Exemplo n.º 1
0
void	RobotControlExample::stepSimulation(float deltaTime)
{
    
	m_physicsServer.processClientCommands();

	if (m_physicsClient.isConnected())
    {
		
		SharedMemoryStatus status;
		bool hasStatus = m_physicsClient.processServerStatus(status);
		if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
		{
			for (int i=0;i<m_physicsClient.getNumJoints();i++)
			{
				b3JointInfo info;
				m_physicsClient.getJointInfo(i,info);
				if (m_verboseOutput)
				{
					b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
				}
				
                if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
                {
                    if (m_numMotors<MAX_NUM_MOTORS)
                    {

						switch (m_option)
						{
						case ROBOT_VELOCITY_CONTROL:
							{
		                        char motorName[1024];
								sprintf(motorName,"%s q'", info.m_jointName);
								MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
								motorInfo->m_velTarget = 0.f;
								motorInfo->m_posTarget = 0.f;

								motorInfo->m_uIndex = info.m_uIndex;
                    
								SliderParams slider(motorName,&motorInfo->m_velTarget);
								slider.m_minVal=-4;
								slider.m_maxVal=4;
								m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
								m_numMotors++;
								break;
							}
						case ROBOT_PD_CONTROL:
						{
							char motorName[1024];
							
							MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
							motorInfo->m_velTarget = 0.f;
							motorInfo->m_posTarget = 0.f;
							motorInfo->m_uIndex = info.m_uIndex;
							motorInfo->m_posIndex  = info.m_qIndex;
                            motorInfo->m_kp = 1;
                            motorInfo->m_kd = 0;
                            
                            {
                                sprintf(motorName,"%s kp", info.m_jointName);
                                SliderParams slider(motorName,&motorInfo->m_kp);
                                slider.m_minVal=0;
                                slider.m_maxVal=1;
                                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
                            
                            {
                                sprintf(motorName,"%s q", info.m_jointName);
							SliderParams slider(motorName,&motorInfo->m_posTarget);
							slider.m_minVal=-SIMD_PI;
							slider.m_maxVal=SIMD_PI;
							m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
                            {
                                sprintf(motorName,"%s kd", info.m_jointName);
                                SliderParams slider(motorName,&motorInfo->m_kd);
                                slider.m_minVal=0;
                                slider.m_maxVal=1;
                                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
                           
                            {
                                 sprintf(motorName,"%s q'", info.m_jointName);
                            SliderParams slider(motorName,&motorInfo->m_velTarget);
                            slider.m_minVal=-10;
                            slider.m_maxVal=10;
                            m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
							m_numMotors++;
							break;
						}
						default:
							{
								b3Warning("Unknown control mode in RobotControlExample::stepSimulation");
							}
						};
                    }
                }
				
			}
		}

		
		if (m_physicsClient.canSubmitCommand())
		{
			if (m_userCommandRequests.size())
			{
				if (m_verboseOutput)
				{
					b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
				}
				SharedMemoryCommand cmd = m_userCommandRequests[0];

				//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
				for (int i=1;i<m_userCommandRequests.size();i++)
				{
					m_userCommandRequests[i-1] = m_userCommandRequests[i];
				}

				m_userCommandRequests.pop_back();
				if (cmd.m_type == CMD_SEND_BULLET_DATA_STREAM)
				{
					char relativeFileName[1024];
					
					bool fileFound = b3ResourcePath::findResourcePath(cmd.m_dataStreamArguments.m_bulletFileName,relativeFileName,1024);
					if (fileFound)
					{
						FILE *fp = fopen(relativeFileName, "rb");
						if (fp)
						{
							fseek(fp, 0L, SEEK_END);
							int mFileLen = ftell(fp);
							fseek(fp, 0L, SEEK_SET);
							if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
							{
								char* data = (char*)malloc(mFileLen);

								fread(data, mFileLen, 1, fp);
								fclose(fp);
								cmd.m_dataStreamArguments.m_streamChunkLength = mFileLen;
								m_physicsClient.uploadBulletFileToSharedMemory(data,mFileLen);
								if (m_verboseOutput)
								{
									b3Printf("Loaded bullet data chunks into shared memory\n");
								}
								free(data);
							} else
							{
								b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
							}
						} else
						{
							b3Warning("Cannot open file %s\n", relativeFileName);
						}
					} else
					{
						b3Warning("Cannot find file %s\n", cmd.m_dataStreamArguments.m_bulletFileName);
					}

