void run()
{
//do the work
iencs->getEncoders(encoders.data());
count++;
if (count%2)
commands=5;
else
commands=-5;
ivel->velocityMove(commands.data());
printf(".");
}
bool updateModule()
{
ImageOf<PixelRgb> *imgIn=imgInPort.read(true);
if (imgIn==NULL)
return false;
ImageOf<PixelRgb> &imgOut=imgOutPort.prepare();
imgOut=*imgIn;
cv::Mat img=cv::cvarrToMat(imgOut.getIplImage());
Vector xa,oa;
iarm->getPose(xa,oa);
Matrix Ha=axis2dcm(oa);
xa.push_back(1.0);
Ha.setCol(3,xa);
Vector pc;
igaze->get2DPixel(camSel,xa,pc);
cv::Point point_c((int)pc[0],(int)pc[1]);
cv::circle(img,point_c,4,cv::Scalar(0,255,0),4);
Vector analogs,encs(nEncs),joints;
if (ianalog!=NULL)
ianalog->read(analogs);
iencs->getEncoders(encs.data());
for (int i=0; i<3; i++)
{
if (ianalog!=NULL)
finger[i].getChainJoints(encs,analogs,joints);
else
finger[i].getChainJoints(encs,joints);
finger[i].setAng(CTRL_DEG2RAD*joints);
}
for (int fng=0; fng<3; fng++)
{
deque<cv::Point> point_f;
for (int i=-1; i<(int)finger[fng].getN(); i++)
{
Vector fc;
igaze->get2DPixel(camSel,Ha*(i<0?finger[fng].getH0().getCol(3):
finger[fng].getH(i,true).getCol(3)),fc);
point_f.push_front(cv::Point((int)fc[0],(int)fc[1]));
cv::circle(img,point_f.front(),3,cv::Scalar(0,0,255),4);
if (i>=0)
{
cv::line(img,point_f.front(),point_f.back(),cv::Scalar(255,255,255),2);
point_f.pop_back();
}
else
cv::line(img,point_c,point_f.front(),cv::Scalar(255,0,0),2);
}
}
imgOutPort.writeStrict();
return true;
}
virtual void run() {
while (isStopping() != true) {
/* poll the click ports containers to see if we have left/right ready to go */
bfL.lock(); bfR.lock();
if (bfL.size() == 2 && bfR.size() == 2) {
printf("got a hit!\n");
/* if they are, raise the flag that action is beginning, save current joint configuration */
Bottle susmsg;
susmsg.addInt(1);
susPort->write(susmsg);
//get the current joint configuration for the torso, head, and arm
tang.clear(); tang.resize(3);
tEnc->getEncoders(tang.data());
hang.clear(); hang.resize(6);
hEnc->getEncoders(hang.data());
aang.clear(); aang.resize(16);
aEnc->getEncoders(aang.data());
/* get the xyz location of the gaze point */
Vector bvL(2); Vector bvR(2);
bvL[0] = bfL.get(0).asDouble(); bvL[1] = bfL.get(1).asDouble();
bvR[0] = bfR.get(0).asDouble(); bvR[1] = bfR.get(1).asDouble();
objPos.clear(); objPos.resize(3);
gaze->triangulate3DPoint(bvL,bvR,objPos);
/* servo the head to gaze at that point */
//gaze->lookAtStereoPixels(bvL,bvR);
gaze->lookAtFixationPoint(objPos);
gaze->waitMotionDone(1.0,10.0);
gaze->stopControl();
printf("object position estimated as: %f, %f, %f\n", objPos[0], objPos[1], objPos[2]);
printf("is this ok?\n");
string posResp = Network::readString().c_str();
if (posResp == "yes" || posResp == "y") {
/* move to hover the hand over the XY position of the target: [X, Y, Z=0.2], with palm upright */
objPos[2] = 0.1;
Vector axa(4);
axa.zero();
if (armInUse) {
axa[2] = 1.0; axa[3] = M_PI;
} else {
axa[1] = 1.0; axa[3] = M_PI;
}
carm->goToPoseSync(objPos,axa);
carm->waitMotionDone(1.0,10.0);
Time::delay(2.0);
//curl fingers and thumb slightly to hold object
Vector armCur(16);
aEnc->getEncoders(armCur.data());
armCur[8] = 3; armCur[10] = 25;
armCur[11] = 25; armCur[12] = 25;
armCur[13] = 25; armCur[14] = 25;
armCur[15] = 55;
aPos->positionMove(armCur.data());
Time::delay(2.0);
/* wait for terminal signal from user that object has been moved to the hand */
bool validTarg = false;
printf("object position reached, place in hand and enter target xy position\n");
while (!validTarg) {
string objResp = Network::readString().c_str();
/* ask the user to enter in an XY target location, or confirm use of previous one */
Bottle btarPos(objResp.c_str());
if (btarPos.size() < 2) {
//if user enters no target position, try to use last entered position
if (targetPos.length() != 3) {
printf("no previous target position available, please re-enter:\n");
} else {
validTarg = true;
}
} else {
targetPos.clear(); targetPos.resize(3);
targetPos[0] = btarPos.get(0).asDouble();
targetPos[1] = btarPos.get(1).asDouble();
targetPos[2] = 0.1;
validTarg = true;
}
}
/* move the arm to above the target location */
axa.zero();
if (armInUse) {
axa[2] = 1.0; axa[3] = M_PI;
} else {
axa[1] = 1.0; axa[3] = M_PI;
}
carm->goToPoseSync(targetPos,axa);
//carm->goToPosition(targetPos);
carm->waitMotionDone(1.0,10.0);
Time::delay(2.0);
/* wait for user signal that the object has been removed */
printf("object has been moved to target location. please remove object and hit enter\n");
string tarResp = Network::readString().c_str();
}
/* return to saved motor configuration, clear click buffers, lower flag signaling action done */
printf("gaze done, attempting reset\n");
tPos->positionMove(tang.data());
hPos->positionMove(hang.data());
aPos->positionMove(aang.data());
bfL.clear(); bfR.clear();
bfL.unlock(); bfR.unlock();
susmsg.clear();
susmsg.addInt(0);
susPort->write(susmsg);
}
else {
bfL.unlock(); bfR.unlock();
}
}
}
bool partMover::entry_update(partMover *currentPart)
{
GdkColor color_black;
GdkColor color_grey;
GdkColor color_yellow;
GdkColor color_green;
GdkColor color_green_blue;
GdkColor color_dark_green;
GdkColor color_red;
GdkColor color_fault_red;
GdkColor color_pink;
GdkColor color_indaco;
GdkColor color_white;
GdkColor color_blue;
color_pink.red=219*255;
color_pink.green=166*255;
color_pink.blue=171*255;
color_fault_red.red=255*255;
color_fault_red.green=10*255;
color_fault_red.blue=10*255;
color_black.red=10*255;
color_black.green=10*255;
color_black.blue=10*255;
color_red.red=255*255;
color_red.green=100*255;
color_red.blue=100*255;
color_grey.red=220*255;
color_grey.green=220*255;
color_grey.blue=220*255;
color_white.red=250*255;
color_white.green=250*255;
color_white.blue=250*255;
color_green.red=149*255;
color_green.green=221*255;
color_green.blue=186*255;
color_dark_green.red=(149-30)*255;
color_dark_green.green=(221-30)*255;
color_dark_green.blue=(186-30)*255;
color_blue.red=150*255;
color_blue.green=190*255;
color_blue.blue=255*255;
color_green_blue.red=(149+150)/2*255;
color_green_blue.green=(221+190)/2*255;
color_green_blue.blue=(186+255)/2*255;
color_indaco.red=220*255;
color_indaco.green=190*255;
color_indaco.blue=220*255;
color_yellow.red=249*255;
color_yellow.green=236*255;
color_yellow.blue=141*255;
GdkColor* pColor= &color_grey;
static int slowSwitcher = 0;
IControlMode *ictrl = currentPart->ctrlmode2;
IInteractionMode *iint = currentPart->iinteract;
IPositionControl *ipos = currentPart->pos;
IVelocityControl *ivel = currentPart->iVel;
IPositionDirect *iDir = currentPart->iDir;
IEncoders *iiencs = currentPart->iencs;
ITorqueControl *itrq = currentPart->trq;
IAmplifierControl *iamp = currentPart->amp;
GtkEntry * *pos_entry = (GtkEntry **) currentPart->currPosArray;
GtkEntry **trq_entry = (GtkEntry **) currentPart->currTrqArray;
GtkEntry **speed_entry = (GtkEntry **) currentPart->currSpeedArray;
GtkEntry **inEntry = (GtkEntry **) currentPart->inPosArray;
GtkWidget **colorback = (GtkWidget **) currentPart->frameColorBack;
GtkWidget **sliderAry = currentPart->sliderArray;
bool *POS_UPDATE = currentPart->CURRENT_POS_UPDATE;
char buffer[40] = {'i', 'n', 'i', 't'};
char frame_title [255];
double positions[MAX_NUMBER_OF_JOINTS];
double torques[MAX_NUMBER_OF_JOINTS];
double speeds[MAX_NUMBER_OF_JOINTS];
double max_torques[MAX_NUMBER_OF_JOINTS];
double min_torques[MAX_NUMBER_OF_JOINTS];
static int controlModes[MAX_NUMBER_OF_JOINTS];
static int controlModesOld[MAX_NUMBER_OF_JOINTS];
static yarp::dev::InteractionModeEnum interactionModes[MAX_NUMBER_OF_JOINTS];
static yarp::dev::InteractionModeEnum interactionModesOld[MAX_NUMBER_OF_JOINTS];
int k;
int NUMBER_OF_JOINTS=0;
