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Commit e868353a authored by Simon Ottenhaus's avatar Simon Ottenhaus
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Merge branch 'master' into StatechartCodeGenerator

parents cab86796 66c2b52f
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scenarios/MovePlatformToLandmarkTest/configs/RobotControl.cfg → scenarios/MotionControlTest/config/RobotControl.cfg
+ 19
− 2
View file @ e868353a
......@@ -4,10 +4,10 @@
# ArmarX.CachePath: Path for cache files
# Attributes:
# - Default: .cache
# - Default: ${HOME}/.armarx/mongo/.cache
# - Case sensitivity: no
# - Required: no
# ArmarX.CachePath = .cache
# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
# ArmarX.DataPath: Semicolon-separated search list for data files
......@@ -56,6 +56,23 @@
# ArmarX.RobotControlStateOfferer properties
# ==================================================================
# ArmarX.RobotControlStateOfferer.logstates:
# Attributes:
# - Default: Comma seperated list with state names to log. If not set, all transitions will be logged
# - Case sensitivity: no
# - Required: no
# ArmarX.RobotControlStateOfferer.logstates = Comma seperated list with state names to log. If not set, all transitions will be logged
# ArmarX.RobotControlStateOfferer.enableStatechartLogger: disable/enable statechart logger
# Attributes:
# - Default: 0
# - Case sensitivity: no
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.RobotControlStateOfferer.enableStatechartLogger = 0
# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
......
scenarios/MovePlatformToLandmarkTest/configs/SystemObserver.cfg → scenarios/MotionControlTest/config/SystemObserver.cfg
+ 2
− 2
View file @ e868353a
......@@ -4,10 +4,10 @@
# ArmarX.CachePath: Path for cache files
# Attributes:
# - Default: .cache
# - Default: ${HOME}/.armarx/mongo/.cache
# - Case sensitivity: no
# - Required: no
# ArmarX.CachePath = .cache
# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
# ArmarX.DataPath: Semicolon-separated search list for data files
......
scenarios/MotionControlTest/configs/Armar4KinematicUnit.cfg deleted 100644 → 0
+ 0
− 5
View file @ cab86796
# test config file for KinematicUnit configured to be a Head
ArmarX.KinematicUnitSimulation.RobotFileName=/Armar4/data/robotmodel/ArmarIV.xml
ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot # node set name
ArmarX.KinematicUnitSimulation.ObjectName=Armar4KinematicUnit # name of the Ice adapter
scenarios/MotionControlTest/configs/Armar4Observer.cfg deleted 100644 → 0
+ 0
− 7
View file @ cab86796
# test config file for KinematicUnit configured to be a Head
ArmarX.KinematicUnitObserver.RobotFileName=/Armar4/data/robotmodel/ArmarIV.xml # model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitObserver.RobotNodeSetName=Robot # node set name
ArmarX.KinematicUnitObserver.ObjectName=Armar4Observer # name of the ICE adapter
scenarios/MotionControlTest/startScenario.sh deleted 100755 → 0
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− 41
View file @ cab86796
export CORE_PATH=../../../Core
export GUI_PATH=../../../Gui
export VISIONX_PATH=../..././VisionX
export ARMAR4_PATH=../../../Armar4
export HUMANOIDROBOTAPI_PATH=../../../RobotAPI
export SCRIPT_PATH=$CORE_PATH/build/bin
export CORE_BIN_PATH=$CORE_PATH/build/bin
export GUI_BIN_PATH=$GUI_PATH/build/bin
export VISIONX_BIN_PATH=$VISIONX_PATH/build/bin
export ARMAR4_BIN_PATH=$ARMAR4_PATH/build/bin
export HUMANOIDROBOTAPI_BIN_PATH=$HUMANOIDROBOTAPI_PATH/build/bin
export GLOBAL_CONFIG=./configs/Global.cfg
# armarx components
$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/KinematicUnitSimulationRun --Ice.Config=$GLOBAL_CONFIG,./configs/Armar4KinematicUnit.cfg &
$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/KinematicUnitObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/Armar4Observer.cfg &
$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/SystemObserverRun --Ice.Config=$GLOBAL_CONFIG &
