示例#1
0
int
main (int argc, char *argv[])
{
    getopt_t *gopt = getopt_create ();
    getopt_add_bool (gopt, 'h', "help", 0, "Show this help screen");
    getopt_add_string (gopt, 'd', "device", "/dev/ttyUSB0", "Device name");
    getopt_add_int (gopt, 'b', "baud", "1000000", "Device baud rate");
    getopt_add_int (gopt, 'n', "num_servos", "6", "Number of servos");
    getopt_add_string (gopt, '\0', "status-channel", "ARM_STATUS2", "LCM status channel");
    getopt_add_string (gopt, '\0', "command-channel", "ARM_COMMAND2", "LCM command channel");

    if (!getopt_parse (gopt, argc, argv, 1) || getopt_get_bool (gopt, "help")) {
        getopt_do_usage (gopt);
        exit (-1);
    }

    arm_state_t *arm_state = arm_state_create (getopt_get_string (gopt, "device"),
                                               getopt_get_int (gopt, "baud"),
                                               getopt_get_int (gopt, "num_servos"));

    // LCM Initialization
    arm_state->lcm = lcm_create (NULL);
    arm_state->command_channel = getopt_get_string (gopt, "command-channel");
    arm_state->status_channel = getopt_get_string (gopt, "status-channel");
    if (!arm_state->lcm)
        return -1;
    dynamixel_command_list_t_subscribe (arm_state->lcm,
                                        arm_state->command_channel,
                                        command_handler,
                                        arm_state);

    pthread_create (&arm_state->status_thread, NULL, status_loop, arm_state);
    pthread_create (&arm_state->driver_thread, NULL, driver_loop, arm_state);

    // Probably not needed, given how this operates
    pthread_join (arm_state->status_thread, NULL);
    pthread_join (arm_state->driver_thread, NULL);

    // Cleanup
    arm_state_destroy (arm_state);
    getopt_destroy (gopt);
}
示例#2
0
int main(int argc, char *argv[])
{
    getopt_t *getopt = getopt_create();

    getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
    getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
    getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
    getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
    getopt_add_int(getopt, '\0', "border", "1", "Set tag family border size");
    getopt_add_int(getopt, 'i', "iters", "1", "Repeat processing on input set this many times");
    getopt_add_int(getopt, 't', "threads", "4", "Use this many CPU threads");
    getopt_add_double(getopt, 'x', "decimate", "1.0", "Decimate input image by this factor");
    getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input");
    getopt_add_bool(getopt, '1', "refine-decode", 0, "Spend more time trying to decode tags");
    getopt_add_bool(getopt, '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");

    if (!getopt_parse(getopt, argc, argv, 1) || getopt_get_bool(getopt, "help")) {
        printf("Usage: %s [options] <input files>\n", argv[0]);
        getopt_do_usage(getopt);
        exit(0);
    }

    const zarray_t *inputs = getopt_get_extra_args(getopt);

    apriltag_family_t *tf = NULL;
    const char *famname = getopt_get_string(getopt, "family");
    if (!strcmp(famname, "tag36h11"))
        tf = tag36h11_create();
    else if (!strcmp(famname, "tag36h10"))
        tf = tag36h10_create();
    else if (!strcmp(famname, "tag36artoolkit"))
        tf = tag36artoolkit_create();
    else if (!strcmp(famname, "tag25h9"))
        tf = tag25h9_create();
    else if (!strcmp(famname, "tag25h7"))
        tf = tag25h7_create();
    else {
        printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
        exit(-1);
    }

    tf->black_border = getopt_get_int(getopt, "border");

    apriltag_detector_t *td = apriltag_detector_create();
    apriltag_detector_add_family(td, tf);
    td->quad_decimate = getopt_get_double(getopt, "decimate");
    td->quad_sigma = getopt_get_double(getopt, "blur");
    td->nthreads = getopt_get_int(getopt, "threads");
    td->debug = getopt_get_bool(getopt, "debug");
    td->refine_decode = getopt_get_bool(getopt, "refine-decode");
    td->refine_pose = getopt_get_bool(getopt, "refine-pose");

    int quiet = getopt_get_bool(getopt, "quiet");

    int maxiters = getopt_get_int(getopt, "iters");

    const int hamm_hist_max = 10;

