addFloat64(frame[i]);
}
ret = true;
}
}
break;
}
case VOCAB_STICKDOF:
{
unsigned int dofCount;
if(cmd.get(5).isInt32() && device->getStickDoF(cmd.get(5).asInt32(), dofCount))
{
response.addVocab(VOCAB_OK);
response.addInt32(dofCount);
ret = true;
}
break;
}
case VOCAB_TOUCH:
{
yarp::sig::Vector pos;
unsigned int id;
id = cmd.get(4).asInt32();
if(cmd.get(4).isInt32() && device->getTouch(id, pos))
{
response.addVocab(VOCAB_OK);
for(size_t i = 0; i < pos.size(); ++i)
{
response.addFloat64(pos[i]);
}
ret = true;
}
break;
}
case VOCAB_TRACKBALL:
{
yarp::sig::Vector axes;
unsigned int id;
id = cmd.get(4).asInt32();
if(cmd.get(4).isInt32() && device->getTrackball(id, axes))
{
response.addVocab(VOCAB_OK);
for(size_t i = 0; i < axes.size(); ++i)
{
response.addFloat64(axes[i]);
}
ret = true;
}
break;
}
case VOCAB_HAT:
{
unsigned char value;
if(cmd.get(4).isInt32() && device->getHat(cmd.get(4).asInt32(), value))
{
response.addVocab(VOCAB_OK);
response.addInt32(value);
ret = true;
}
break;
}
default:
break;
}
}
}
return ret;
}
virtual bool respond(const yarp::os::Bottle &command, yarp::os::Bottle &reply)
{
fprintf(stderr,"receiving command from port\n");
int index = 0;
int cmdSize = command.size();
while(cmdSize>0)
{
switch(command.get(index).asVocab()) {
case VOCAB4('s','u','s','p'):
{
reply.addVocab(Vocab::encode("ack"));
vc->halt();
cmdSize--;
index++;
break;
}
case VOCAB3('r','u','n'):
{
reply.addVocab(Vocab::encode("ack"));
vc->go();
cmdSize--;
index++;
break;
}
case VOCAB3('s','e','t'):
{
if (command.size()>=3)
{
int i=command.get(index+1).asInt();
double pos=command.get(index+2).asDouble();
vc->setRef(i, pos);
index +=3;
cmdSize-=3;
}
else
{
cmdSize--;
index++;
fprintf(stderr, "Invalid set message, ignoring\n");
}
reply.addVocab(Vocab::encode("ack"));
break;
}
case VOCAB4('s','v','e','l'):
{
if(command.size()>=3)
{
int i=command.get(index+1).asInt();
double vel = command.get(index+2).asDouble();
vc->setVel(i,vel);
index += 3;
cmdSize-=3;;
reply.addVocab(Vocab::encode("ack"));
}
else
{
cmdSize--;
index++;
fprintf(stderr,"Invalid set vel message, ignoring\n");
reply.addVocab(Vocab::encode("fail"));
}
break;
}
case VOCAB4('g','a','i','n'):
{
if(command.size()>=3)
{
int i=command.get(index+1).asInt();
double gain = command.get(index+2).asDouble();
vc->setGain(i,gain);
index+=3;
cmdSize-=3;
reply.addVocab(Vocab::encode("ack"));
}
else
{
cmdSize--;
index++;
fprintf(stderr,"Invalid set gain message, ignoring\n");
reply.addVocab(Vocab::encode("fail"));
}
break;
}
default:
{
cmdSize--;
index++;
return RFModule::respond(command, reply); // call default
}
}
return true;
}
return false;
}
virtual bool respond(const yarp::os::Bottle& command,yarp::os::Bottle& reply)
{
reply.clear();
gotoThread->mutex.wait();
if (command.get(0).asString()=="quit")
{
gotoThread->mutex.post();
return false;
}
else if (command.get(0).asString()=="help")
{
reply.addVocab(Vocab::encode("many"));
reply.addString("Available commands are:");
reply.addString("gotoAbs <x> <y> <angle>");
reply.addString("gotoRel <x> <y> <angle>");
reply.addString("stop");
reply.addString("pause");
reply.addString("resume");
reply.addString("quit");
reply.addString("set linear_tol <m>");