$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotStateComponentRun --Ice.Config=$GLOBAL_CONFIG,./configs/RobotStateComponent.cfg &
$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotControlRun --Ice.Config=$GLOBAL_CONFIG &
# Gui
#$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun --Ice.Config=$GLOBAL_CONFIG,./configs/ArmarXGui.cfg &
# scenario
#$SCRIPT_PATH/debugApplication.sh $ARMAR4_BIN_PATH/visualservoRun --Ice.Config=$GLOBAL_CONFIG
#$SCRIPT_PATH/startApplication.sh $ARMAR4_BIN_PATH/diffkintestRun --Ice.Config=$GLOBAL_CONFIG &
# vision x components
#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/DummyObjectRecognitionRun --Ice.Config=$GLOBAL_CONFIG,./configs/DummyObjectRecognitionConfig.txt &
#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/RobotHandLocalizationRun --Ice.Config=$GLOBAL_CONFIG,./configs/RobotHandLocalization.cfg &
#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/ObjectMemoryRun --Ice.Config=$GLOBAL_CONFIG,./configs/ObjectMemory.cfg &
#$SCRIPT_PATH/startApplication.sh $VISIONX_BIN_PATH/ObjectMemoryObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/ObjectMemoryObserver.cfg &
$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/ConditionHandlerRun --Ice.Config=$GLOBAL_CONFIG,./configs/ConditionHandler.cfg &
$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/MotionControlTestRun --Ice.Config=$GLOBAL_CONFIG,./configs/MotionControlTest.cfg &
scenarios/MotionControlTest/stopScenario.sh deleted 100755 → 0
+ 0
− 45
View file @ cab86796
skill ()
{
STR=`ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'`
if [ ${#STR} == 0 ]
then
echo skipping $1
else
echo killing $1
kill -s $2 `ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'`
fi
}
echo SENDING SIGINT TO ALL PROCESSES
skill KinematicUnitSimulationRun 2
skill KinematicUnitObserverRun 2
skill SystemObserverRun 2
skill ConditionHandlerRun 2
skill RobotStateComponentRun 2
skill RobotControlRun 2
skill DummyObjectRecognitionRun 2
skill RobotHandLocalizationRun 2
skill ObjectMemoryRun 2
skill ObjectMemoryObserverRun 2
skill MotionControlTestRun 2
sleep 1
echo SENDING SIGKILL TO ALL PROCESSES
skill KinematicUnitSimulationRun 9
skill KinematicUnitObserverRun 9
skill SystemObserverRun 9
skill ConditionHandlerRun 9
skill RobotStateComponentRun 9
skill RobotControlRun 9
skill DummyObjectRecognitionRun 9
skill RobotHandLocalizationRun 9
skill ObjectMemoryRun 9
skill ObjectMemoryObserverRun 9
skill MotionControlTestRun 9
scenarios/MovePlatformTest/WidgetMovePlatformApp.armarxgui deleted 100644 → 0
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− 38
View file @ cab86796
[General]
loadedLibs=Gui/build/lib/libConditionViewerGuiPlugin.so, Gui/build/lib/libHandUnitGuiPlugin.so, Gui/build/lib/libHardwareGuiPlugin.so, Gui/build/lib/libKinematicUnitGuiPlugin.so, Gui/build/lib/libLoggingGuiPlugin.so, Gui/build/lib/libObjectExaminerGuiPlugin.so, Gui/build/lib/libObserverPropertiesGuiPlugin.so, Gui/build/lib/libPlatformUnitGuiPlugin.so, Gui/build/lib/libSensorActorWidgetsGuiPlugin.so, Gui/build/lib/libStateChartGuiPlugin.so, Gui/build/lib/libSystemStateMonitorGuiPlugin.so, SimulationX/build/lib/libSimulatorControlGuiPlugin.so
MainWindowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x2\x10\0\0\0\x46\0\0\a%\0\0\x4\x1a\0\0\x2\x18\0\0\0\x62\0\0\a\x1d\0\0\x4\x12\0\0\0\0\0\0)
DockWidgetsState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x1\0\0\0\x1\0\0\x5\x6\0\0\x3\x82\xfc\x2\0\0\0\x2\xfc\0\0\0\x19\0\0\x2\xd2\0\0\0\xdc\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\0\0\x3\xec\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0,\0\x44\0o\0\x63\0k\0S\0y\0s\0t\0\x65\0m\0S\0t\0\x61\0t\0\x65\0M\0o\0n\0i\0t\0o\0r\x1\0\0\x3\xf2\0\0\x1\x14\0\0\0\xd3\0\xff\xff\xff\xfb\0\0\0\x1e\0\x44\0o\0\x63\0k\0\x45\0v\0\x65\0n\0t\0S\0\x65\0n\0\x64\0\x65\0r\x1\0\0\x2\xf1\0\0\0\xaa\0\0\0\xaa\0\xff\xff\xff\0\0\0\0\0\0\x3\x82\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