bool done = false;
bool ret = false;
ipos->getAxes(&NUMBER_OF_JOINTS);
if (NUMBER_OF_JOINTS == 0)
{
fprintf(stderr,"Lost connection with iCubInterface. You should save and restart.\n" );
Time::delay(0.1);
pColor=&color_grey;
strcpy(frame_title,"DISCONNECTED");
for (k = 0; k < MAX_NUMBER_OF_JOINTS; k++)
{
if (currentPart->framesArray[k]!=0)
{
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
}
}
return true;
}
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
max_torques[k]=0;
min_torques[k]=0;
torques[k]=0;
}
if (!iiencs->getEncoders(positions))
return true;
itrq->getTorques(torques);
iiencs->getEncoderSpeeds(speeds);
//update all joints positions
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
sprintf(buffer, "%.1f", positions[k]);
gtk_entry_set_text((GtkEntry*) pos_entry[k], buffer);
sprintf(buffer, "%.3f", torques[k]);
gtk_entry_set_text((GtkEntry*) trq_entry[k], buffer);
sprintf(buffer, "%.1f", speeds[k]);
gtk_entry_set_text((GtkEntry*) speed_entry[k], buffer);
}
//update all joint sliders
for (k = 0; k < NUMBER_OF_JOINTS; k++)
if(POS_UPDATE[k])
gtk_range_set_value((GtkRange*)sliderAry[k], positions[k]);
// *** update the checkMotionDone box section ***
// (only one at a time in order to save badwidth)
k = slowSwitcher%NUMBER_OF_JOINTS;
slowSwitcher++;
#if DEBUG_GUI
gtk_entry_set_text((GtkEntry*) inEntry[k], "off");
#else
ipos->checkMotionDone(k, &done);
if (!done)
gtk_entry_set_text((GtkEntry*) inEntry[k], " ");
else
gtk_entry_set_text((GtkEntry*) inEntry[k], "@");
#endif
// *** update the controlMode section ***
// the new icubinterface does not increase the bandwidth consumption
// ret = true; useless guys!
ret=ictrl->getControlModes(controlModes);
if (ret==false) fprintf(stderr,"ictrl->getControlMode failed\n" );
ret=iint->getInteractionModes(interactionModes);
if (ret==false) fprintf(stderr,"iint->getInteractionlMode failed\n" );
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
if (currentPart->first_time==false && controlModes[k] == controlModesOld[k]) continue;
controlModesOld[k]=controlModes[k];
sprintf(frame_title,"Joint %d ",k );
switch (controlModes[k])
{
case VOCAB_CM_IDLE:
pColor=&color_yellow;
strcat(frame_title," (IDLE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_POSITION:
pColor=&color_green;
strcat(frame_title," (POSITION)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Position:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Velocity:");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_POSITION_DIRECT:
pColor=&color_dark_green;
strcat(frame_title," (POSITION_DIRECT)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Position:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"---");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_MIXED:
pColor=&color_green_blue;
strcat(frame_title," (MIXED_MODE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Position:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Velocity");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_VELOCITY:
pColor=&color_blue;
strcat(frame_title," (VELOCITY)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_TORQUE:
pColor=&color_pink;
strcat(frame_title," (TORQUE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Torque:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Torque2:");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_IMPEDANCE_POS:
pColor=&color_indaco;
strcat(frame_title," (IMPEDANCE POS)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_IMPEDANCE_VEL:
pColor=&color_indaco;
strcat(frame_title," (IMPEDANCE VEL)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_OPENLOOP:
pColor=&color_white;
strcat(frame_title," (OPENLOOP)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_HW_FAULT:
pColor=&color_fault_red;
strcat(frame_title," (HARDWARE_FAULT)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"---");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"---");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_CALIBRATING:
pColor=&color_grey;
strcat(frame_title," (CALIBRATING)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_CALIB_DONE:
pColor=&color_grey;
strcat(frame_title," (CALIB DONE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_NOT_CONFIGURED:
pColor=&color_grey;
strcat(frame_title," (NOT CONFIGURED)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_CONFIGURED:
pColor=&color_grey;
strcat(frame_title," (CONFIGURED)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
default:
case VOCAB_CM_UNKNOWN:
pColor=&color_grey;
strcat(frame_title," (UNKNOWN)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
}
}
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
if (currentPart->first_time==false && interactionModes[k] == interactionModesOld[k]) continue;
interactionModesOld[k]=interactionModes[k];
switch (interactionModes[k])
{
case VOCAB_IM_STIFF:
gtk_widget_modify_base ((GtkWidget*)inEntry[k], GTK_STATE_NORMAL, &color_green);
break;
case VOCAB_IM_COMPLIANT:
gtk_widget_modify_base ((GtkWidget*)inEntry[k], GTK_STATE_NORMAL, &color_fault_red);
break;
default:
case VOCAB_CM_UNKNOWN:
gtk_widget_modify_base ((GtkWidget*)inEntry[k], GTK_STATE_NORMAL, &color_white);
break;
}
}
currentPart->first_time =false;
return true;
}
virtual void run(){
tmp = command;
(*command)[0] = -60*(gsl_rng_uniform(r));
(*command)[1] = 100*(gsl_rng_uniform(r));
(*command)[2] = -35 + 95*(gsl_rng_uniform(r));
(*command)[3] = 10 + 90*(gsl_rng_uniform(r));
printf("%.1lf %.1lf %.1lf %.1lf\n", (*command)[0], (*command)[1], (*command)[2], (*command)[3]);
//above 0 doesn't seem to be safe for joint 0
if ((*command)[0] > 0 || (*command)[0] < -60){
(*command)[0] = (*tmp)[0];
}
if ((*command)[1] > 100 || (*command)[1] < -0){
(*command)[1] = (*tmp)[1];
}
if ((*command)[2] > 60 || (*command)[2] < -35){
(*command)[2] = (*tmp)[2];
}
if ((*command)[3] > 100 || (*command)[3] < 10){
(*command)[3] = (*tmp)[3];
}
//use fwd kin to find end effector position
Bottle plan, pred;
for (int i = 0; i < nj; i++){
plan.add((*command)[i]);
}
armPlan->write(plan);
armPred->read(pred);
Vector commandCart(3);
for (int i = 0; i < 3; i++){
commandCart[i] = pred.get(i).asDouble();
}
printf("Cartesian safety check\n");
double rad = sqrt(commandCart[0]*commandCart[0]+commandCart[1]*commandCart[1]);
// safety radius back to 30 cm
if (rad > 0.3){
pos->positionMove(command->data());
bool done = false;
while(!done){
pos->checkMotionDone(&done);
Time::delay(0.1);
}
printf("Moved arm to new location\n");
Vector &armJ = armLocJ->prepare();
Vector encoders(nj);
enc->getEncoders(encoders.data());
armJ = encoders;
Vector noisyArm(3);
for(int i = 0; i < 3; i++){
//noisyArm[i] = commandCart[i] + 0.01*(2*gsl_rng_uniform(r)-1);
//sanity check
noisyArm[i] = commandCart[i] + 0.005*(2*gsl_rng_uniform(r)-1);
}
//insert here:
//read off peak saliences
//fixate there
//calculate cartesian value, compare to real cart. value of arm
printf("Looking at arm\n");
igaze->lookAtFixationPoint(noisyArm);
done = false;
while(!done){
igaze->checkMotionDone(&done);
Time::delay(0.5);
}
//igaze->waitMotionDone(0.1,30);
printf("Saw arm\n");
Vector &headAng = headLoc->prepare();
igaze->getAngles(headAng);
Bottle tStamp;
tStamp.clear();
tStamp.add(Time::now());
headLoc->setEnvelope(tStamp);
headLoc->write();
armLocJ->write();
headLoc->unprepare();
armLocJ->unprepare();
}
else{
printf("Self collision detected!\n");
}
}
void partMover::fixed_time_move(const double *cmdPositions, double cmdTime, partMover* currentPart)
{
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
ITorqueControl *itrq= currentPart->trq;
int *SEQUENCE_TMP = currentPart->SEQUENCE;
double *TIMING_TMP = currentPart->TIMING;
double **STORED_POS_TMP = currentPart->STORED_POS;