    for (int iter = 0; iter < maxiters; iter++) {

        if (maxiters > 1)
            printf("iter %d / %d\n", iter + 1, maxiters);

        for (int input = 0; input < zarray_size(inputs); input++) {

            int hamm_hist[hamm_hist_max];
            memset(hamm_hist, 0, sizeof(hamm_hist));

            char *path;
            zarray_get(inputs, input, &path);
            if (!quiet)
                printf("loading %s\n", path);

            image_u8_t *im = image_u8_create_from_pnm(path);
            if (im == NULL) {
                printf("couldn't find %s\n", path);
                continue;
            }

            zarray_t *detections = apriltag_detector_detect(td, im);

            for (int i = 0; i < zarray_size(detections); i++) {
                apriltag_detection_t *det;
                zarray_get(detections, i, &det);

                if (!quiet)
                    printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, goodness %8.3f, margin %8.3f\n",
                           i, det->family->d*det->family->d, det->family->h, det->id, det->hamming, det->goodness, det->decision_margin);

                hamm_hist[det->hamming]++;

                apriltag_detection_destroy(det);
            }

            zarray_destroy(detections);


            if (!quiet) {
                timeprofile_display(td->tp);
                printf("nedges: %d, nsegments: %d, nquads: %d\n", td->nedges, td->nsegments, td->nquads);
            }

            if (!quiet)
                printf("Hamming histogram: ");

            for (int i = 0; i < hamm_hist_max; i++)
                printf("%5d", hamm_hist[i]);

            if (quiet) {
                printf("%12.3f", timeprofile_total_utime(td->tp) / 1.0E3);
            }

            printf("\n");

            image_u8_destroy(im);
        }
    }

    // don't deallocate contents of inputs; those are the argv
    apriltag_detector_destroy(td);

    tag36h11_destroy(tf);
    return 0;
}
示例#3
0
int main(int argc, char *argv[])
{
    auto options = std::unique_ptr<getopt_t, void(*)(getopt_t*)> (getopt_create(), getopt_destroy);
    // getopt_t *options = getopt_create();

    getopt_add_bool(options.get(), 'h', "help", 0, "Show this help");
    getopt_add_bool(options.get(), 'd', "debug", 0, "Enable debugging output (slow)");
    getopt_add_bool(options.get(), 'w', "window", 1, "Show the detected tags in a window");
    getopt_add_bool(options.get(), 'q', "quiet", 0, "Reduce output");
    getopt_add_int(options.get(), '\0', "border", "1", "Set tag family border size");
    getopt_add_int(options.get(), 't', "threads", "4", "Use this many CPU threads");
    getopt_add_double(options.get(), 'x', "decimate", "1.0", "Decimate input image by this factor");
    getopt_add_double(options.get(), 'b', "blur", "0.0", "Apply low-pass blur to input");
    getopt_add_bool(options.get(), '0', "refine-edges", 1, "Spend more time trying to align edges of tags");
    getopt_add_bool(options.get(), '1', "refine-decode", 0, "Spend more time trying to decode tags");
    getopt_add_bool(options.get(), '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");
    getopt_add_double(options.get(), 's', "size", "0.04047", "Physical side-length of the tag (meters)");
    getopt_add_int(options.get(), 'c', "camera", "0", "Camera ID");
    getopt_add_int(options.get(), 'i', "tag_id", "-1", "Tag ID (-1 for all tags in family)");

    

    if (!getopt_parse(options.get(), argc, argv, 1) || getopt_get_bool(options.get(), "help")) {
        printf("Usage: %s [options]\n", argv[0]);
        getopt_do_usage(options.get());
        exit(0);
    }  
    AprilTagDetector tag_detector(options);
    auto lcm = std::make_shared<lcm::LCM>();

    Eigen::Matrix3d camera_matrix = Eigen::Matrix3d::Identity();
    // camera_matrix(0,0) = bot_camtrans_get_focal_length_x(mCamTransLeft);
    // camera_matrix(1,1) = bot_camtrans_get_focal_length_y(mCamTransLeft);
    // camera_matrix(0,2) = bot_camtrans_get_principal_x(mCamTransLeft);
    // camera_matrix(1,2) = bot_camtrans_get_principal_y(mCamTransLeft);
    camera_matrix(0,0) = 535.04778754;
    camera_matrix(1,1) = 533.37100256;
    camera_matrix(0,2) = 302.83654976;
    camera_matrix(1,2) = 237.69023961;