WidgetCustomNames=EventSender, LogViewer, SystemStateMonitor
[EventSender]
WidgetBaseName=EventSender
widgetWidth=1286
widgetHeight=150
EventSender\1\eventSenderName=startMovePlatformTest
EventSender\1\description=
EventSender\1\componentName=RobotControlStateOfferer
EventSender\1\globalStateIdentifier=RobotStatechart->RobotControl->Functional
EventSender\1\eventName=EvLoadScenario
EventSender\1\eventReceiverName=toAll
EventSender\1\parameters\1\key=proxyName
EventSender\1\parameters\1\VariantTypeId=-2125418521
EventSender\1\parameters\1\value=MovePlatformStateChartStateOfferer
EventSender\1\parameters\2\key=stateName
EventSender\1\parameters\2\VariantTypeId=-2125418521
EventSender\1\parameters\2\value=MovePlatformStateChart
EventSender\1\parameters\size=2
EventSender\size=1
[LogViewer]
WidgetBaseName=LogViewer
widgetWidth=1004
widgetHeight=702
verbosityLevel=1
autoFilterAdding=true
[SystemStateMonitor]
WidgetBaseName=SystemStateMonitor
widgetWidth=276
widgetHeight=702
ManagerRepository=@Invalid()
MonitoredManagers=ArmarXGuiManager, ArmarXSimulatorManager, CommonStorageManager, ConditionHandlerManager, KinematicUnitDynamicSimulationManager, KinematicUnitObserverManager, KinematicUnitSimulationManager, LongtermMemoryManager, MovePlatformAppManager, PlatformUnitDynamicSimulationManager, PlatformUnitObserverManager, PriorKnowledgeManager, RobotControlManager, RobotStateComponentManager, SystemObserverManager, WavingManager
scenarios/MovePlatformTest/configs/ArmarXGui.cfg deleted 100644 → 0
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− 7
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ArmarX.LoadPlugins=${ArmarXHome_DIR}/Gui/build/lib/libKinematicUnitGuiPlugin.so
ArmarX.Show3DViewer=yes
# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitGuiPlugin.RobotFileName=Armar4/data/robotmodel/ArmarIV.xml
# node set name
ArmarX.KinematicUnitGuiPlugin.RobotNodeSetName=Robot
ArmarX.KinematicUnitGuiPlugin.KinematicUnitName=Armar4KinematicUnit
scenarios/MovePlatformTest/configs/Global.cfg deleted 100644 → 0
+ 0
− 5
View file @ cab86796
ArmarX.DisableLogging = no
VisionX.DisableLogging = no
ArmarX.GlobalMinimumLoggingLevel = Verbose
VisionX.GlobalMinimumLoggingLevel = Verbose
scenarios/MovePlatformTest/configs/MovePlatformExample.xml deleted 100644 → 0
+ 0
− 48
View file @ cab86796
<MovePlatformStateChart>
<StateParameters>
<!--
x/y are in mm
for now z=rotation around z axis in radian
-->
<targetPositions>
<Item0>
<x>0</x>
<y>0</y>
<z>0</z>
</Item0>
<Item1>
<x>0</x>
<y>10000</y>
<z>0</z>
</Item1>
<Item2>
<x>0</x>
<y>10000</y>
<z>1</z>
</Item2>
<Item3>
<x>-3000</x>
<y>5000</y>
<z>1</z>
</Item3>
<Item4>
<x>0</x>
<y>0</y>
<z>0</z>
</Item4>
</targetPositions>
<!--unreachable-->
<!--targetPositions>
<Item0>
<x>5000</x>
<y>5000</y>
<z>0</z>
</Item0>
</targetPositions-->
<positionalAccuracy>10</positionalAccuracy> <!--mm-->
<orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
<timeoutMoveTo>30000</timeoutMoveTo>
</StateParameters>
</MovePlatformStateChart>
scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml deleted 100644 → 0
+ 0
− 31
View file @ cab86796
<MovePlatformStateChart>
<StateParameters>
<!--
x/y are in mm
for now z=rotation around z axis in radian
-->
<targetPositions>
<Item0>
<x>3400</x>
<y>7150</y>
<z>-1.6</z>
</Item0>
</targetPositions>
<!--unreachable-->
<!--targetPositions>
<Item0>
<x>5000</x>
<y>5000</y>
<z>0</z>
</Item0>
</targetPositions-->
<positionalAccuracy>10</positionalAccuracy> <!--mm-->
<orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
<timeoutMoveTo>30000</timeoutMoveTo> <!--ms-->
<!-- after the last target was reached, wait a certain amount of
time (should be smaller than the timeout!) -->
<waitAfterLast>3000</waitAfterLast> <!--ms-->
</StateParameters>
</MovePlatformStateChart>
scenarios/MovePlatformTest/configs/PlatformUnitObserver.cfg deleted 100644 → 0
+ 0
− 62
View file @ cab86796
