From ce379957b3abc439f8ebdab7d24cd74ebf1bac44 Mon Sep 17 00:00:00 2001
From: David <david.schiebener@kit.edu>
Date: Thu, 14 Aug 2014 11:05:50 +0200
Subject: [PATCH] created hand unit observer
---
.../interface/units/HandUnitInterface.ice | 11 +-
.../RobotAPI/robotstate/remote/CMakeLists.txt | 2 +-
.../RobotAPI/robotstate/remote/LinkedPose.cpp | 2 +
source/RobotAPI/units/CMakeLists.txt | 2 +
source/RobotAPI/units/HandUnitObserver.cpp | 121 ++++++++++++++++++
source/RobotAPI/units/HandUnitObserver.h | 77 +++++++++++
6 files changed, 210 insertions(+), 5 deletions(-)
create mode 100644 source/RobotAPI/units/HandUnitObserver.cpp
create mode 100644 source/RobotAPI/units/HandUnitObserver.h
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index 524aa2dea..6e1e94a81 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -30,6 +30,8 @@
#include <Core/interface/core/UserException.ice>
#include <Core/interface/core/BasicTypes.ice>
#include <Core/interface/observers/VariantContainers.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
+
module armarx
{
@@ -43,11 +45,12 @@ module armarx
NameValueMap getPreshapeJointValues(string preshapeName);
};
- interface HandUnitListener
+ interface HandUnitListener extends armarx::ObserverInterface
{
- void reportHandClosed();
- void reportHandOpened();
- void reportHandPreshaped();
+ void reportHandClosed(bool isLeftHand);
+ void reportHandOpened(bool isLeftHand);
+ void reportHandPreshaped(bool isLeftHand);
+ void reportNewHandShapeName(bool isLeftHand, string handShapeName);
};
};
diff --git a/source/RobotAPI/robotstate/remote/CMakeLists.txt b/source/RobotAPI/robotstate/remote/CMakeLists.txt
index e2467fb00..3c2fe56ef 100644
--- a/source/RobotAPI/robotstate/remote/CMakeLists.txt
+++ b/source/RobotAPI/robotstate/remote/CMakeLists.txt
@@ -1,5 +1,5 @@
-armarx_set_target("Core Library: ArmarXCoreRemoteRobot")
+armarx_set_target("Core Library: RobotAPIRemoteRobot")
find_package(Eigen3 QUIET)
if (NOT Simox_FOUND)
find_package(Simox 2.3.0 QUIET)
diff --git a/source/RobotAPI/robotstate/remote/LinkedPose.cpp b/source/RobotAPI/robotstate/remote/LinkedPose.cpp
index 23de4ee3e..fb57250f6 100644
--- a/source/RobotAPI/robotstate/remote/LinkedPose.cpp
+++ b/source/RobotAPI/robotstate/remote/LinkedPose.cpp
@@ -158,6 +158,8 @@ namespace armarx {
void LinkedVector3::changeFrame(const std::string &newFrame, const Ice::Current &c)
{
+ ARMARX_WARNING_S << "This function doesn't work!";
+
if(newFrame == frame)
return;
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index fd4a6fda6..0164bfecc 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -37,6 +37,7 @@ set(LIB_HEADERS
TCPControlUnitObserver.h
HandUnit.h
+ HandUnitObserver.h
HardwareUnit.h
KinematicUnit.h
KinematicUnitSimulation.h
@@ -58,6 +59,7 @@ set(LIB_FILES
TCPControlUnitObserver.cpp
HandUnit.cpp
+ HandUnitObserver.cpp
HardwareUnit.cpp
KinematicUnit.cpp
KinematicUnitSimulation.cpp
diff --git a/source/RobotAPI/units/HandUnitObserver.cpp b/source/RobotAPI/units/HandUnitObserver.cpp
new file mode 100644
index 000000000..cdb899d59
--- /dev/null
+++ b/source/RobotAPI/units/HandUnitObserver.cpp
@@ -0,0 +1,121 @@
+#include "HandUnitObserver.h"
+
+
+#include <Core/observers/checks/ConditionCheckEquals.h>
+#include <Core/observers/checks/ConditionCheckUpdated.h>
+
+
+
+
+using namespace armarx;
+
+
+void HandUnitObserver::onInitObserver()
+{
+ usingTopic("LeftHandState");
+ usingTopic("RightHandState");
+
+ offerChannel("leftHand", "Gives information about the state of the left robot hand.");
+ offerDataField("leftHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
+ setDataField("leftHand", "isOpen", false);
+ offerDataField("leftHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
+ setDataField("leftHand", "isClosed", false);
+ offerDataField("leftHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
