From 808b15d70dcdc71b0682a76ab63917dcae39072c Mon Sep 17 00:00:00 2001
From: Markus Swarowsky <markus.swarowsky@student.kit.edu>
Date: Fri, 10 Mar 2017 17:53:26 +0100
Subject: [PATCH] fixed everything to use the Gamepad to control the ARMAR-6-SH
Platform
---
scenarios/GamepadUnit/GamepadUnit.scx | 2 +-
.../GamepadUnit/config/GamepadControlUnitApp.cfg | 6 +++---
scenarios/GamepadUnit/config/GamepadUnitApp.cfg | 2 +-
.../GamepadUnit/config/GamepadUnitObserverApp.cfg | 8 --------
.../components/GamepadControlUnit/CMakeLists.txt | 2 +-
.../GamepadControlUnit/GamepadControlUnit.cpp | 15 +++++++++++----
.../GamepadControlUnit/GamepadControlUnit.h | 3 ++-
.../RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp | 2 +-
8 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/scenarios/GamepadUnit/GamepadUnit.scx b/scenarios/GamepadUnit/GamepadUnit.scx
index 8f4b0ebf4..3bb057775 100644
--- a/scenarios/GamepadUnit/GamepadUnit.scx
+++ b/scenarios/GamepadUnit/GamepadUnit.scx
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="GamepadUnit" lastChange="2017-03-10.14:30:49" creation="2017-03-09.11:59:13" globalConfigName="./config/global.cfg" package="RobotAPI">
+<scenario name="GamepadUnit" lastChange="2017-03-10.16:38:15" creation="2017-03-09.11:59:13" globalConfigName="./config/global.cfg" package="RobotAPI">
<application name="GamepadUnitApp" instance="" package="RobotAPI"/>
<application name="GamepadUnitObserverApp" instance="" package="RobotAPI"/>
<application name="GamepadControlUnitApp" instance="" package="RobotAPI"/>
diff --git a/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg b/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg
index 14f5d344e..568d1a3ff 100644
--- a/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg
+++ b/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg
@@ -119,7 +119,7 @@ ArmarX.GamepadControlUnit.PlatformUnitName = Armar6IcePlatformUnit
# - Default: 1
# - Case sensitivity: no
# - Required: no
-ArmarX.GamepadControlUnit.ScaleAngle = 0.1
+ArmarX.GamepadControlUnit.ScaleAngle = -1
# ArmarX.GamepadControlUnit.ScaleX: scaling factor in mm per second
@@ -127,7 +127,7 @@ ArmarX.GamepadControlUnit.ScaleAngle = 0.1
# - Default: 1000
# - Case sensitivity: no
# - Required: no
-ArmarX.GamepadControlUnit.ScaleX = 100
+ArmarX.GamepadControlUnit.ScaleX = 1000
# ArmarX.GamepadControlUnit.ScaleY: scaling factor in mm per second
@@ -135,7 +135,7 @@ ArmarX.GamepadControlUnit.ScaleX = 100
# - Default: 1000
# - Case sensitivity: no
# - Required: no
-ArmarX.GamepadControlUnit.ScaleY = 100
+ArmarX.GamepadControlUnit.ScaleY = -1000
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
diff --git a/scenarios/GamepadUnit/config/GamepadUnitApp.cfg b/scenarios/GamepadUnit/config/GamepadUnitApp.cfg
index 7d704c0ef..d30f64a82 100644
--- a/scenarios/GamepadUnit/config/GamepadUnitApp.cfg
+++ b/scenarios/GamepadUnit/config/GamepadUnitApp.cfg
@@ -87,7 +87,7 @@
# - Default: /dev/input/js2
# - Case sensitivity: no
# - Required: no
-# ArmarX.GamepadUnit.GamepadDeviceName = /dev/input/js2
+ArmarX.GamepadUnit.GamepadDeviceName = /dev/input/js0
# ArmarX.GamepadUnit.GamepadTopicName: Name of the Gamepad Topic
diff --git a/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg b/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg
index 0d1aa7e7e..27e3b329d 100644
--- a/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg
+++ b/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg
@@ -74,14 +74,6 @@
# ArmarX.EnableProfiling = 0
-# ArmarX.GamepadUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.GamepadUnitObserver.CreateUpdateFrequenciesChannel = 0
-
-