double **STORED_VEL_TMP = currentPart->STORED_VEL;
GtkWidget **sliderAry = currentPart->sliderArray;
GtkWidget **sliderVelAry = currentPart->sliderVelArray;
int NUM_JOINTS;
ipos->getAxes(&NUM_JOINTS);
double *cmdVelocities = new double[NUM_JOINTS];
double *startPositions = new double[NUM_JOINTS];
while (!iiencs->getEncoders(startPositions))
Time::delay(0.001);
//fprintf(stderr, "getEncoders is returning false\n");
//fprintf(stderr, "Getting the following values for the encoders");
//for(int k=0; k<NUM_JOINTS; k++)
// fprintf(stderr, "%.1f ", startPositions[k]);
//fprintf(stderr, "\n");
int k;
for(k=0; k<NUM_JOINTS; k++)
{
cmdVelocities[k] = 0;
if (fabs(startPositions[k] - cmdPositions[k]) > 0.01)
cmdVelocities[k] = fabs(startPositions[k] - cmdPositions[k])/cmdTime;
else
cmdVelocities[k] = 1.0;
}
//fprintf(stderr, "ExplorerThread-> Start pos:\n");
//for(int j=0; j < NUM_JOINTS; j++)
// fprintf(stderr, "%.2lf\t", startPositions[j]);
//fprintf(stderr, "\n");
//fprintf(stderr, "ExplorerThread-> Moving arm to:\n");
//for(int j=0; j < NUM_JOINTS; j++)
// fprintf(stderr, "%.2lf\t", cmdPositions[j]);
//fprintf(stderr, "\n");
//fprintf(stderr, "ExplorerThread-> with velocity:\n");
//for(int ii=0; ii < NUM_JOINTS; ii++)
// fprintf(stderr, "%.2lf\t", cmdVelocities[ii]);
//fprintf(stderr, "\n");
ipos->setRefSpeeds(cmdVelocities);
ipos->positionMove(cmdPositions);
currentPart->sequence_port_stamp.update();
currentPart->sequence_port.setEnvelope(currentPart->sequence_port_stamp);
Vector v(NUM_JOINTS,cmdPositions);
currentPart->sequence_port.write(v);
delete cmdVelocities;
delete startPositions;
return;
}
int main(int argc, char *argv[])
{
// just list the devices if no argument given
if (argc <= 2) {
printf("You can call %s like this:\n", argv[0]);
printf(" %s --robot ROBOTNAME --OPTION VALUE ...\n", argv[0]);
printf("For example:\n");
printf(" %s --robot icub --local /talkto/james --remote /controlboard/rpc\n", argv[0]);
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
// get command line options
Property options;
options.fromCommand(argc, argv);
if (!options.check("robot") || !options.check("part")) {
printf("Missing either --robot or --part options\n");
return 0;
}
Network::init();
Time::turboBoost();
std::string name;
Value& v = options.find("robot");
Value& part = options.find("part");
Value *val;
if (!options.check("device", val)) {
options.put("device", "remote_controlboard");
}
if (!options.check("local", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str())+"/simpleclient";
//sprintf(&name[0], "/%s/%s/client", v.asString().c_str(), part.asString().c_str());
options.put("local", name.c_str());
}
if (!options.check("remote", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str());
//sprintf(&name[0], "/%s/%s", v.asString().c_str(), part.asString().c_str());
options.put("remote", name.c_str());
}
fprintf(stderr, "%s", options.toString().c_str());
// create a device
PolyDriver dd(options);
if (!dd.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return 1;
}
IPositionControl *pos;
IPositionDirect *posDir;
IVelocityControl *vel;
IEncoders *enc;
IPidControl *pid;
IAmplifierControl *amp;
IControlLimits *lim;
// IControlMode *icm;
IControlMode2 *iMode2;
ITorqueControl *itorque;
IOpenLoopControl *iopenloop;
IImpedanceControl *iimp;
IInteractionMode *iInteract;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(enc);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(lim);
// ok &= dd.view(icm);
ok &= dd.view(itorque);
ok &= dd.view(iopenloop);
ok &= dd.view(iimp);
ok &= dd.view(posDir);
ok &= dd.view(iMode2);
ok &= dd.view(iInteract);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 1;
}
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
double *tmp = new double[jnts];
printf("Device active...\n");
while (dd.isValid()) {
std::string s;
s.resize(1024);
printf("-> ");
char c = 0;
int i = 0;
while (c != '\n') {
c = (char)fgetc(stdin);
s[i++] = c;
}
s[i-1] = s[i] = 0;
Bottle p;
Bottle response;
bool ok=false;
bool rec=false;
p.fromString(s.c_str());
printf("Bottle: %s\n", p.toString().c_str());
switch(p.get(0).asVocab()) {
case VOCAB_HELP:
printf("\n\n");
printf("Available commands:\n");
printf("-------------------\n\n");
printf("IOpenLoop:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IOPENLOOP).c_str());
printf(" [set] [%s] <int> <float>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s]\n\n",
Vocab::decode(VOCAB_OUTPUTS).c_str());
printf("IControlMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_ICONTROLMODE).c_str());
printf(" [set] [%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s][%s]|[%s]\n",
Vocab::decode(VOCAB_CM_POSITION).c_str(),
Vocab::decode(VOCAB_CM_POSITION_DIRECT).c_str(),
Vocab::decode(VOCAB_CM_VELOCITY).c_str(),
Vocab::decode(VOCAB_CM_MIXED).c_str(),
Vocab::decode(VOCAB_CM_TORQUE).c_str(),
Vocab::decode(VOCAB_CM_OPENLOOP).c_str(),
Vocab::decode(VOCAB_CM_IDLE).c_str(),
Vocab::decode(VOCAB_CM_FORCE_IDLE).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_POS).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_VEL).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_CM_CONTROL_MODE).c_str());
printf("ITorqueControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_TORQUE).c_str());
printf(" [get] [%s] <int> to read the measured torque for a single axis\n", Vocab::decode(VOCAB_TRQ).c_str());
printf(" [get] [%s] to read the measured torque for all axes\n", Vocab::decode(VOCAB_TRQS).c_str());
printf(" [set] [%s] <int> <float> to set the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [set] [%s] <float list> to set the reference torque for all axes\n", Vocab::decode(VOCAB_REFS).c_str());
printf(" [get] [%s] <int> to read the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [get] [%s] to read the reference torque for all axes\n\n", Vocab::decode(VOCAB_REFS).c_str());
printf("IImpedanceControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IMPEDANCE).c_str());
printf(" [set] [%s] <int> <float> <float> \n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [set] [%s] <int> <float>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf("IInteractionMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_INTERFACE_INTERACTION_MODE).c_str());
printf(" [set] [%s]|[%s] <int>\n",
Vocab::decode(VOCAB_IM_STIFF).c_str(),
Vocab::decode(VOCAB_IM_COMPLIANT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_INTERACTION_MODE).c_str());
printf(" [get] [%s] \n\n",
Vocab::decode(VOCAB_INTERACTION_MODES).c_str());
printf("Standard Interfaces:\n");
printf("type [get] and one of the following:\n");
printf(" [%s] to read the number of controlled axes\n", Vocab::decode(VOCAB_AXES).c_str());
printf(" [%s] to read the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf(" [%s] to read the PID values for all axes\n", Vocab::decode(VOCAB_PIDS).c_str());
printf(" [%s] <int> to read the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> to read the limit values for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] to read the PID error for all axes\n", Vocab::decode(VOCAB_ERRS).c_str());
printf(" [%s] to read the PID output for all axes\n", Vocab::decode(VOCAB_OUTPUTS).c_str());
printf(" [%s] to read the reference position for all axes\n", Vocab::decode(VOCAB_REFERENCES).c_str());
printf(" [%s] <int> to read the reference position for a single axis\n", Vocab::decode(VOCAB_REFERENCE).c_str());
printf(" [%s] to read the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <int> to read the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] to read the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to read the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] to read the current consumption for all axes\n", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
