/**
* Close all resources acquired.
* Called when initialization failed or during destruction.
*/
void close()
{
if(udp)
delete udp;
if(proxy)
{
proxy->getGenericProxy()->getModule()->removeAllPreProcess();
proxy->getGenericProxy()->getModule()->removeAllPostProcess();
delete proxy;
}
if(memory)
delete memory;
}
/** Close all resources acquired. Called when initialization failed or during destruction. */
void close()
{
fprintf(stderr, "libbhuman: Stopping.\n");
if(proxy)
{
proxy->getGenericProxy()->getModule()->removeAllPreProcess();
proxy->getGenericProxy()->getModule()->removeAllPostProcess();
delete proxy;
}
if(memory)
delete memory;
if(sem != SEM_FAILED)
sem_close(sem);
if(data != MAP_FAILED)
munmap(data, sizeof(LBHData));
fprintf(stderr, "libbhuman: Stopped.\n");
}
/**
* The constructor sets up the structures required to communicate with NAOqi.
* @param pBroker A NAOqi broker that allows accessing other NAOqi modules.
*/
GameCtrl(boost::shared_ptr<AL::ALBroker> pBroker)
: ALModule(pBroker, "GameCtrl"),
proxy(0),
memory(0),
udp(0),
teamNumber(0)
{
setModuleDescription("A module that provides packets from the GameController.");
assert(numOfButtons == sizeof(buttonNames) / sizeof(*buttonNames));
assert(numOfLEDs == sizeof(ledNames) / sizeof(*ledNames));
init();
try
{
memory = new AL::ALMemoryProxy(pBroker);
proxy = new AL::DCMProxy(pBroker);
AL::ALValue params;
AL::ALValue result;
params.arraySetSize(1);
params.arraySetSize(2);
params[0] = std::string("leds");
params[1].arraySetSize(numOfLEDs);
for(int i = 0; i < numOfLEDs; ++i)
params[1][i] = std::string(ledNames[i]);
result = proxy->createAlias(params);
assert(result == params);
ledRequest.arraySetSize(6);
ledRequest[0] = std::string("leds");
ledRequest[1] = std::string("ClearAll");
ledRequest[2] = std::string("time-separate");
ledRequest[3] = 0;
ledRequest[4].arraySetSize(1);
ledRequest[5].arraySetSize(numOfLEDs);
for(int i = 0; i < numOfLEDs; ++i)
ledRequest[5][i].arraySetSize(1);
for(int i = 0; i < numOfButtons; ++i)
buttons[i] = (float*) memory->getDataPtr(buttonNames[i]);
// If no color was set, set it to black (no LED).
// This actually has a race condition.
if(memory->getDataList("GameCtrl/teamColour").empty())
memory->insertData("GameCtrl/teamColour", TEAM_BLACK);
playerNumber = (int*) memory->getDataPtr("GameCtrl/playerNumber");
teamNumberPtr = (int*) memory->getDataPtr("GameCtrl/teamNumber");
defaultTeamColour = (int*) memory->getDataPtr("GameCtrl/teamColour");
// register "onPreProcess" and "onPostProcess" callbacks
theInstance = this;
proxy->getGenericProxy()->getModule()->atPreProcess(&onPreProcess);
proxy->getGenericProxy()->getModule()->atPostProcess(&onPostProcess);
udp = new UdpComm();
if(!udp->setBlocking(false) ||
!udp->setBroadcast(true) ||
!udp->bind("0.0.0.0", GAMECONTROLLER_DATA_PORT) ||
!udp->setLoopback(false))
{
fprintf(stderr, "libgamectrl: Could not open UDP port\n");
delete udp;
udp = 0;
// continue, because button interface will still work
}
publish();
}
catch(AL::ALError& e)
{
fprintf(stderr, "libgamectrl: %s\n", e.what());
close();
}
}
/**
* The constructor initializes the shared memory for communicating with bhuman.
* It also establishes a communication with NaoQi and prepares all data structures
* required for this communication.
* @param pBroker A NaoQi broker that allows accessing other NaoQi modules.