reply.addString("set linear_ang <deg>");
reply.addString("set max_lin_speed <m/s>");
reply.addString("set max_ang_speed <deg/s>");
reply.addString("set min_lin_speed <m/s>");
reply.addString("set min_ang_speed <deg/s>");
reply.addString("set obstacle_stop");
reply.addString("set obstacle_avoidance");
}
else if (command.get(0).asString()=="gotoAbs")
{
yarp::sig::Vector v;
v.push_back(command.get(1).asDouble());
v.push_back(command.get(2).asDouble());
if (command.size()==4) v.push_back(command.get(3).asDouble());
gotoThread->setNewAbsTarget(v);
reply.addString("new absolute target received");
}
else if (command.get(0).asString()=="gotoRel")
{
yarp::sig::Vector v;
v.push_back(command.get(1).asDouble());
v.push_back(command.get(2).asDouble());
if (command.size()==4) v.push_back(command.get(3).asDouble());
gotoThread->setNewRelTarget(v);
reply.addString("new relative target received");
}
else if (command.get(0).asString()=="set")
{
if (command.get(1).asString()=="linear_tol")
{
gotoThread->goal_tolerance_lin=command.get(2).asDouble();
reply.addString("linear_tol set.");
}
else if (command.get(1).asString()=="angular_tol")
{
gotoThread->goal_tolerance_ang=command.get(2).asDouble();
reply.addString("angular_tol set.");
}
else if (command.get(1).asString()=="max_lin_speed")
{
gotoThread->max_lin_speed=command.get(2).asDouble();
reply.addString("max_lin_speed set.");
}
else if (command.get(1).asString()=="max_ang_speed")
{
gotoThread->max_ang_speed=command.get(2).asDouble();
reply.addString("max_ang_speed set.");
}
else if (command.get(1).asString()=="min_lin_speed")
{
gotoThread->min_lin_speed=command.get(2).asDouble();
reply.addString("min_lin_speed set.");
}
else if (command.get(1).asString()=="min_ang_speed")
{
gotoThread->min_ang_speed=command.get(2).asDouble();
reply.addString("min_ang_speed set.");
}
else if (command.get(1).asString()=="obstacle_avoidance")
{
if (gotoThread->enable_obstacles_avoidance)
{
reply.addString("enable_obstacles_avoidance=false");
gotoThread->enable_obstacles_avoidance=false;
}
else
{
gotoThread->enable_obstacles_avoidance=true;
reply.addString("enable_obstacles_avoidance=true");
}
}
else if (command.get(1).asString()=="obstacle_stop")
{
if (gotoThread->enable_obstacles_avoidance)
{
reply.addString("enable_obstacle_stop=false");
gotoThread->enable_obstacles_emergency_stop=false;
}
else
{
gotoThread->enable_obstacles_emergency_stop=true;
reply.addString("enable_obstacle_stop=true");
}
}
else
{
reply.addString("Unknown set.");
}
}
else if (command.get(0).asString()=="get")
{
if (command.get(1).asString()=="navigation_status")
{
string s = gotoThread->getNavigationStatus();
reply.addString(s.c_str());
}
else
{
reply.addString("Unknown get.");
}
}
else if (command.get(0).asString()=="stop")
{
gotoThread->stopMovement();
reply.addString("Stopping movement.");
}
else if (command.get(0).asString()=="pause")
{
double time = -1;
if (command.size() > 1)
time = command.get(1).asDouble();
gotoThread->pauseMovement(time);
reply.addString("Pausing.");
}
else if (command.get(0).asString()=="resume")
{
gotoThread->resumeMovement();
reply.addString("Resuming.");
}
else
{
reply.addString("Unknown command.");
}
gotoThread->mutex.post();
return true;
}