printf("\n");
printf("type [set] and one of the following:\n");
printf(" [%s] <int> <double> to move a single axis\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str());
printf(" [%s] <int> <double> to accelerate a single axis to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str());
printf(" [%s] <int> <double> to set the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] <int> <double> to set the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] <list> to move multiple axes\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
printf(" [%s] <list> to accelerate multiple axes to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
printf(" [%s] <list> to set the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <list> to set the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to stop a single axis\n", Vocab::decode(VOCAB_STOP).c_str());
printf(" [%s] <int> to stop all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
printf(" [%s] <int> <list> to set the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> <list> to set the limits for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] <int> to disable the PID control for a single axis\n", Vocab::decode(VOCAB_DISABLE).c_str());
printf(" [%s] <int> to enable the PID control for a single axis\n", Vocab::decode(VOCAB_ENABLE).c_str());
printf(" [%s] <int> <double> to set the encoder value for a single axis\n", Vocab::decode(VOCAB_ENCODER).c_str());
printf(" [%s] <list> to set the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("\n");
printf("NOTES: - A list is a sequence of numbers in parenthesis, e.g. (10 2 1 10)\n");
printf(" - Pids are expressed as a list of 7 numbers, type get pid <int> to see an example\n");
printf("\n");
break;
case VOCAB_QUIT:
goto ApplicationCleanQuit;
break;
case VOCAB_ICONTROLMODE:
{
handleControlModeMsg(iMode2, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_IMPEDANCE:
{
handleImpedanceMsg(iimp, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_TORQUE:
{
handleTorqueMsg(itorque, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_INTERFACE_INTERACTION_MODE:
{
handleInteractionModeMsg(iInteract, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_GET:
switch(p.get(1).asVocab()) {
case VOCAB_AXES: {
int nj = 0;
enc->getAxes(&nj);
printf ("%s: %d\n", Vocab::decode(VOCAB_AXES).c_str(), nj);
}
break;
case VOCAB_ENCODERS: {
enc->getEncoders(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ENCODERS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
pid->getPid(j, &pd);
printf("%s: ", Vocab::decode(VOCAB_PID).c_str());
printf("kp %.2f ", pd.kp);
printf("kd %.2f ", pd.kd);
printf("ki %.2f ", pd.ki);
printf("maxi %.2f ", pd.max_int);
printf("maxo %.2f ", pd.max_output);
printf("off %.2f ", pd.offset);
printf("scale %.2f ", pd.scale);
printf("\n");
}
break;
case VOCAB_PIDS: {
Pid *p = new Pid[jnts];
ok = pid->getPids(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < jnts; 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);
}
printf("%s\n", b.toString().c_str());
delete[] p;
}
break;
case VOCAB_LIMITS: {
double min, max;
int j = p.get(2).asInt();
lim->getLimits(j, &min, &max);
printf("%s: ", Vocab::decode(VOCAB_LIMITS).c_str());
printf("limits: (%.2f %.2f)\n", min, max);
}
break;
case VOCAB_ERRS: {
pid->getErrors(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ERRS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUTS: {
iopenloop->getOutputs(tmp);
printf ("%s: (", Vocab::decode(VOCAB_OUTPUTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUT: {
int j = p.get(2).asInt();
double v;
iopenloop->getOutput(j, &v);
printf("%s: ", Vocab::decode(VOCAB_OUTPUT).c_str());
printf("%.2f ", v);
printf("\n");
}
break;
case VOCAB_REFERENCE: {
double ref_pos;
int j = p.get(2).asInt();
pid->getReference(j,&ref_pos);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCE).c_str());
printf ("%.2f ", ref_pos);
printf (")\n");
}
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEED: {
double ref_speed;
int j = p.get(2).asInt();
pos->getRefSpeed(j,&ref_speed);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf ("%.2f ", ref_speed);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATION: {
double ref_acc;
int j = p.get(2).asInt();
pos->getRefAcceleration(j,&ref_acc);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf ("%.2f ", ref_acc);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str(), j);
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
Bottle *l = p.get(3).asList();
if (l==0)
{
printf("Check you specify a 7 elements list, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
else
{
int elems=l->size();
if (elems>=3)
{
pd.kp = l->get(0).asDouble();
pd.kd = l->get(1).asDouble();
pd.ki = l->get(2).asDouble();
if (elems>=7)
{
pd.max_int = l->get(3).asDouble();
pd.max_output = l->get(4).asDouble();
pd.offset = l->get(5).asDouble();
pd.scale = l->get(6).asDouble();
}
printf("%s: setting PID values for axis %d\n", Vocab::decode(VOCAB_PID).c_str(), j);
pid->setPid(j, pd);
}
else
{
printf("Error, check you specify at least 7 elements, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
}
}
break;
case VOCAB_DISABLE: {
int j = p.get(2).asInt();
printf("%s: disabling control for axis %d\n", Vocab::decode(VOCAB_DISABLE).c_str(), j);
pid->disablePid(j);
amp->disableAmp(j);
}
break;
case VOCAB_ENABLE: {
int j = p.get(2).asInt();
printf("%s: enabling control for axis %d\n", Vocab::decode(VOCAB_ENABLE).c_str(), j);
amp->enableAmp(j);
pid->enablePid(j);
}
break;
case VOCAB_LIMITS: {
int j = p.get(2).asInt();
printf("%s: setting limits for axis %d\n", Vocab::decode(VOCAB_LIMITS).c_str(), j);
Bottle *l = p.get(3).asList();
lim->setLimits(j, l->get(0).asDouble(), l->get(1).asDouble());
}
break;
case VOCAB_OUTPUT: {
int j=p.get(2).asInt();
double v=p.get(3).asDouble();
iopenloop->setRefOutput(j,v);
printf("%s: setting output for axis %d to %f\n", Vocab::decode(VOCAB_OUTPUT).c_str(), j, v);
}
break;
}
break;
} /* switch get(0) */
} /* while () */
ApplicationCleanQuit:
dd.close();
delete[] tmp;
Network::fini();
return 0;
}
int main(int argc, char *argv[])
{
// just list the devices if no argument given
if (argc <= 2) {
printf("You can call %s like this:\n", argv[0]);
printf(" %s --robot ROBOTNAME --OPTION VALUE ...\n", argv[0]);
printf("For example:\n");
printf(" %s --robot icub --part any --remote /controlboard\n", argv[0]);
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
// get command line options
Property options;
options.fromCommand(argc, argv);
if (!options.check("robot") || !options.check("part")) {
printf("Missing either --robot or --part options\n");
return 0;
}
Network yarp;
Time::turboBoost();
char name[1024];
Value& v = options.find("robot");
Value& part = options.find("part");
Value *val;
if (!options.check("device", val)) {
options.put("device", "remote_controlboard");
}
if (!options.check("local", val)) {
sprintf(name, "/%s/%s/client", v.asString().c_str(), part.asString().c_str());
options.put("local", name);
}
if (!options.check("remote", val)) {
sprintf(name, "/%s/%s", v.asString().c_str(), part.asString().c_str());
options.put("remote", name);
}
fprintf(stderr, "%s", options.toString().c_str());
// create a device
PolyDriver dd(options);
if (!dd.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 1;
}
IPositionControl *pos;
IVelocityControl *vel;
IEncoders *enc;
IPidControl *pid;
IAmplifierControl *amp;
IControlLimits *lim;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(enc);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(lim);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 1;