    Eigen::Vector4d distortion_coefficients(-7.74010810e-02, -1.97835565e-01, -4.47956948e-03, -5.42361499e-04);

    // camera matrix:
    // [[ 535.04778754    0.          302.83654976]
    //  [   0.          533.37100256  237.69023961]
    //  [   0.            0.            1.        ]]
    // distortion coefficients:  [ -7.74010810e-02  -1.97835565e-01  -4.47956948e-03  -5.42361499e-04
    //    9.30985112e-01]


    cv::VideoCapture capture(getopt_get_int(options.get(), "camera"));
    if (!capture.isOpened()) {
        std::cout << "Cannot open the video cam" << std::endl;
        return -1;
    }

    cv::Mat frame;
    Eigen::Isometry3d tag_to_camera = Eigen::Isometry3d::Identity();
    crazyflie_t::webcam_pos_t tag_to_camera_msg;
    while (capture.read(frame)) {
        std::vector<TagMatch> tags = tag_detector.detectTags(frame);
        if (tags.size() > 0) {
            tag_to_camera = getRelativeTransform(tags[0], camera_matrix, distortion_coefficients, tag_detector.getTagSize());
            tag_to_camera_msg = encodeWebcamPos(tag_to_camera);
            tag_to_camera_msg.frame_id = 1;
        } else {
            tag_to_camera_msg = encodeWebcamPos(tag_to_camera);
            tag_to_camera_msg.frame_id = -1;
        }
        tag_to_camera_msg.timestamp = timestamp_now();
        lcm->publish("WEBCAM_POS", &tag_to_camera_msg);
    }

    return 0;
}
示例#4
0
文件: main.c 项目: YuehChuan/lcm
int main(int argc, char *argv[])
{
    getopt_t *gopt = getopt_create();

    getopt_add_bool  (gopt, 'h',  "help",     0,    "Show this help");
    getopt_add_bool  (gopt, 't',  "tokenize", 0,    "Show tokenization");
    getopt_add_bool  (gopt, 'd',  "debug",    0,    "Show parsed file");
    getopt_add_bool  (gopt, 0,    "lazy",     0,    "Generate output file only if .lcm is newer");
    getopt_add_string(gopt, 0,    "package-prefix",     "",
                      "Add this package name as a prefix to the declared package");
    getopt_add_bool  (gopt, 0,  "version",    0,    "Show version information and exit");

    // we only support portable declarations now.
    // getopt_add_bool  (gopt, 0,    "warn-unsafe", 1, "Warn about unportable declarations");

    getopt_add_spacer(gopt, "**** C options ****");
    getopt_add_bool  (gopt, 'c', "c",         0,     "Emit C code");
    setup_c_options(gopt);

    getopt_add_spacer(gopt, "**** C++ options ****");
    getopt_add_bool  (gopt, 'x', "cpp",         0,     "Emit C++ code");
    setup_cpp_options(gopt);

    getopt_add_spacer(gopt, "**** Java options ****");
    getopt_add_bool  (gopt, 'j', "java",      0,     "Emit Java code");
    setup_java_options(gopt);

    getopt_add_spacer(gopt, "**** Python options ****");
    getopt_add_bool  (gopt, 'p', "python",      0,     "Emit Python code");
    setup_python_options(gopt);

    getopt_add_spacer(gopt, "**** Lua options ****");
    getopt_add_bool  (gopt, 'l', "lua",      0,     "Emit Lua code");
    setup_lua_options(gopt);

    getopt_add_spacer(gopt, "**** C#.NET options ****");
    getopt_add_bool  (gopt, 0, "csharp",      0,     "Emit C#.NET code");
    setup_csharp_options(gopt);

    if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
        printf("Usage: %s [options] <input files>\n\n", argv[0]);
        getopt_do_usage(gopt);
        return 0;
    }

    lcmgen_t *lcm = lcmgen_create();
    lcm->gopt = gopt;

    for (unsigned int i = 0; i < g_ptr_array_size(gopt->extraargs); i++) {
        char *path = (char *) g_ptr_array_index(gopt->extraargs, i);

        int res = lcmgen_handle_file(lcm, path);
        if (res)
            return res;
    }