				}
				
				m_physicsClient.submitClientCommand(cmd);
			} else
			{

				if (m_numMotors)
				{
					SharedMemoryCommand command;
					command.m_type =CMD_SEND_DESIRED_STATE;
					prepareControlCommand(command);
					enqueueCommand(command);		

					command.m_type =CMD_STEP_FORWARD_SIMULATION;
					enqueueCommand(command);
				}

			}
		}
	}
}
Exemplo n.º 2
0
void	RobotControlExample::stepSimulation(float deltaTime)
{
    
	m_physicsServer.processClientCommands();

	if (m_physicsClient.isConnected())
    {
		
		SharedMemoryStatus status;
		bool hasStatus = m_physicsClient.processServerStatus(status);
		if (hasStatus && status.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
		{
			//update sensor feedback: joint force/torque data and measured joint positions
			
			for (int i=0;i<m_numMotors;i++)
			{
				int jointIndex = m_motorTargetState[i].m_jointIndex;
				int positionIndex = m_motorTargetState[i].m_posIndex;
				int velocityIndex = m_motorTargetState[i].m_uIndex;

				m_motorTargetState[i].m_measuredJointPosition = status.m_sendActualStateArgs.m_actualStateQ[positionIndex];
				m_motorTargetState[i].m_measuredJointVelocity = status.m_sendActualStateArgs.m_actualStateQdot[velocityIndex];
				m_motorTargetState[i].m_measuredJointForce.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+1],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+2]);
				m_motorTargetState[i].m_measuredJointTorque.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+3],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+4],
																	status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+5]);
				
				if (m_motorTargetState[i].m_measuredJointPosition>0.1)
				{
					m_motorTargetState[i].m_velTarget = -1.5;
				} else
				{
					m_motorTargetState[i].m_velTarget = 1.5;
				}
				
				b3Printf("Joint Force (Linear) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointForce.x(),m_motorTargetState[i].m_measuredJointForce.y(),m_motorTargetState[i].m_measuredJointForce.z());
				b3Printf("Joint Torque (Angular) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointTorque.x(),m_motorTargetState[i].m_measuredJointTorque.y(),m_motorTargetState[i].m_measuredJointTorque.z());

			}

			
		}

		if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
		{
			SharedMemoryCommand sensorCommand;
			sensorCommand.m_type = CMD_CREATE_SENSOR;
			sensorCommand.m_createSensorArguments.m_numJointSensorChanges = 0;

			for (int jointIndex=0;jointIndex<m_physicsClient.getNumJoints();jointIndex++)
			{
				b3JointInfo info;
				m_physicsClient.getJointInfo(jointIndex,info);
				if (m_verboseOutput)
				{
					b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
				}
				
                if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
                {
                    if (m_numMotors<MAX_NUM_MOTORS)
                    {

						switch (m_option)
						{
						case ROBOT_VELOCITY_CONTROL:
							{
		                        char motorName[1024];
								sprintf(motorName,"%s q'", info.m_jointName);
								MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
								motorInfo->m_jointName = info.m_jointName;

								motorInfo->m_velTarget = 0.f;
								motorInfo->m_posTarget = 0.f;

								motorInfo->m_uIndex = info.m_uIndex;
                    
								SliderParams slider(motorName,&motorInfo->m_velTarget);
								slider.m_minVal=-4;
								slider.m_maxVal=4;
								m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
								m_numMotors++;
								break;
							}
						case ROBOT_PD_CONTROL:
						{
							char motorName[1024];
							
							MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
							motorInfo->m_jointName = info.m_jointName;
							motorInfo->m_velTarget = 0.f;
							motorInfo->m_posTarget = 0.f;
							motorInfo->m_uIndex = info.m_uIndex;
							motorInfo->m_posIndex  = info.m_qIndex;
                            motorInfo->m_kp = 1;
                            motorInfo->m_kd = 0;
                            
                            {
                                sprintf(motorName,"%s kp", info.m_jointName);
                                SliderParams slider(motorName,&motorInfo->m_kp);
                                slider.m_minVal=0;
                                slider.m_maxVal=1;
                                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
                            