}
int jnts = 0;
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
double *tmp = new double[jnts];
assert (tmp != NULL);
printf("Device active...\n");
while (dd.isValid()) {
char s[1024];
printf("-> ");
char c = 0;
int i = 0;
while (c != '\n') {
c = (char)fgetc(stdin);
s[i++] = c;
}
s[i-1] = s[i] = 0;
Bottle p;
p.fromString(s);
printf("Bottle: %s\n", p.toString().c_str());
switch(p.get(0).asVocab()) {
case VOCAB_HELP:
printf("\n\n");
printf("Available commands:\n\n");
printf("type [get] and one of the following:\n");
printf("[%s] to read the number of controlled axes\n", Vocab::decode(VOCAB_AXES).c_str());
printf("[%s] to read the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("[%s] <int> to read the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf("[%s] <int> to read the limit values for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf("[%s] to read the PID error for all axes\n", Vocab::decode(VOCAB_ERRS).c_str());
printf("[%s] to read the PID output for all axes\n", Vocab::decode(VOCAB_OUTPUTS).c_str());
printf("[%s] to read the reference position for all axes\n", Vocab::decode(VOCAB_REFERENCES).c_str());
printf("[%s] to read the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf("[%s] to read the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf("[%s] to read the current consumption for all axes\n", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
printf("\n");
printf("type [set] and one of the following:\n");
printf("[%s] <int> <double> to move a single axis\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str());
printf("[%s] <int> <double> to accelerate a single axis to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str());
printf("[%s] <int> <double> to set the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf("[%s] <int> <double> to set the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf("[%s] <list> to move multiple axes\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
printf("[%s] <list> to accelerate multiple axes to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
printf("[%s] <list> to set the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf("[%s] <list> to set the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf("[%s] <int> to stop a single axis\n", Vocab::decode(VOCAB_STOP).c_str());
printf("[%s] <int> to stop all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
printf("[%s] <int> <list> to set the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf("[%s] <int> <list> to set the limits for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf("[%s] <int> to disable the PID control for a single axis\n", Vocab::decode(VOCAB_DISABLE).c_str());
printf("[%s] <int> to enable the PID control for a single axis\n", Vocab::decode(VOCAB_ENABLE).c_str());
printf("[%s] <int> <double> to set the encoder value for a single axis\n", Vocab::decode(VOCAB_ENCODER).c_str());
printf("[%s] <list> to set the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("\n");
break;
case VOCAB_QUIT:
goto ApplicationCleanQuit;
break;
case VOCAB_GET:
switch(p.get(1).asVocab()) {
case VOCAB_AXES: {
int nj = 0;
enc->getAxes(&nj);
printf ("%s: %d\n", Vocab::decode(VOCAB_AXES).c_str(), nj);
}
break;
case VOCAB_ENCODERS: {
enc->getEncoders(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ENCODERS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
pid->getPid(j, &pd);
printf("%s: ", Vocab::decode(VOCAB_PID).c_str());
printf("kp %.2f ", pd.kp);
printf("kd %.2f ", pd.kd);
printf("ki %.2f ", pd.ki);
printf("maxi %.2f ", pd.max_int);
printf("maxo %.2f ", pd.max_output);
printf("off %.2f ", pd.offset);
printf("scale %.2f ", pd.scale);
printf("\n");
}
break;
case VOCAB_LIMITS: {
double min, max;
int j = p.get(2).asInt();
lim->getLimits(j, &min, &max);
printf("%s: ", Vocab::decode(VOCAB_LIMITS).c_str());
printf("limits: (%.2f %.2f)\n", min, max);
}
break;
case VOCAB_ERRS: {
pid->getErrorLimits(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ERRS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUTS: {
pid->getErrors(tmp);
printf ("%s: (", Vocab::decode(VOCAB_OUTPUTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str());
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes %d\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
Bottle *l = p.get(3).asList();
pd.kp = l->get(0).asDouble();
pd.kd = l->get(1).asDouble();
pd.ki = l->get(2).asDouble();
pd.max_int = l->get(3).asDouble();
pd.max_output = l->get(4).asDouble();
pd.offset = l->get(5).asDouble();
pd.scale = l->get(6).asDouble();
printf("%s: setting PID values for axis %d\n", Vocab::decode(VOCAB_PID).c_str(), j);
pid->setPid(j, pd);
}
break;
case VOCAB_DISABLE: {
int j = p.get(2).asInt();
printf("%s: disabling control for axis %d\n", Vocab::decode(VOCAB_DISABLE).c_str(), j);
pid->disablePid(j);
amp->disableAmp(j);
}
break;
case VOCAB_ENABLE: {
int j = p.get(2).asInt();
printf("%s: enabling control for axis %d\n", Vocab::decode(VOCAB_ENABLE).c_str(), j);
amp->enableAmp(j);
pid->enablePid(j);
}
break;
case VOCAB_LIMITS: {
int j = p.get(2).asInt();
printf("%s: setting limits for axis %d\n", Vocab::decode(VOCAB_LIMITS).c_str(), j);
Bottle *l = p.get(3).asList();
lim->setLimits(j, l->get(0).asDouble(), l->get(1).asDouble());
}
break;
}
break;
} /* switch get(0) */
} /* while () */
ApplicationCleanQuit:
dd.close();
delete[] tmp;
return 0;
}
int main(int argc, char const *argv[]) {
Network yarp;
Node node("/icub_sim/state_publisher");
Property params;
params.fromCommand(argc, argv);
if (!params.check("robot"))
{
fprintf(stderr, "Please specify the name of the robot\n");
fprintf(stderr, "--robot name (e.g. icub)\n");
return 1;
}
std::string robotName=params.find("robot").asString().c_str();
std::string remotePorts="/";
remotePorts+=robotName;
std::string remoteRArmPorts = remotePorts + "/right_arm";
std::string remoteHeadPorts = remotePorts + "/head";
std::string remoteTorsoPorts = remotePorts + "/torso";
std::string remoteLArmPorts = remotePorts + "/left_arm";
Property options_head;
options_head.put("device", "remote_controlboard");
options_head.put("local", "/head/client"); //local port names
options_head.put("remote", remoteHeadPorts.c_str());
// create a device
PolyDriver headDevice(options_head);
if (!headDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
Property options_torso;
options_torso.put("device", "remote_controlboard");
options_torso.put("local", "/torso/client"); //local port names
options_torso.put("remote", remoteTorsoPorts.c_str());
// create a device
PolyDriver torsoDevice(options_torso);
if (!torsoDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
Property options_right_arm;
options_right_arm.put("device", "remote_controlboard");
options_right_arm.put("local", "/right_arm/client"); //local port names
options_right_arm.put("remote", remoteRArmPorts.c_str());
// create a device
PolyDriver rArmDevice(options_right_arm);
if (!rArmDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
Property options_left_arm;
options_left_arm.put("device", "remote_controlboard");
options_left_arm.put("local", "/left_arm/client"); //local port names
options_left_arm.put("remote", remoteLArmPorts.c_str());
// create a device
PolyDriver lArmDevice(options_left_arm);
if (!lArmDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
IPositionControl *posHead;
IPositionControl *posTorso;
IPositionControl *posRArm;
IPositionControl *posLArm;
IEncoders *encsHead;
IEncoders *encsTorso;
IEncoders *encsRArm;
IEncoders *encsLArm;
torsoDevice.view(posTorso);
torsoDevice.view(encsTorso);
rArmDevice.view(posRArm);
rArmDevice.view(encsRArm);
lArmDevice.view(posLArm);
lArmDevice.view(encsLArm);