    // If "--version" was specified, then show version information and exit.
    if (getopt_get_bool(gopt, "version")) {
      printf("lcm-gen %d.%d.%d\n", LCM_MAJOR_VERSION, LCM_MINOR_VERSION,
          LCM_MICRO_VERSION);
      return 0;
    }

    // If "-t" or "--tokenize" was specified, then show tokenization
    // information and exit.
    if (getopt_get_bool(gopt, "tokenize")) {
        return 0;
    }

    int did_something = 0;
    if (getopt_get_bool(gopt, "debug")) {
        did_something = 1;
        lcmgen_dump(lcm);
    }

    if (getopt_get_bool(gopt, "c")) {
        did_something = 1;
        if (emit_c(lcm)) {
            printf("An error occurred while emitting C code.\n");
        }
    }

    if (getopt_get_bool(gopt, "cpp")) {
        did_something = 1;
        if (emit_cpp(lcm)) {
            printf("An error occurred while emitting C++ code.\n");
        }
    }

    if (getopt_get_bool(gopt, "java")) {
        did_something = 1;
        if (emit_java(lcm)) {
            perror("An error occurred while emitting Java code.\n");
        }
    }

    if (getopt_get_bool(gopt, "python")) {
        did_something = 1;
        if (emit_python(lcm)) {
            printf("An error occurred while emitting Python code.\n");
        }
    }

    if (getopt_get_bool(gopt, "lua")) {
    	did_something = 1;
    	if (emit_lua(lcm)) {
    		printf("An error occurred while emitting Lua code.\n");
    	}
    }

    if (getopt_get_bool(gopt, "csharp")) {
        did_something = 1;
        if (emit_csharp(lcm)) {
            printf("An error occurred while emitting C#.NET code.\n");
        }
    }

    if (did_something == 0) {
        printf("No actions specified. Try --help.\n");
    }

    return 0;
}
int main(int argc, char** argv)
{
	// camera
	CameraHandler camera;

	// getopt
	getopt_t* gopt = getopt_create();
	getopt_add_string(gopt, 'f', "file", "", "Use static camera image");
	if (!getopt_parse(gopt, argc, argv, 1)) {
		getopt_do_usage(gopt);
		exit(1);
	}
	const char* fileName = getopt_get_string(gopt, "file");
	if (strncmp(fileName, "", 1)) {
		// if fileName is not empty
		camera.setStaticImage(fileName);
	}
	getopt_destroy(gopt);

	// initialize with first image
	image_u32_t* tempIm = camera.getImage();
	CalibrationHandler::instance()->calibrateImageSize(tempIm->height, tempIm->width, true);
	image_u32_destroy(tempIm);

	// lcm
	LcmHandler::instance()->launchThreads();

	// vx
	VxHandler vx(1024, 768);
	vx.launchThreads();
	while (1) {
		CalibrationInfo calibrationInfo = 
			CalibrationHandler::instance()->getCalibration();
		RenderInfo render;
		render.im = camera.getImage();
		CalibrationHandler::instance()->clipImage(render.im);

		// std::array<float, 2> pos;
		// if (Arm::instance()->forwardKinematics(pos)) {
		// 	printf("pos: %f, %f\n", pos[0], pos[1]);			
		// }

		if (buttonStates.blobDetect) {
			std::vector<BlobDetector::Blob> blobs = 
				BlobDetector::findBlobs(render.im, calibrationInfo, blobMinPixels);
			for (const auto& blob : blobs) {
				std::array<int, 2> imageCoords{{blob.x, blob.y}};
				std::array<float, 2> screenCoords = 
					CoordinateConverter::imageToScreen(imageCoords);
				switch (blob.type) {
					case REDBALL:
						render.redBlobs.push_back(screenCoords);
						break;
					case GREENBALL:
						render.greenBlobs.push_back(screenCoords);
						break;
					case BLUESQUARE:
						render.blueBlobs.push_back(screenCoords);
						break;
					default:
						break;
				}
			}
		}