                            {
                                sprintf(motorName,"%s q", info.m_jointName);
							SliderParams slider(motorName,&motorInfo->m_posTarget);
							slider.m_minVal=-SIMD_PI;
							slider.m_maxVal=SIMD_PI;
							m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
                            {
                                sprintf(motorName,"%s kd", info.m_jointName);
                                SliderParams slider(motorName,&motorInfo->m_kd);
                                slider.m_minVal=0;
                                slider.m_maxVal=1;
                                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
                           
                            {
                                 sprintf(motorName,"%s q'", info.m_jointName);
                            SliderParams slider(motorName,&motorInfo->m_velTarget);
                            slider.m_minVal=-10;
                            slider.m_maxVal=10;
                            m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
                            }
							m_numMotors++;
							break;
						}
						case ROBOT_PING_PONG_JOINT_FEEDBACK:
						{
								
							if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
							{
								if (m_numMotors<MAX_NUM_MOTORS)
								{
									MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
									motorInfo->m_jointName = info.m_jointName;
									motorInfo->m_velTarget = 0.f;
									motorInfo->m_posTarget = 0.f;
									motorInfo->m_uIndex = info.m_uIndex;
									motorInfo->m_posIndex  = info.m_qIndex;
									motorInfo->m_jointIndex = jointIndex;
									sensorCommand.m_createSensorArguments.m_jointIndex[sensorCommand.m_createSensorArguments.m_numJointSensorChanges] = jointIndex;
									sensorCommand.m_createSensorArguments.m_enableJointForceSensor[sensorCommand.m_createSensorArguments.m_numJointSensorChanges] = true;
									sensorCommand.m_createSensorArguments.m_numJointSensorChanges++;
									m_numMotors++;
								}
							}
						
							

							 break;
						}
						default:
							{
								b3Warning("Unknown control mode in RobotControlExample::stepSimulation");
							}
						};
                    }
                }
				
			}
			

			if (sensorCommand.m_createSensorArguments.m_numJointSensorChanges)
			{
				enqueueCommand(sensorCommand);
			}

		}

		
		
		if (m_physicsClient.canSubmitCommand())
		{
			if (m_userCommandRequests.size())
			{
				if (m_verboseOutput)
				{
					b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
				}
				SharedMemoryCommand cmd = m_userCommandRequests[0];

				//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
				for (int i=1;i<m_userCommandRequests.size();i++)
				{
					m_userCommandRequests[i-1] = m_userCommandRequests[i];
				}

				m_userCommandRequests.pop_back();
				if (cmd.m_type == CMD_CREATE_SENSOR)
				{
					b3Printf("CMD_CREATE_SENSOR!\n");
				}
				if (cmd.m_type == CMD_SEND_BULLET_DATA_STREAM)
				{
					char relativeFileName[1024];
					
					bool fileFound = b3ResourcePath::findResourcePath(cmd.m_dataStreamArguments.m_bulletFileName,relativeFileName,1024);
					if (fileFound)
					{
						FILE *fp = fopen(relativeFileName, "rb");
						if (fp)
						{
							fseek(fp, 0L, SEEK_END);
							int mFileLen = ftell(fp);
							fseek(fp, 0L, SEEK_SET);
							if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
							{
								char* data = (char*)malloc(mFileLen);

								fread(data, mFileLen, 1, fp);
								fclose(fp);
								cmd.m_dataStreamArguments.m_streamChunkLength = mFileLen;
								m_physicsClient.uploadBulletFileToSharedMemory(data,mFileLen);
								if (m_verboseOutput)
								{
									b3Printf("Loaded bullet data chunks into shared memory\n");
								}
								free(data);
							} else
							{
								b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
							}
						} else
						{
							b3Warning("Cannot open file %s\n", relativeFileName);
						}
					} else
					{
						b3Warning("Cannot find file %s\n", cmd.m_dataStreamArguments.m_bulletFileName);
					}

				}
				
				m_physicsClient.submitClientCommand(cmd);
			} else
			{

				if (m_numMotors)
				{
					SharedMemoryCommand command;
					command.m_type =CMD_SEND_DESIRED_STATE;
					prepareControlCommand(command);
					enqueueCommand(command);		

					command.m_type =CMD_STEP_FORWARD_SIMULATION;
					enqueueCommand(command);

					command.m_type = CMD_REQUEST_ACTUAL_STATE;
					enqueueCommand(command);
				}

			}
		}
	}
}