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 respond(const Bottle& command, Bottle& reply)
{
if(command.size()==0)
{
reply.addString("No command received.");
return true;
}
switch(command.get(0).asVocab()){
case HOME:
if(command.size()>1)
switch(command.get(1).asVocab()){
case ARM:
int tempCxL,tempCxR;
icartLeft->storeContext(&tempCxL);
icartLeft->storeContext(&tempCxR);
icartLeft->restoreContext(currentArmLeftContextID);
icartLeft->restoreContext(currentArmRightContextID);
icartLeft->goToPositionSync(leftArmHomePosition);
icartRight->goToPositionSync(rightArmHomePosition);
icartRight->waitMotionDone(0.1,2);
icartLeft->waitMotionDone(0.1,2);
icartLeft->restoreContext(tempCxR);
icartLeft->restoreContext(tempCxL);
icartLeft->deleteContext(tempCxR);
icartLeft->deleteContext(tempCxL);
reply.addString("Arm home position reached.");
return true;
case TORSO:
exploreTorso(torsoHomePosition);
reply.addString("Torso home position reached.");
return true;
case GAZE:
int tempCx;
igaze->storeContext(&tempCx);
igaze->restoreContext(currentGazeContextID);
igaze->lookAtFixationPoint(gazeHomePosition);
igaze->waitMotionDone(0.1,2);
igaze->restoreContext(tempCx);
igaze->deleteContext(tempCx);
reply.addString("Gaze home position reached.");
return true;
default:
reply.addString("Wrong device for home position.");
return true;
}
else{
int tempCxL,tempCxR,tempCx;
icartLeft->storeContext(&tempCxL);
icartLeft->storeContext(&tempCxR);
icartLeft->restoreContext(currentArmLeftContextID);
icartLeft->restoreContext(currentArmRightContextID);
igaze->storeContext(&tempCx);
igaze->restoreContext(currentGazeContextID);
icartLeft->goToPositionSync(leftArmHomePosition);
icartRight->goToPositionSync(rightArmHomePosition);
igaze->lookAtFixationPoint(gazeHomePosition);
exploreTorso(torsoHomePosition);
igaze->waitMotionDone(0.1,2);
icartRight->waitMotionDone(0.1,2);
icartLeft->waitMotionDone(0.1,2);
icartLeft->restoreContext(tempCxR);
igaze->restoreContext(tempCx);
icartLeft->restoreContext(tempCxL);
icartLeft->deleteContext(tempCxR);
icartLeft->deleteContext(tempCxL);
igaze->deleteContext(tempCx);
reply.addString("Ok, moving to home position.");
return true;
}
case LOOK_AT:
if(command.size()==2){
Bottle bAsk,bReply, bGet;
bAsk.addVocab(Vocab::encode("ask"));
Bottle &bTempAsk=bAsk.addList().addList();
bTempAsk.addString("name");
bTempAsk.addString("==");
bTempAsk.addString(command.get(1).asString());
objectsPort.write(bAsk,bReply);
cout<<"first"<<endl;
if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("id")==false ||
bReply.get(1).asList()->find("id").asList()->size()==0){
reply.addVocab(Vocab::encode("nack"));
return true;
}
bGet.addVocab(Vocab::encode("get"));
Bottle &bTempGet=bGet.addList().addList();
bTempGet.addString("id");
bTempGet.addInt(bReply.get(1).asList()->find("id").asList()->get(0).asInt());
objectsPort.write(bGet,bReply);
cout<<"second"<<endl;
if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("position_3d")==false ||
bReply.get(1).asList()->find("position_3d").asList()->size()==0){
reply.addVocab(Vocab::encode("nack"));
return true;
}
cout<<"third"<<endl;
Vector gazePosition(3);
gazePosition[0] = bReply.get(1).asList()->find("position_3d").asList()->get(0).asDouble();
gazePosition[1] = bReply.get(1).asList()->find("position_3d").asList()->get(1).asDouble();
gazePosition[2] = bReply.get(1).asList()->find("position_3d").asList()->get(2).asDouble();
int tempCx;
igaze->storeContext(&tempCx);
igaze->restoreContext(currentGazeContextID);
igaze->lookAtFixationPoint(gazePosition);
igaze->waitMotionDone(0.2,3);
igaze->restoreContext(tempCx);
igaze->deleteContext(tempCx);
reply.addString("Gaze position reached.");
return true;
}
else if(command.size()==4){
Vector gazePosition(3);
int tempCx;
gazePosition[0] = command.get(1).asDouble();
gazePosition[1] = command.get(2).asDouble();
gazePosition[2] = command.get(3).asDouble();
igaze->storeContext(&tempCx);
igaze->restoreContext(currentGazeContextID);
igaze->lookAtFixationPoint(gazePosition);
igaze->waitMotionDone(0.2,3);
igaze->restoreContext(tempCx);
igaze->deleteContext(tempCx);
reply.addString("Gaze position reached.");
return true;
}
else{
reply.addString("Wrong number of parameters for lookAt.");
return true;
}
case GET:
if(command.size()==2){
Bottle bAsk,bReply, bGet;
bAsk.addVocab(Vocab::encode("ask"));
Bottle &bTempAsk=bAsk.addList().addList();
bTempAsk.addString("name");
bTempAsk.addString("==");
bTempAsk.addString(command.get(1).asString());
objectsPort.write(bAsk,bReply);
if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("id")==false ||
bReply.get(1).asList()->find("id").asList()->size()==0){
reply.addVocab(Vocab::encode("nack"));
return true;
}
bGet.addVocab(Vocab::encode("get"));
Bottle &bTempGet=bGet.addList().addList();
bTempGet.addString("id");
bTempGet.addInt(bReply.get(1).asList()->find("id").asList()->get(0).asInt());
objectsPort.write(bGet,bReply);