		VxButtonStates buttonStates = vx.getButtonStates();
		if (buttonStates.colorMask) {
			maskWithColors(render.im, calibrationInfo);
		}

		vx.changeRenderInfo(render);
		
		usleep(1e3);
	}

}
示例#6
0
int main(int argc, char *argv[])
{
    getopt_t *gopt = getopt_create();

    getopt_add_bool  (gopt, 'h',  "help",     0,    "Show this help");
    getopt_add_bool  (gopt, 't',  "tokenize", 0,    "Show tokenization");
    getopt_add_bool  (gopt, 'd',  "debug",    0,    "Show parsed file");
    getopt_add_bool  (gopt, 0,    "lazy",     0,    "Generate output file only if .lcm is newer");

    // we only support portable declarations now.
    // getopt_add_bool  (gopt, 0,    "warn-unsafe", 1, "Warn about unportable declarations");

    getopt_add_spacer(gopt, "**** C options ****");
    getopt_add_bool  (gopt, 'c', "c",         0,     "Emit C code");
    setup_c_options(gopt);

    getopt_add_spacer(gopt, "**** C++ options ****");
    getopt_add_bool  (gopt, 'x', "cpp",         0,     "Emit C++ code");
    setup_cpp_options(gopt);

    getopt_add_spacer(gopt, "**** Java options ****");
    getopt_add_bool  (gopt, 'j', "java",      0,     "Emit Java code");
    setup_java_options(gopt);

    getopt_add_spacer(gopt, "**** Python options ****");
    getopt_add_bool  (gopt, 'p', "python",      0,     "Emit Python code");
    setup_python_options(gopt);

    getopt_add_spacer(gopt, "**** Lua options ****");
    getopt_add_bool  (gopt, 'l', "lua",      0,     "Emit Lua code");
    setup_lua_options(gopt);

    getopt_add_spacer(gopt, "**** C#.NET options ****");
    getopt_add_bool  (gopt, 0, "csharp",      0,     "Emit C#.NET code");
    setup_csharp_options(gopt);

    if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
        printf("Usage: %s [options] <input files>\n\n", argv[0]);
        getopt_do_usage(gopt);
        return 0;
    }

    lcmgen_t *lcm = lcmgen_create();
    lcm->gopt = gopt;

    for (unsigned int i = 0; i < g_ptr_array_size(gopt->extraargs); i++) {
        char *path = (char *) g_ptr_array_index(gopt->extraargs, i);

        int res = lcmgen_handle_file(lcm, path);
        if (res)
            return -1;
    }

    int did_something = 0;
    // if they requested tokenizing (debug) output, we've done that now. Exit.
    if (getopt_get_bool(gopt, "tokenize")) {
        did_something = 1;
        return 0;
    }

    if (getopt_get_bool(gopt, "debug")) {
        did_something = 1;
        lcmgen_dump(lcm);
    }

    if (getopt_get_bool(gopt, "c")) {
        did_something = 1;
        if (emit_c(lcm)) {
            printf("An error occurred while emitting C code.\n");
        }
    }

    if (getopt_get_bool(gopt, "cpp")) {
        did_something = 1;
        if (emit_cpp(lcm)) {
            printf("An error occurred while emitting C++ code.\n");
        }
    }

    if (getopt_get_bool(gopt, "java")) {
        did_something = 1;
        if (emit_java(lcm)) {
            perror("An error occurred while emitting Java code.\n");
        }
    }

    if (getopt_get_bool(gopt, "python")) {
        did_something = 1;
        if (emit_python(lcm)) {
            printf("An error occurred while emitting Python code.\n");
        }
    }

    if (getopt_get_bool(gopt, "lua")) {
    	did_something = 1;
    	if (emit_lua(lcm)) {
    		printf("An error occurred while emitting Lua code.\n");
    	}
    }

    if (getopt_get_bool(gopt, "csharp")) {
        did_something = 1;
        if (emit_csharp(lcm)) {
            printf("An error occurred while emitting C#.NET code.\n");
        }
    }

    if (did_something == 0) {
        printf("No actions specified. Try --help.\n");
    }

    return 0;
}
示例#7
0
int
main (int argc, char *argv[])
{
    // so that redirected stdout won't be insanely buffered.
    setvbuf (stdout, (char *) NULL, _IONBF, 0);

    state_t *state = calloc (1, sizeof *state);

    state->meters_per_tick = METERS_PER_TICK; // IMPLEMENT ME
    state->alpha = ALPHA;
    state->beta = BETA;