# ==================================================================
# ArmarX properties
# ==================================================================
# ArmarX.CachePath: Path for cache files
# Attributes:
# - Default: .cache
# - Case sensitivity: no
# - Required: no
# ArmarX.CachePath = .cache
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.DataPath = ""
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Verbose
# - Case sensitivity: no
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Verbose
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
# - Default: 0
# - Case sensitivity: no
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.DisableLogging = 0
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.ApplicationName = ""
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.Config = ""
# ==================================================================
# ArmarX.PlatformUnitObserver properties
# ==================================================================
ArmarX.PlatformUnitObserver.PlatformName=Platform
scenarios/MovePlatformTest/configs/RobotControl.cfg deleted 100644 → 0
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View file @ cab86796
# ==================================================================
# ArmarX properties
# ==================================================================
# ArmarX.CachePath: Path for cache files
# Attributes:
# - Default: .cache
# - Case sensitivity: no
# - Required: no
# ArmarX.CachePath = .cache
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.DataPath = ""
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Verbose
# - Case sensitivity: no
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Verbose
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
# - Default: 0
# - Case sensitivity: no
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.DisableLogging = 0
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.ApplicationName = ""
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.Config = ""
# ==================================================================
# ArmarX.RobotControlStateOfferer properties
# ==================================================================
# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
# - Case sensitivity: no
# - Required: no
# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel = Undefined
# ArmarX.RobotControlStateOfferer.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.RobotControlStateOfferer.ObjectName = ""
scenarios/MovePlatformTest/configs/SystemObserver.cfg deleted 100644 → 0
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− 76
View file @ cab86796
# ==================================================================
# ArmarX properties
# ==================================================================
# ArmarX.CachePath: Path for cache files
# Attributes:
# - Default: .cache
# - Case sensitivity: no
# - Required: no
# ArmarX.CachePath = .cache
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.DataPath = ""
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Verbose
# - Case sensitivity: no
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Verbose
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
# - Default: 0
# - Case sensitivity: no
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.DisableLogging = 0
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.ApplicationName = ""
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.Config = ""
# ==================================================================
# ArmarX.SystemObserver properties
# ==================================================================
# ArmarX.SystemObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
# - Case sensitivity: no
# - Required: no
# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
# ArmarX.SystemObserver.MinimumLoggingLevel = Undefined
# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.SystemObserver.ObjectName = ""
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