*/
BHuman(boost::shared_ptr<AL::ALBroker> pBroker) :
ALModule(pBroker, "BHuman"),
data((LBHData*) MAP_FAILED),
sem(SEM_FAILED),
proxy(0),
memory(0),
dcmTime(0),
lastReadingActuators(-1),
actuatorDrops(0),
frameDrops(allowedFrameDrops + 1),
state(sitting),
phase(0.f),
ledIndex(0),
rightEarLEDsChangedTime(0),
startPressedTime(0),
lastBHumanStartTime(0)
{
setModuleDescription("A module that provides basic ipc NaoQi DCM access using shared memory.");
fprintf(stderr, "libbhuman: Starting.\n");
assert(lbhNumOfSensorIds == sizeof(sensorNames) / sizeof(*sensorNames));
assert(lbhNumOfActuatorIds == sizeof(actuatorNames) / sizeof(*actuatorNames));
assert(lbhNumOfTeamInfoIds == sizeof(teamInfoNames) / sizeof(*teamInfoNames));
// create shared memory
memoryHandle = shm_open(LBH_MEM_NAME, O_CREAT | O_RDWR, S_IRUSR | S_IWUSR);
if(memoryHandle == -1)
perror("libbhuman: shm_open");
else if(ftruncate(memoryHandle, sizeof(LBHData)) == -1)
perror("libbhuman: ftruncate");
else
{
// map the shared memory
data = (LBHData*) mmap(NULL, sizeof(LBHData), PROT_READ | PROT_WRITE, MAP_SHARED, memoryHandle, 0);
if(data == MAP_FAILED)
perror("libbhuman: mmap");
else
{
memset(data, 0, sizeof(LBHData));
// open semaphore
sem = sem_open(LBH_SEM_NAME, O_CREAT | O_RDWR, S_IRUSR | S_IWUSR, 0);
if(sem == SEM_FAILED)
perror("libbhuman: sem_open");
else
try
{
// get the robot name
memory = new AL::ALMemoryProxy(pBroker);
std::string robotName = (std::string) memory->getData("Device/DeviceList/ChestBoard/BodyNickName", 0);
strncpy(data->robotName, robotName.c_str(), sizeof(data->robotName));
// create "positionRequest" and "hardnessRequest" alias
proxy = new AL::DCMProxy(pBroker);
AL::ALValue params;
AL::ALValue result;
params.arraySetSize(1);
params.arraySetSize(2);
params[0] = std::string("positionActuators");
params[1].arraySetSize(lbhNumOfPositionActuatorIds);
for(int i = 0; i < lbhNumOfPositionActuatorIds; ++i)
params[1][i] = std::string(actuatorNames[i]);
result = proxy->createAlias(params);
params[0] = std::string("hardnessActuators");
params[1].arraySetSize(lbhNumOfHardnessActuatorIds);
for(int i = 0; i < lbhNumOfHardnessActuatorIds; ++i)
params[1][i] = std::string(actuatorNames[headYawHardnessActuator + i]);
result = proxy->createAlias(params);
params[0] = std::string("usRequest");
params[1].arraySetSize(1);
params[1][0] = std::string(actuatorNames[usActuator]);
result = proxy->createAlias(params);
// prepare positionRequest
positionRequest.arraySetSize(6);
positionRequest[0] = std::string("positionActuators");
positionRequest[1] = std::string("ClearAll");
positionRequest[2] = std::string("time-separate");
positionRequest[3] = 0;
positionRequest[4].arraySetSize(1);
positionRequest[5].arraySetSize(lbhNumOfPositionActuatorIds);
for(int i = 0; i < lbhNumOfPositionActuatorIds; ++i)
positionRequest[5][i].arraySetSize(1);
// prepare hardnessRequest
hardnessRequest.arraySetSize(6);
hardnessRequest[0] = std::string("hardnessActuators");
hardnessRequest[1] = std::string("ClearAll");
hardnessRequest[2] = std::string("time-separate");
hardnessRequest[3] = 0;
hardnessRequest[4].arraySetSize(1);
hardnessRequest[5].arraySetSize(lbhNumOfHardnessActuatorIds);
for(int i = 0; i < lbhNumOfHardnessActuatorIds; ++i)
hardnessRequest[5][i].arraySetSize(1);
// prepare usRequest
usRequest.arraySetSize(6);
usRequest[0] = std::string("usRequest");
usRequest[1] = std::string("Merge"); // doesn't work with "ClearAll"
usRequest[2] = std::string("time-separate");
usRequest[3] = 0;
usRequest[4].arraySetSize(1);
usRequest[5].arraySetSize(1);
usRequest[5][0].arraySetSize(1);
// prepare ledRequest
ledRequest.arraySetSize(3);
ledRequest[1] = std::string("ClearAll");
ledRequest[2].arraySetSize(1);
ledRequest[2][0].arraySetSize(2);
ledRequest[2][0][1] = 0;
// prepare sensor pointers
for(int i = 0; i < lbhNumOfSensorIds; ++i)
sensorPtrs[i] = (float*) memory->getDataPtr(sensorNames[i]);
resetUsMeasurements();
// initialize requested actuators
memset(requestedActuators, 0, sizeof(requestedActuators));
for(int i = faceLedRedLeft0DegActuator; i < chestBoardLedRedActuator; ++i)
requestedActuators[i] = -1.f;
// register "onPreProcess" and "onPostProcess" callbacks
theInstance = this;
proxy->getGenericProxy()->getModule()->atPreProcess(&onPreProcess);
proxy->getGenericProxy()->getModule()->atPostProcess(&onPostProcess);
fprintf(stderr, "libbhuman: Started!\n");
return; // success
}
catch(AL::ALError& e)
{
fprintf(stderr, "libbhuman: %s\n", e.toString().c_str());
}
}
}
close(); // error
}