    // file for gyro integration test
    //state->fp = fopen("gyro-yaw-integration.txt","w");
    state->fp = fopen("yaw.txt","w");
    // Tests for the position estimate 
    /*
    update_position(state,4456,4456);
    update_position(state,0,1208);
    update_position(state,4456,4456);
    
    while(1);
    */


    // Used for testing the gyro bias
    /*
    for(int i=0; i<100; i++){
      state->yaw_cal_array[i] = 15*i;
    }

    state->gyro_bias = find_gyro_bias(state); 
    printf("Gyro Bias: %llu\n", state->gyro_bias);
    */


    //printf("getting options\n");
    
    state->gopt = getopt_create ();
    getopt_add_bool   (state->gopt, 'h', "help", 0, "Show help");
    getopt_add_bool   (state->gopt, 'g', "use-gyro", 0, "Use gyro for heading instead of wheel encoders");
    getopt_add_string (state->gopt, '\0', "odometry-channel", "BOTLAB_ODOMETRY", "LCM channel name");
    getopt_add_string (state->gopt, '\0', "feedback-channel", "MAEBOT_MOTOR_FEEDBACK", "LCM channel name");
    getopt_add_string (state->gopt, '\0', "sensor-channel", "MAEBOT_SENSOR_DATA", "LCM channel name");
    getopt_add_double (state->gopt, '\0', "alpha", ALPHA_STRING, "Longitudinal covariance scaling factor");
    getopt_add_double (state->gopt, '\0', "beta", BETA_STRING, "Lateral side-slip covariance scaling factor");
    getopt_add_double (state->gopt, '\0', "gyro-rms", GYRO_RMS_STRING, "Gyro RMS deg/s");

    if (!getopt_parse (state->gopt, argc, argv, 1) || getopt_get_bool (state->gopt, "help")) {
        printf ("Usage: %s [--url=CAMERAURL] [other options]\n\n", argv[0]);
        getopt_do_usage (state->gopt);
        exit (EXIT_FAILURE);
    }

    state->use_gyro = getopt_get_bool (state->gopt, "use-gyro");
    state->odometry_channel = getopt_get_string (state->gopt, "odometry-channel");
    state->feedback_channel = getopt_get_string (state->gopt, "feedback-channel");
    state->sensor_channel = getopt_get_string (state->gopt, "sensor-channel");
    state->alpha = getopt_get_double (state->gopt, "alpha");
    state->beta = getopt_get_double (state->gopt, "beta");
    state->gyro_rms = getopt_get_double (state->gopt, "gyro-rms") * DTOR;
    state->yaw_calibrated = 0;
    state->yaw     = 0;
    state->yaw_old = 0;
    
    //printf("subscribing to channels\n");

    // initialize LCM
    state->lcm = lcm_create (NULL);
    maebot_motor_feedback_t_subscribe (state->lcm, state->feedback_channel,
                                       motor_feedback_handler, state);
    maebot_sensor_data_t_subscribe (state->lcm, state->sensor_channel,
                                    sensor_data_handler, state);

    printf ("ticks per meter: %f\n", 1.0/state->meters_per_tick);

    while (1){
        lcm_handle (state->lcm);
    }
    
    
   
	
}
int main(int argc, char ** argv)
{	
	eecs467_init(argc, argv);

	state_t * state = (state_t*) calloc(1, sizeof(state_t));
	global_state = state;
	state->gopt = getopt_create();
	state->app.display_finished = display_finished;
	state->app.display_started = display_started;
	state->app.impl = state;
	state->update_arm_cont = 0;
	state->update_arm = 0;
	state->arm = new RexArm();
	state->body = new Body();
	state->ds = new DataSmoother(0.4, 0.3, 0, 0);
	state->running = 1;
	state->set_cbs = 0;

	state->controlBoxColor[GRIPPER] = vx_green;
	state->controlBoxColor[WRIST] = vx_yellow;
	state->controlBoxColor[ARM] = vx_orange;
	state->controlBoxColor[ROTATE] = vx_red;

	for (int i = 0; i < NUM_CONTROL_BOXES; i++) {
		state->controlBoxes[i] = new BoundingBox();
		state->controlBoxes[i]->setDimensions(CB_WIDTH, CB_HEIGHT, CB_DEPTH);
	}

	lcm_t * lcm = lcm_create (NULL);
	state->lcm = lcm;
	