headDevice.view(posHead);
headDevice.view(encsHead);
int nj = 0;
posHead->getAxes(&nj);
Vector encodersHead;
encodersHead.resize(nj);
nj = 0;
posTorso->getAxes(&nj);
Vector encodersTorso;
encodersTorso.resize(nj);
nj = 0;
posRArm->getAxes(&nj);
Vector encodersRArm;
encodersRArm.resize(nj);
nj = 0;
posLArm->getAxes(&nj);
Vector encodersLArm;
encodersLArm.resize(nj);
yarp::os::Publisher<sensor_msgs_JointState> joint_pub;
if (!joint_pub.topic("/joint_states")) {
std::cerr<< "Failed to create publisher to /chatter\n";
return -1;
}
float degtorad = 0.0174532925;
sensor_msgs_JointState joint_states;
struct timespec currentTime;
joint_states.name.resize(70);
joint_states.position.resize(70);
joint_states.velocity.resize(70);
joint_states.name[0] ="j1";
joint_states.position[0] = 0.0;
joint_states.name[1] ="j2";
joint_states.position[1] = 0.0;
joint_states.name[2] ="j3";
joint_states.position[2] = 0.0;
joint_states.name[3] ="j4";
joint_states.position[3] = 0.0;
joint_states.name[4] ="j5";
joint_states.position[4] = 0.0;
joint_states.name[5] ="j6";
joint_states.position[5] = 0.0;
joint_states.name[6] ="j7";
joint_states.position[6] = 0.0;
joint_states.name[7] ="j8";
joint_states.position[7] = 0.0;
joint_states.name[8] ="j7s";
joint_states.position[8] = 0.0;
joint_states.name[9] ="j8s";
joint_states.position[9] = 0.0;
joint_states.name[10] ="raj1";
joint_states.position[10] = 0.0;
joint_states.name[11] ="raj2";
joint_states.position[11] = 0.0;
joint_states.name[12] ="raj3";
joint_states.position[12] = 0.0;
joint_states.name[13] ="raj4";
joint_states.position[13] = 0.0;
joint_states.name[14] ="raj5";
joint_states.position[14] = 0.0;
joint_states.name[15] ="raj6";
joint_states.position[15] = 0.0;
joint_states.name[16] ="laj1";
joint_states.position[16] = 0.0;
joint_states.name[17] ="laj2";
joint_states.position[17] = 0.0;
joint_states.name[18] ="laj3";
joint_states.position[18] = 0.0;
joint_states.name[19] ="laj4";
joint_states.position[19] = 0.0;
joint_states.name[20] ="laj5";
joint_states.position[20] = 0.0;
joint_states.name[21] ="laj6";
joint_states.position[21] = 0.0;
joint_states.name[22] ="rlaj1";
joint_states.position[22] = 0.0;
joint_states.name[23] ="rlaj2";
joint_states.position[23] = 0.0;
joint_states.name[24] ="rlaj3";
joint_states.position[24] = 0.0;
joint_states.name[25] ="rlaj4";
joint_states.position[25] = 0.0;
joint_states.name[26] ="rlaj5";
joint_states.position[26] = 0.0;
joint_states.name[27] ="rlaj6";
joint_states.position[27] = 0.0;
joint_states.name[28] ="llaj1";
joint_states.position[28] = 0.0;
joint_states.name[29] ="llaj2";
joint_states.position[29] = 0.0;
joint_states.name[30] ="llaj3";
joint_states.position[30] = 0.0;
joint_states.name[31] ="llaj4";
joint_states.position[31] = 0.0;
joint_states.name[32] ="llaj5";
joint_states.position[32] = 0.0;
joint_states.name[33] ="llaj6";
joint_states.position[33] = 0.0;
joint_states.name[34] ="right_wrist_yaw";
joint_states.position[34] = 0.0;
joint_states.name[35] ="tj2";
joint_states.position[35] = 0.0;
joint_states.name[36] ="tj4";
joint_states.position[36] = 0.0;
joint_states.name[37] ="tj5";
joint_states.position[37] = 0.0;
joint_states.name[38] ="tj6";
joint_states.position[38] = 0.0;
joint_states.name[39] ="ij3";
joint_states.position[39] = 0.0;
joint_states.name[40] ="ij4";
joint_states.position[40] = 0.0;
joint_states.name[41] ="ij5";
joint_states.position[41] = 0.0;
joint_states.name[42] ="mj3";
joint_states.position[42] = 0.0;
joint_states.name[43] ="mj4";
joint_states.position[43] = 0.0;
joint_states.name[44] ="mj5";
joint_states.position[44] = 0.0;
joint_states.name[45] ="rij3";
joint_states.position[45] = 0.0;
joint_states.name[46] ="rij4";
joint_states.position[46] = 0.0;
joint_states.name[47] ="rij5";
joint_states.position[47] = 0.0;
joint_states.name[48] ="raj4";
joint_states.position[48] = 0.0;
joint_states.name[49] ="raj5";
joint_states.position[49] = 0.0;
joint_states.name[50] ="lij3";
joint_states.position[50] = 0.0;
joint_states.name[51] ="lij4";
joint_states.position[51] = 0.0;
joint_states.name[52] ="lij5";
joint_states.position[52] = 0.0;
joint_states.name[53] ="left_wrist_yaw";
joint_states.position[53] = 0.0;
joint_states.name[54] ="ltj2";
joint_states.position[54] = 0.0;
joint_states.name[55] ="ltj4";
joint_states.position[55] = 0.0;
joint_states.name[56] ="ltj5";
joint_states.position[56] = 0.0;
joint_states.name[57] ="ltj6";
joint_states.position[57] = 0.0;
joint_states.name[58] ="laij3";
joint_states.position[58] = 0.0;
joint_states.name[59] ="laij4";
joint_states.position[59] = 0.0;
joint_states.name[60] ="laij5";
joint_states.position[60] = 0.0;
joint_states.name[61] ="lmj3";
joint_states.position[61] = 0.0;
joint_states.name[62] ="lmj4";
joint_states.position[62] = 0.0;
joint_states.name[63] ="lmj5";
joint_states.position[63] = 0.0;
joint_states.name[64] ="lrij3";
joint_states.position[64] = 0.0;
joint_states.name[65] ="lrij4";
joint_states.position[65] = 0.0;
joint_states.name[66] ="lrij5";
joint_states.position[66] = 0.0;
joint_states.name[67] ="llij3";
joint_states.position[67] = 0.0;
joint_states.name[68] ="llij4";
joint_states.position[68] = 0.0;
joint_states.name[69] ="llij5";
joint_states.position[69] = 0.0;
joint_pub.write(joint_states);
while (1) {
encsTorso->getEncoders(encodersTorso.data());
encsRArm->getEncoders(encodersRArm.data());
encsLArm->getEncoders(encodersLArm.data());
encsHead->getEncoders(encodersHead.data());
clock_gettime(CLOCK_REALTIME, ¤tTime);
joint_states.header.stamp.sec = currentTime.tv_sec;
joint_states.header.stamp.nsec = currentTime.tv_nsec;
// update torso positions
joint_states.position[0] = encodersTorso[2] * degtorad;
joint_states.position[1] = encodersTorso[1] * degtorad;
joint_states.position[2] = encodersTorso[0] * degtorad;
// update head positions
joint_states.position[3] = encodersHead[0] * degtorad;
joint_states.position[4] = encodersHead[1] * degtorad;
joint_states.position[5] = encodersHead[2] * degtorad;
// update right arm positions
joint_states.position[10] = encodersRArm[0] * degtorad;
joint_states.position[11] = encodersRArm[1] * degtorad;
joint_states.position[12] = encodersRArm[2] * degtorad;
joint_states.position[13] = encodersRArm[3] * degtorad;
joint_states.position[14] = encodersRArm[4] * degtorad;
joint_states.position[15] = encodersRArm[5] * degtorad;
// update left arm positions
joint_states.position[16] = encodersLArm[0] * degtorad;
joint_states.position[17] = encodersLArm[1] * degtorad;
joint_states.position[18] = encodersLArm[2] * degtorad;
joint_states.position[19] = encodersLArm[3] * degtorad;
joint_states.position[20] = encodersLArm[4] * degtorad;
joint_states.position[21] = encodersLArm[5] * degtorad;
joint_pub.write(joint_states);
Time::delay(0.01);
}
return 0;
}
int main(int argc, char *argv[])
{
Network yarp;
Property params;
params.fromCommand(argc, argv);
if (!params.check("robot"))
{
fprintf(stderr, "Please specify the name of the robot\n");
fprintf(stderr, "--robot name (e.g. icub)\n");
fprintf(stderr, "--part name (right_arm or left_arm)\n");
fprintf(stderr, "--durationInS duration (in seconds)\n");
fprintf(stderr, "--sampleInMS sample time (in milliseconds)\n");
fprintf(stderr, "--refTimeInMS Reference time of minimum jerk trajectory generator (in milliseconds)\n");
return 1;
}
if( !params.check("sampleInMS") ||
!params.check("durationInS") ||
!params.check("refTimeInMS") )
{
fprintf(stderr, "Necessary params not passed\n");
return EXIT_FAILURE;
}
std::string robotName=params.find("robot").asString().c_str();
std::string partName=params.find("part").asString().c_str();
double durationInS = params.find("durationInS").asDouble();