if(bReply.size()==0 || bReply.get(0).asVocab()!=Vocab::encode("ack") || bReply.get(1).asList()->check("position_2d_left")==false ||
bReply.get(1).asList()->find("position_2d_left").asList()->size()==0){
reply.addVocab(Vocab::encode("nack"));
return true;
}
Vector objPosition(4);
objPosition[0] = bReply.get(1).asList()->find("position_2d_left").asList()->get(0).asInt();
objPosition[1] = bReply.get(1).asList()->find("position_2d_left").asList()->get(1).asInt();
objPosition[2] = bReply.get(1).asList()->find("position_2d_left").asList()->get(2).asInt();
objPosition[3] = bReply.get(1).asList()->find("position_2d_left").asList()->get(3).asInt();
reply.addVocab(VOCAB3('a','c','k'));
Bottle &coord = reply.addList();
coord.addInt((int)(objPosition[0]+objPosition[2])/2);
coord.addInt((int)(objPosition[1]+objPosition[3])/2);
return true;
}
else{
reply.addString("Wrong number of parameters for get.");
return true;
}
case TRACK:
if(command.size()==3)
switch(command.get(1).asVocab()){
case ARM:
if (command.get(2).asString() == "on"){
int tempCxL,tempCxR;
//icartLeft->storeContext(&tempCxL);
//icartLeft->storeContext(&tempCxR);
//icartLeft->restoreContext(currentArmLeftContextID);
//icartLeft->restoreContext(currentArmRightContextID);
icartLeft->setTrackingMode(true);
icartRight->setTrackingMode(true);
icartRight->storeContext(¤tArmRightContextID);
icartLeft->storeContext(¤tArmLeftContextID);
//icartLeft->restoreContext(tempCxR);
// icartLeft->restoreContext(tempCxL);
// icartLeft->deleteContext(tempCxR);
// icartLeft->deleteContext(tempCxL);
reply.addString("Arm tracking mode enabled.");
}
else if (command.get(2).asString() == "off"){
int tempCxL,tempCxR;
//icartLeft->storeContext(&tempCxL);
//icartLeft->storeContext(&tempCxR);
//icartLeft->restoreContext(currentArmLeftContextID);
//icartLeft->restoreContext(currentArmRightContextID);
icartLeft->setTrackingMode(false);
icartRight->setTrackingMode(false);
icartRight->storeContext(¤tArmRightContextID);
icartLeft->storeContext(¤tArmLeftContextID);
//icartLeft->restoreContext(tempCxR);
// icartLeft->restoreContext(tempCxL);
// icartLeft->deleteContext(tempCxR);
// icartLeft->deleteContext(tempCxL);
reply.addString("Arm tracking mode disabled.");
}
else
reply.addString("Wrong parameter: on/off");
return true;
case GAZE:
if (command.get(2).asString() == "on"){
int tempCx;
//igaze->storeContext(&tempCx);
//igaze->restoreContext(currentGazeContextID);
igaze->setTrackingMode(true);
igaze->storeContext(¤tGazeContextID);
//igaze->restoreContext(tempCx);
//igaze->deleteContext(tempCx);
reply.addString("Gaze tracking mode enabled.");
}
else if (command.get(2).asString() == "off"){
int tempCx;
//igaze->storeContext(&tempCx);
//igaze->restoreContext(currentGazeContextID);
igaze->setTrackingMode(false);
igaze->storeContext(¤tGazeContextID);
//igaze->restoreContext(tempCx);
//igaze->deleteContext(tempCx);
reply.addString("Gaze tracking mode disabled.");
}
else
reply.addString("Wrong parameter for trac: on/off");
return true;
default:
reply.addString("Wrong device for tracking mode.");
return true;
}
else{
reply.addString("Missing parameters for track.");
return true;
}
case BLOCK:
if(command.size()>1)
switch(command.get(1).asVocab()){
case GAZE:
if(command.size()==3){
// int tempCx;
//igaze->storeContext(&tempCx);
//igaze->restoreContext(currentGazeContextID);
igaze->blockEyes(command.get(2).asDouble());
igaze->storeContext(¤tGazeContextID);
//igaze->restoreContext(tempCx);
//igaze->deleteContext(tempCx);
reply.addString("Gaze blocking mode enabled.");
}
else{
//int tempCx;
//igaze->storeContext(&tempCx);
//igaze->restoreContext(currentGazeContextID);
igaze->blockEyes(DEFAULT_VERGENCE);
igaze->storeContext(¤tGazeContextID);
//igaze->restoreContext(tempCx);
//igaze->deleteContext(tempCx);
reply.addString("Default vergence set.");
}
return true;
default:
reply.addString("Wrong device for blocking mode.");
return true;
}
else{
reply.addString("Missing parameters for block.");
return true;
}
case GOTO:
if(command.size()==4){
Vector torsoTarget(3);
torsoTarget[0] = command.get(1).asDouble();
torsoTarget[1] = command.get(2).asDouble();
torsoTarget[2] = command.get(3).asDouble();
exploreTorso(torsoTarget);
reply.addString("Torso position reached.");
}
else{
reply.addString("Missing parameters for goto.");
return true;
}
return true;
case RUN:
running = true;
reply.addString("Ready for exploration. next or stop?");
return true;
case NEXT:
if(running){
exploreTorso(waypoints.getRow(index));
index++;
if (index > 2){
running = false;
index = 0;
reply.addString("Waypoint reached. End of waypoints.");
}
else{
reply.addString("Waypoint reached. next or stop?");
}
}
else
reply.addString("Not running.");
return true;
case STOP:
index = 0;
running = false;
reply.addString("Run stopped. Index reset.");
return true;
default:
RFModule::respond(command,reply);
return true;
}
return true;
}