	BoundingBox floorBoard, base;

	floorBoard.setPosition(0, 0, 0);
	floorBoard.setDimensions(100, 100, 10);
	state->cfs.addBoundingBox(&floorBoard);
	base.setPosition(0, 0, 4);
	base.setDimensions(7, 7, 8);
	state->cfs.addBoundingBox(&base);

	//signal(SIGINT, terminal_signal_handler);

	pthread_mutex_init(&state->layer_mutex, NULL);
	pthread_mutex_init(&state->lcm_mutex, NULL);
	pthread_mutex_init(&state->running_mutex, NULL);
	pthread_mutex_init(&state->fsm_mutex, NULL);

	state->layer_map = zhash_create(sizeof(vx_display_t*), sizeof(vx_layer_t*), zhash_uint64_hash, zhash_uint64_equals);

	getopt_add_bool(state->gopt, 'h', "help", 0, "Show this help");
	//getopt_add_bool(state->gopt, 'v', "verbose", 0, "Show extra debugging output");
	//getopt_add_int (state->gopt, 'l', "limitKBs", "-1", "Remote display bandwidth limit. < 0: unlimited.");
	//getopt_add_double (state->gopt, 'd', "decimate", "0", "Decimate image by this amount before showing in vx");

	if (!getopt_parse(state->gopt, argc, argv, 0) ||
		getopt_get_bool(state->gopt,"help")) {
		getopt_do_usage(state->gopt);
		exit(-1);
	}

	pthread_create(&state->lcm_handle_thread, NULL, lcm_handle_loop, state);
	//pthread_create(&state->gui_thread,  NULL, gui_create, state);
	pthread_create(&state->arm_commander_thread, NULL, arm_commander, state);
	pthread_create(&state->fsm_thread, NULL, FSM, state);
	//pthread_join(state->gui_thread, NULL);
	gui_create(state);
	printf("after gui_create\n");

	// clean up
	delete state->arm;
	delete state->body;
	delete state->ds;
	for (int i = 0; i < NUM_CONTROL_BOXES; i++) {
		delete state->controlBoxes[i];
	}
	vx_global_destroy();
    getopt_destroy(state->gopt);

    printf("Exited Cleanly!\n");
    return 0;
}
示例#9
0
文件: vx_demo.c 项目: DH-std/A3
int main(int argc, char ** argv)
{
    getopt_t *gopt = getopt_create();
    getopt_add_bool   (gopt, 'h', "help", 0, "Show help");
    getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
    getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
    getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");

    // parse and print help
    if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
        printf ("Usage: %s [options]\n\n", argv[0]);
        getopt_do_usage (gopt);
        exit (1);
    }

    vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library

    state_t * state = state_create();

    // Load a pnm from file, and repack the data so that it's understandable by vx
    if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
        state->img = image_u32_create_from_pnm(getopt_get_string(gopt, "pnm"));

        printf("Loaded image %d x %d from %s\n",
               state->img->width, state->img->height,
               getopt_get_string(gopt, "pnm"));
    }

    draw(state, state->world);

    vx_remote_display_source_attr_t remote_attr;
    vx_remote_display_source_attr_init(&remote_attr);
    remote_attr.advertise_name = "Vx Demo";
    vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&state->app, &remote_attr);
    pthread_create(&state->animate_thread, NULL, render_loop, state);

    if (!getopt_get_bool(gopt,"no-gtk")) {
        gdk_threads_init ();
        gdk_threads_enter ();

        gtk_init (&argc, &argv);

        vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&state->app);
        GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
        GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
        gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
        gtk_container_add(GTK_CONTAINER(window), canvas);
        gtk_widget_show (window);
        gtk_widget_show (canvas); // XXX Show all causes errors!

        g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);

        gtk_main (); // Blocks as long as GTK window is open
        gdk_threads_leave ();

        vx_gtk_display_source_destroy(appwrap);

        // quit when gtk closes? Or wait for remote displays/Ctrl-C
        if (!getopt_get_bool(gopt, "stay-open"))
            state->running = 0;
    }

    pthread_join(state->animate_thread, NULL);
    vx_remote_display_source_destroy(cxn);

    state_destroy(state);
    vx_global_destroy();
    getopt_destroy(gopt);
}
示例#10
0
int main(int argc, char ** argv)
{
    getopt_t *gopt = getopt_create();
    getopt_add_bool   (gopt, 'h', "help", 0, "Show help");
    getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
    getopt_add_int (gopt, 'l', "limitKBs", "-1", "Remote display bandwidth limit. < 0: unlimited.");
    getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
    getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");