# ArmarX.GamepadUnitObserver.DebugDrawerTopic: Name of the DebugDrawerTopic
# Attributes:
# - Default: DebugDrawerUpdates
diff --git a/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt b/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
index 146c18bf6..b78b5d099 100644
--- a/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
@@ -9,7 +9,7 @@ armarx_component_set_name("GamepadControlUnit")
# include_directories(${MyLib_INCLUDE_DIRS})
#endif()
-set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore RobotAPIInterfaces)
+set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers RobotAPIInterfaces )
set(SOURCES
./GamepadControlUnit.cpp
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
index 2f2c9eaa1..7d29b0a42 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
@@ -22,6 +22,9 @@
#include "GamepadControlUnit.h"
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
+
+
using namespace armarx;
@@ -30,9 +33,12 @@ void GamepadControlUnit::onInitComponent()
{
ARMARX_INFO << "oninit GamepadControlUnit";
usingProxy(getProperty<std::string>("PlatformUnitName").getValue());
+ usingTopic(getProperty<std::string>("GamepadTopicName").getValue());
+
+
scaleX = getProperty<float>("ScaleX").getValue();
scaleY = getProperty<float>("ScaleY").getValue();
- scaleRotation = getProperty<float>("ScaleRotation").getValue();
+ scaleRotation = getProperty<float>("ScaleAngle").getValue();
ARMARX_INFO << "oninit GamepadControlUnit end";
}
@@ -40,7 +46,7 @@ void GamepadControlUnit::onInitComponent()
void GamepadControlUnit::onConnectComponent()
{
ARMARX_INFO << "onConnect GamepadControlUnit";
- platformUnitPrx = getTopic<PlatformUnitInterfacePrx>(getProperty<std::string>("PlatformUnitName").getValue());
+ platformUnitPrx = getProxy<PlatformUnitInterfacePrx>(getProperty<std::string>("PlatformUnitName").getValue());
}
@@ -63,7 +69,8 @@ armarx::PropertyDefinitionsPtr GamepadControlUnit::createPropertyDefinitions()
void GamepadControlUnit::reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
- platformUnitPrx->move(data.leftStickX * scaleX, data.leftStickY * scaleY, data.rightStickX * scaleRotation);
- ARMARX_INFO << "sending targets" << data.leftStickX* scaleX << " " << data.leftStickY* scaleY << " " << data.rightStickX* scaleRotation;
+ //scales are for the robot axis
+ platformUnitPrx->move(data.leftStickY * scaleX, data. leftStickX * scaleY, data.rightStickX * scaleRotation);
+ //ARMARX_INFO << "sending targets" << data.leftStickX* scaleX << " " << data.leftStickY* scaleY << " " << data.rightStickX* scaleRotation;
}
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index d8285522b..a4b0f6c99 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
@@ -108,7 +108,8 @@ namespace armarx
float scaleRotation;
public:
- void reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data, const TimestampBasePtr& timestamp, const Ice::Current& c);
+ void reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data,
+ const TimestampBasePtr& timestamp, const Ice::Current& c) override;
};
}
diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
index f844a6006..a840e0c06 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
@@ -95,7 +95,7 @@ void GamepadUnit::run()
data.leftStickButton = js.buttonsPressed[9];
data.rightStickButton = js.buttonsPressed[10];
- //ARMARX_IMPORTANT << "left x (integer): " << js.axis[0] << " left x (float): " << data.leftStickX;
+ ARMARX_IMPORTANT << "left x (integer): " << js.axis[0] << " left x (float): " << data.leftStickX;
topicPrx->reportGamepadState(deviceName, js.name, data, nowTimestamp);
--
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