+ setDataField("leftHand", "shapeName", "unknown");
+ updateChannel("leftHand");
+
+ offerChannel("rightHand", "Gives information about the state of the right robot hand.");
+ offerDataField("rightHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
+ setDataField("rightHand", "isOpen", false);
+ offerDataField("rightHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
+ setDataField("rightHand", "isClosed", false);
+ offerDataField("rightHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
+ setDataField("rightHand", "shapeName", "unknown");
+ updateChannel("rightHand");
+
+ offerConditionCheck("equals", new armarx::ConditionCheckEquals());
+ offerConditionCheck("updated", new armarx::ConditionCheckUpdated());
+}
+
+
+
+void HandUnitObserver::onConnectObserver()
+{
+
+}
+
+
+
+void HandUnitObserver::onExitObserver()
+{
+
+}
+
+
+
+void HandUnitObserver::reportHandClosed(bool isLeftHand, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "isOpen", false);
+ setDataField("leftHand", "isClosed", true);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "isOpen", false);
+ setDataField("rightHand", "isClosed", true);
+ updateChannel("rightHand");
+ }
+}
+
+
+
+void HandUnitObserver::reportHandOpened(bool isLeftHand, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "isOpen", true);
+ setDataField("leftHand", "isClosed", false);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "isOpen", true);
+ setDataField("rightHand", "isClosed", false);
+ updateChannel("rightHand");
+ }
+}
+
+
+void HandUnitObserver::reportHandPreshaped(bool isLeftHand, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "isOpen", false);
+ setDataField("leftHand", "isClosed", false);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "isOpen", false);
+ setDataField("rightHand", "isClosed", false);
+ updateChannel("rightHand");
+ }
+}
+
+
+
+void HandUnitObserver::reportNewHandShapeName(bool isLeftHand, const std::string& handShapeName, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "shapeName", handShapeName);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "shapeName", handShapeName);
+ updateChannel("rightHand");
+ }
+}
diff --git a/source/RobotAPI/units/HandUnitObserver.h b/source/RobotAPI/units/HandUnitObserver.h
new file mode 100644
index 000000000..74d9a20d5
--- /dev/null
+++ b/source/RobotAPI/units/HandUnitObserver.h
@@ -0,0 +1,77 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::units
+ * @author David Schiebener <schiebener at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
+#define _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
+
+#include <RobotAPI/interface/units/HandUnitInterface.h>
+#include <Core/observers/Observer.h>
+
+
+namespace armarx
+{
+
+ class HandUnitObserverPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ HandUnitObserverPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ //defineRequiredProperty<std::string>("HapticTopicName", "Name of the HapticUnit Topic");
+ }
+ };
+
+
+ class HandUnitObserver :
+ virtual public Observer,
+ virtual public HandUnitListener
+ {
+ public:
+ HandUnitObserver();
+
+ //void setTopicName(std::string topicName);
+
+ // framework hooks
+ virtual std::string getDefaultName() const { return "HandUnitObserver"; }
+ virtual void onInitObserver();
+ virtual void onConnectObserver();
+ virtual void onExitObserver();
+
+ // observer interface
+ virtual void reportHandClosed(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportHandOpened(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportHandPreshaped(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportNewHandShapeName(bool isLeftHand, const ::std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ //virtual PropertyDefinitionsPtr createPropertyDefinitions();
+ private:
+
+
+ };
+}
+
+#endif
--
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