    // parse and print help
    if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
        printf ("Usage: %s [options]\n\n", argv[0]);
        getopt_do_usage (gopt);
        exit (1);
    }

    signal(SIGPIPE, SIG_IGN); // potential fix for Valgrind "Killed" on
    // remote viewer exit

    state_t * state = state_create();

    // Load a pnm from file, and repack the data so that it's understandable by vx
    if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
        image_u8_t * img2 = image_u8_create_from_pnm(getopt_get_string(gopt, "pnm"));
        state->img = image_util_convert_rgb_to_rgba (img2);
        image_u8_destroy (img2);
    }

    vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library

    vx_application_t app = {.impl=state, .display_started=display_started, .display_finished=display_finished};

    vx_remote_display_source_attr_t remote_attr;
    vx_remote_display_source_attr_init(&remote_attr);
    remote_attr.max_bandwidth_KBs = getopt_get_int(gopt, "limitKBs");
    remote_attr.advertise_name = "Vx Stress Test";

    vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&app, &remote_attr);
    for (int i = 0; i < NRENDER; i++) {
        tinfo_t * tinfo = calloc(1,sizeof(tinfo_t));
        tinfo->state = state;
        tinfo->id = i;
        pthread_create(&state->render_threads[i], NULL, render_loop, tinfo);
    }

    pthread_create(&state->camera_thread, NULL, camera_loop, state);

    if (!getopt_get_bool(gopt,"no-gtk")) {
        gdk_threads_init ();
        gdk_threads_enter ();

        gtk_init (&argc, &argv);

        vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&app);
        GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
        GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
        gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
        gtk_container_add(GTK_CONTAINER(window), canvas);
        gtk_widget_show (window);
        gtk_widget_show (canvas); // XXX Show all causes errors!

        g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);

        gtk_main (); // Blocks as long as GTK window is open
        gdk_threads_leave ();

        vx_gtk_display_source_destroy(appwrap);

        // quit when gtk closes? Or wait for remote displays/Ctrl-C
        if (!getopt_get_bool(gopt, "stay-open"))
            state->running = 0;
    }

    for (int i = 0; i < NRENDER; i++)
        pthread_join(state->render_threads[i], NULL);
    vx_remote_display_source_destroy(cxn);

    state_destroy(state);
    vx_global_destroy();
    getopt_destroy(gopt);
}
示例#11
0
int main(int argc, char *argv[])
{
    g_type_init ();

    dbg_init ();

    // initialize application state and zero out memory
    g_self = (state_t*) calloc( 1, sizeof(state_t) );
    state_t *self = g_self;



    // run the main loop
    self->loop = g_main_loop_new(NULL, FALSE);

    getopt_t *gopt = getopt_create();

    getopt_add_bool  (gopt, 'h',   "help",    0,        "Show this help");
    getopt_add_bool  (gopt, 'v',   "verbose",    0,     "Be verbose");

    if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
        printf("Usage: %s [options]\n\n", argv[0]);
        getopt_do_usage(gopt);
        return 0;
    }

    self->verbose = getopt_get_bool(gopt, "verbose");

    self->lcm = lcm_create(NULL);
    if (!self->lcm)
        return 1;

    // read config file
    if (!(self->config = read_config_file ())) {
        dbg (DBG_ERROR, "[viewer] failed to read config file.");
        return -1;
    }


    // attach lcm to main loop
    glib_mainloop_attach_lcm (self->lcm);

    // publish cam settings every now and then
    // g_timeout_add_seconds (2, &publish_log_info_data, self);
    // g_timeout_add_seconds (2, &dump_to_index_file, self);

    // listen to tablet event
    navlcm_log_info_t_subscribe (self->lcm, "LOG_INFO", on_log_info_set_event, self);

    list_files (self);

    publish_log_info_data (self);

    // connect to kill signal
    signal_pipe_glib_quit_on_kill (self->loop);

    // run main loop
    g_main_loop_run (self->loop);

    // cleanup
    g_main_loop_unref (self->loop);

    return 0;
}