double samplesInMS = params.find("sampleInMS").asDouble();
double refTimeInMS = params.find("refTimeInMS").asDouble();
std::cout << "robotName : " << robotName << std::endl;
std::cout << "partName : " << partName << std::endl;
std::cout << "durationInS : " << durationInS << std::endl;
std::cout << "samplesInMS : " << samplesInMS << std::endl;
std::cout << "refTimeInMS : " << refTimeInMS << std::endl;
std::string remotePorts="/";
remotePorts+=robotName;
remotePorts+="/"+partName;
std::string localPorts="/randomShoulderMovements/client";
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str()); //local port names
options.put("remote", remotePorts.c_str()); //where we connect to
// create a device
PolyDriver robotDevice(options);
if (!robotDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
IPositionDirect *pos;
IEncoders *encs;
IControlLimits * lims;
IControlMode2 * ictrl;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(encs);
ok = ok && robotDevice.view(lims);
ok = ok && robotDevice.view(ictrl);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 0;
}
int nj=0;
pos->getAxes(&nj);
Vector encodersInDeg(nj);
Vector desPosInDeg(3);
Vector commandInDeg(3);
Vector minShoulderInDeg(3);
Vector maxShoulderInDeg(3);
Vector lowerBoundConstraint;
Vector upperBoundConstraint;
Matrix constraintMatrix;
for(int i = 0; i < 3; i++ )
{
lims->getLimits(i,&(minShoulderInDeg[i]),&(maxShoulderInDeg[i]));
}
bool encodersRead = encs->getEncoders(encodersInDeg.data());
while( !encodersRead )
{
encodersRead = encs->getEncoders(encodersInDeg.data());
}
getShoulderConstraint(lowerBoundConstraint,upperBoundConstraint,constraintMatrix);
// Create the minimum jerk filter
iCub::ctrl::minJerkTrajGen filter(3,samplesInMS,refTimeInMS);
filter.init(encodersInDeg.subVector(0,2));
std::cout << "Filter initial value " << encodersInDeg.subVector(0,2).toString() << std::endl;
std::vector<int> indexToControl;
indexToControl.push_back(0);
indexToControl.push_back(1);
indexToControl.push_back(2);
// Set control modes
ictrl->setControlMode(0,VOCAB_CM_POSITION_DIRECT);
ictrl->setControlMode(1,VOCAB_CM_POSITION_DIRECT);
ictrl->setControlMode(2,VOCAB_CM_POSITION_DIRECT);
double samplesInS = samplesInMS/1000.0;
int samples = (int)(durationInS/samplesInS);
int samplesForNewPosition = (int)(refTimeInMS/samplesInMS);
for(int i=0; i < samples; i++ )
{
if( i % samplesForNewPosition == 0 )
{
// Generate a new desired shoulder position
generateRandomShoulderPosition(desPosInDeg,minShoulderInDeg,maxShoulderInDeg,
lowerBoundConstraint,upperBoundConstraint,constraintMatrix);
std::cout << "New position generated" << std::endl;
std::cout << "Position generated " << desPosInDeg.toString() << std::endl;
std::cout << "Remaining time " << (samples-i)*(samplesInS) << std::endl;
}
filter.computeNextValues(desPosInDeg);
commandInDeg = filter.getPos();
std::cout << "Position set " << commandInDeg.toString() << std::endl;
pos->setPositions(3,indexToControl.data(),commandInDeg.data());
yarp::os::Time::delay(samplesInS);
}
robotDevice.close();
return 0;
}
int main(int argc, char *argv[])
{
Network yarp;
Property params;
params.fromCommand(argc, argv);
if (!params.check("robot"))
{
fprintf(stderr, "Please specify the name of the robot\n");
fprintf(stderr, "--robot name (e.g. icub)\n");
return -1;
}
std::string robotName=params.find("robot").asString().c_str();
std::string remotePorts="/";
remotePorts+=robotName;
remotePorts+="/right_arm";
std::string localPorts="/test/client";
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str()); //local port names
options.put("remote", remotePorts.c_str()); //where we connect to
// create a device
PolyDriver robotDevice(options);
if (!robotDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
IPositionControl *pos;
IEncoders *encs;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(encs);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 0;
}
int nj=0;
pos->getAxes(&nj);
Vector encoders;
Vector command;
Vector tmp;
encoders.resize(nj);
tmp.resize(nj);
command.resize(nj);
int i;
for (i = 0; i < nj; i++) {
tmp[i] = 50.0;
}
pos->setRefAccelerations(tmp.data());
for (i = 0; i < nj; i++) {
tmp[i] = 10.0;
pos->setRefSpeed(i, tmp[i]);
}
//pos->setRefSpeeds(tmp.data()))
//fisrst zero all joints
//
command=0;
//now set the shoulder to some value
command[0]=50;
command[1]=20;
command[2]=-10;
command[3]=50;
pos->positionMove(command.data());
bool done=false;
while(!done)
{
pos->checkMotionDone(&done);
Time::delay(0.1);
}
int times=0;
while(true)
{
times++;
if (times%2)
{
command[0]=50;
command[1]=20;
command[2]=-10;
command[3]=50;
// pos->positionMove(command.data());
pos->positionMove(0, command[0]);
pos->positionMove(1, command[1]);
pos->positionMove(2, command[2]);
pos->positionMove(3, command[3]);
}
else
{
command[0]=20;
command[1]=10;
command[2]=-10;
command[3]=30;
// pos->positionMove(command.data());
pos->positionMove(0, command[0]);
pos->positionMove(1, command[1]);
pos->positionMove(2, command[2]);
pos->positionMove(3, command[3]);
}
int count=50;
while(count--)
{
Time::delay(0.1);
encs->getEncoders(encoders.data());
printf("%.1lf %.1lf %.1lf %.1lf\n", encoders[0], encoders[1], encoders[2], encoders[3]);
}
}
robotDevice.close();
return 0;
}
int main(int argc, char *argv[])
{
Network yarp;
int maxSpeed;
Property params;
params.fromCommand(argc, argv);
if (!params.check("robot"))
{
fprintf(stderr, "Please specify the name of the robot\n");
fprintf(stderr, "--robot name (e.g. icub)\n");
return -1;
}
if (!params.check("repetitions"))
{
fprintf(stderr, "Please specify number of repetitions\n");
fprintf(stderr, "--repetitions num (e.g. 10)\n");
return -1;
}
if (!params.check("speed"))
{
fprintf(stderr, "Speed not specified using default\n");
fprintf(stderr, "--speed num (e.g. 2)\n");
maxSpeed = 10.0;
}
else
{
maxSpeed = params.find("speed").asInt();
}
// sanity check on argument value
if(maxSpeed <0 || maxSpeed>50)
{
maxSpeed = 10;
}
std::string robotName=params.find("robot").asString().c_str();
std::string remotePorts="/";
remotePorts+=robotName;
remotePorts+="/head";
int numTimes = params.find("repetitions").asInt();
std::string localPorts="/headMovement_koroibot/client";
Property options;
options.put("device", "remote_controlboard");
options.put("local", localPorts.c_str()); //local port names
options.put("remote", remotePorts.c_str()); //where we connect to
// create a device
PolyDriver robotDevice(options);
if (!robotDevice.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
IPositionControl *pos;
IEncoders *encs;
bool ok;
ok = robotDevice.view(pos);
ok = ok && robotDevice.view(encs);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 0;
}
int nj=0;
pos->getAxes(&nj);
Vector encoders;
Vector command;
Vector tmp;
encoders.resize(nj);
tmp.resize(nj);
command.resize(nj);
int i;
for (i = 0; i < nj; i++) {
tmp[i] = 50.0;
}
pos->setRefAccelerations(tmp.data());
for (i = 0; i < nj; i++) {
tmp[i] = 10.0;
pos->setRefSpeed(i, tmp[i]);
}
//first read all encoders
printf("waiting for encoders");
while(!encs->getEncoders(encoders.data()))
{
Time::delay(0.1);
printf(".");
}
printf("\n;");
int ctr =0;
bool done = false;
while(ctr<numTimes)
{
printf("Starting headMovement\n");
command=encoders;
if(ctr%2 == 0)
command[2]=HEAD_YAW_MAX;
else
command[2]=HEAD_YAW_MIN;
done = false;
pos->positionMove(command.data());
while(!done)
{
pos->checkMotionDone(&done);
Time::delay(0.1);
}
ctr++;
}
command[2] = 0;
pos->positionMove(command.data());
while(!done)
{
pos->checkMotionDone(&done);
Time::delay(0.1);
}
robotDevice.close();
return 0;
}
bool partMover::entry_update(partMover *currentPart)
{
GdkColor color_grey;
GdkColor color_yellow;
GdkColor color_green;
GdkColor color_red;
GdkColor color_pink;
GdkColor color_indaco;
GdkColor color_white;
GdkColor color_blue;
color_pink.red=219*255;
color_pink.green=166*255;
color_pink.blue=171*255;
color_red.red=255*255;
color_red.green=100*255;
color_red.blue=100*255;
color_grey.red=220*255;
color_grey.green=220*255;
color_grey.blue=220*255;
color_white.red=250*255;
color_white.green=250*255;
color_white.blue=250*255;
color_green.red=149*255;
color_green.green=221*255;
color_green.blue=186*255;
color_blue.red=150*255;
color_blue.green=190*255;
color_blue.blue=255*255;
color_indaco.red=220*255;
color_indaco.green=190*255;
color_indaco.blue=220*255;
color_yellow.red=249*255;
color_yellow.green=236*255;
color_yellow.blue=141*255;
GdkColor* pColor= &color_grey;
static int slowSwitcher = 0;
IControlMode *ictrl = currentPart->ctrlmode;
IPositionControl *ipos = currentPart->pos;
IVelocityControl *ivel = currentPart->iVel;
IEncoders *iiencs = currentPart->iencs;
ITorqueControl *itrq = currentPart->trq;
IAmplifierControl *iamp = currentPart->amp;
GtkEntry * *pos_entry = (GtkEntry **) currentPart->currPosArray;
GtkEntry **trq_entry = (GtkEntry **) currentPart->currTrqArray;
GtkEntry **speed_entry = (GtkEntry **) currentPart->currSpeedArray;
GtkEntry **inEntry = (GtkEntry **) currentPart->inPosArray;
GtkWidget **colorback = (GtkWidget **) currentPart->frameColorBack;
GtkWidget **sliderAry = currentPart->sliderArray;
bool *POS_UPDATE = currentPart->CURRENT_POS_UPDATE;
char buffer[40] = {'i', 'n', 'i', 't'};
char frame_title [255];
double positions[MAX_NUMBER_OF_JOINTS];
double torques[MAX_NUMBER_OF_JOINTS];
double speeds[MAX_NUMBER_OF_JOINTS];
double max_torques[MAX_NUMBER_OF_JOINTS];
double min_torques[MAX_NUMBER_OF_JOINTS];
static int controlModes[MAX_NUMBER_OF_JOINTS];
static int controlModesOld[MAX_NUMBER_OF_JOINTS];
int k;
int NUMBER_OF_JOINTS=0;
bool done = false;
bool ret = false;
ipos->getAxes(&NUMBER_OF_JOINTS);
if (NUMBER_OF_JOINTS == 0)
{
fprintf(stderr,"Lost connection with iCubInterface. You should save and restart.\n" );
Time::delay(0.1);
pColor=&color_grey;
strcpy(frame_title,"DISCONNECTED");
for (k = 0; k < MAX_NUMBER_OF_JOINTS; k++)
{
if (currentPart->framesArray[k]!=0)
{
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
}
}
return true;
}
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
max_torques[k]=0;
min_torques[k]=0;
torques[k]=0;
}
if (!iiencs->getEncoders(positions))
return true;
itrq->getTorques(torques);
iiencs->getEncoderSpeeds(speeds);
//update all joints positions
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
sprintf(buffer, "%.1f", positions[k]);
gtk_entry_set_text((GtkEntry*) pos_entry[k], buffer);
sprintf(buffer, "%.3f", torques[k]);
gtk_entry_set_text((GtkEntry*) trq_entry[k], buffer);
sprintf(buffer, "%.1f", speeds[k]);
gtk_entry_set_text((GtkEntry*) speed_entry[k], buffer);
}
//update all joint sliders
for (k = 0; k < NUMBER_OF_JOINTS; k++)
if(POS_UPDATE[k])
gtk_range_set_value((GtkRange*)sliderAry[k], positions[k]);
// *** update the checkMotionDone box section ***
// (only one at a time in order to save badwidth)
k = slowSwitcher%NUMBER_OF_JOINTS;
slowSwitcher++;
#if DEBUG_GUI
gtk_entry_set_text((GtkEntry*) inEntry[k], "off");
#else
ipos->checkMotionDone(k, &done);
if (!done)
gtk_entry_set_text((GtkEntry*) inEntry[k], " ");
else
gtk_entry_set_text((GtkEntry*) inEntry[k], "@");
#endif
// *** update the controlMode section ***
// the new icubinterface does not increase the bandwidth consumption
// ret = true; useless guys!
ret=ictrl->getControlModes(controlModes);
if (ret==false) fprintf(stderr,"ictrl->getControlMode failed\n" );
for (k = 0; k < NUMBER_OF_JOINTS; k++)
{
if (currentPart->first_time==false && controlModes[k] == controlModesOld[k]) continue;
controlModesOld[k]=controlModes[k];
sprintf(frame_title,"Joint %d ",k );
switch (controlModes[k])
{
case VOCAB_CM_IDLE:
pColor=&color_yellow;
strcat(frame_title," (IDLE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_POSITION:
pColor=&color_green;
strcat(frame_title," (POSITION)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Position:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Velocity:");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_VELOCITY:
pColor=&color_blue;
strcat(frame_title," (VELOCITY)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_TORQUE:
pColor=&color_pink;
strcat(frame_title," (TORQUE)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider1[k]),"Torque:");
gtk_frame_set_label (GTK_FRAME(currentPart->frame_slider2[k]),"Torque2:");
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_IMPEDANCE_POS:
pColor=&color_indaco;
strcat(frame_title," (IMPEDANCE POS)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_IMPEDANCE_VEL:
pColor=&color_indaco;
strcat(frame_title," (IMPEDANCE VEL)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
case VOCAB_CM_OPENLOOP:
pColor=&color_white;
strcat(frame_title," (OPENLOOP)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
default:
case VOCAB_CM_UNKNOWN:
pColor=&color_grey;
//strcat(frame_title," (UNKNOWN)");
gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
break;
}
// pColor=&color_blue;
// gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
int curr_amp_status=0;
int amp_status[60]; //fix this!!!
for (int i=0; i<60; i++) amp_status[i]=0; //fix this!!!
iamp->getAmpStatus(amp_status); //fix this!!!
curr_amp_status=amp_status[k]; //fix this!!!
#if 0
if ((amp_status[k] & 0xFF)!=0)
{
//fprintf(stderr, "FAULT DETECTED: %x\n", curr_amp_status);
//pColor=&color_red;
//strcat(frame_title," (FAULT)");
//gtk_frame_set_label (GTK_FRAME(currentPart->framesArray[k]),frame_title);
//gtk_widget_modify_bg (colorback[k], GTK_STATE_NORMAL, pColor);
}
#endif
}
currentPart->first_time =false;
return true;
}
bool exploreTorso(Vector target)
{
Vector torsoInitialJoints;
Vector torsoActualJoints;
Vector torsoVelocityCommand;
Vector torsoAccCommand;
Vector error,integral,derivative,preError;
int jointsNumber=0;
int i;
double time= 0.0;
itorsoVelocity->getAxes(&jointsNumber);
torsoAccCommand.resize(jointsNumber);
torsoVelocityCommand.resize(jointsNumber);
torsoInitialJoints.resize(jointsNumber);
torsoActualJoints.resize(jointsNumber);
error.resize(jointsNumber);
integral.resize(jointsNumber);
derivative.resize(jointsNumber);
preError.resize(jointsNumber);
preError[0] = 0.0;
preError[1] = 0.0;
preError[2] = 0.0;
integral[0] = 0.0;
integral[1] = 0.0;
integral[2] = 0.0;
derivative[0] = 0.0;
derivative[1] = 0.0;
derivative[2] = 0.0;
for(i =0; i< jointsNumber;i++);
torsoAccCommand[i] = torsoAcceleration[i];
itorsoVelocity->setRefAccelerations(torsoAccCommand.data());
if (!iTorsoEncoder->getEncoders(torsoInitialJoints.data())){
cout<<"Error in reading encoders."<<endl;
return false;
}
VectorOf<int> modes(3);
modes[0]=modes[1]=modes[2]=VOCAB_CM_VELOCITY;
itorsoMode->setControlModes(modes.getFirst());
error = target-torsoInitialJoints;
integral = integral + (error * DT);
derivative = (error - preError) / DT;
preError = error;
torsoVelocityCommand = kp * error + KI * integral + KD * derivative;
time = Time::now();
while (norm(error)>0.2){
if(Time::now()-time>maxTorsoTrajTime){
cout<<"Max time reached."<<endl;
itorsoVelocity->stop();
return true;
}
itorsoVelocity->velocityMove(torsoVelocityCommand.data());
if (!iTorsoEncoder->getEncoders(torsoActualJoints.data())){
cout<<"Error in reading encoders."<<endl;
itorsoVelocity->stop();
return false;
}
error = target-torsoActualJoints;
integral = integral + (error * DT);
derivative = (error - preError) / DT;
preError = error;
torsoVelocityCommand = kp * error + KI * integral + KD * derivative;
Time::delay(DT);
}
itorsoVelocity->stop();
return true;
}
