From 93a324cd1a03f0ee4d980576de84a88a0f1fc9ca Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Fri, 6 Jun 2014 15:10:57 +0200
Subject: [PATCH] Modifications to HapticUnit ice interface
---
.gitignore | 1 +
interface/slice/units/HapticUnit.ice | 3 ++-
.../WeissHapticSensorListener.cpp | 2 +-
.../WeissHapticSensorListener.h | 3 ++-
.../WeissHapticSensor/WeissHapticSensor.cpp | 4 +++-
source/RobotAPI/units/HapticObserver.cpp | 21 ++++++++++---------
source/RobotAPI/units/HapticObserver.h | 2 +-
7 files changed, 21 insertions(+), 15 deletions(-)
diff --git a/.gitignore b/.gitignore
index c53649ddd..36b9b1d57 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,4 +45,5 @@ data/dbdump/
# Generated Scenario Files
scenarios/*/startScenario.sh
scenarios/*/stopScenario.sh
+scenarios/*/startGui.sh
diff --git a/interface/slice/units/HapticUnit.ice b/interface/slice/units/HapticUnit.ice
index 51be7139e..adcba8650 100644
--- a/interface/slice/units/HapticUnit.ice
+++ b/interface/slice/units/HapticUnit.ice
@@ -29,6 +29,7 @@
#include <core/BasicTypes.ice>
#include <observers/VariantBase.ice>
#include <observers/Matrix.ice>
+#include <observers/Timestamp.ice>
#include <observers/ObserverInterface.ice>
#include <robotstate/RobotState.ice>
@@ -40,7 +41,7 @@ module armarx
interface HapticUnitListener
{
- void reportSensorValues(string type, MatrixFloatBase values);
+ void reportSensorValues(string device, string name, MatrixFloatBase values, TimestampBase timestamp);
};
interface HapticUnitObserverInterface extends ObserverInterface, HapticUnitListener
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp
index 80bd04d05..5e2ddaeb4 100644
--- a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp
@@ -57,7 +57,7 @@ PropertyDefinitionsPtr WeissHapticSensorListener::createPropertyDefinitions()
getConfigIdentifier()));
}
-void armarx::WeissHapticSensorListener::reportSensorValues(const std::string& type, const armarx::MatrixFloatBasePtr& values, const Ice::Current&)
+void armarx::WeissHapticSensorListener::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
{
ARMARX_LOG << deactivateSpam(1) << "WeissHapticSensorListener::reportSensorValues" << MatrixFloatPtr::dynamicCast(values)->toEigen();
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h
index 2287e9060..11b773cb2 100644
--- a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h
@@ -30,6 +30,7 @@
#include <Core/util/variants/eigen3/MatrixVariant.h>
#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+
namespace armarx
{
/**
@@ -68,7 +69,7 @@ namespace armarx
return "WeissHapticSensorListener";
}
- virtual void reportSensorValues(const ::std::string& type, const ::armarx::MatrixFloatBasePtr& values, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current());
protected:
/**
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
index e36601868..35af9bd41 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -1,5 +1,6 @@
#include "WeissHapticSensor.h"
#include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <Core/observers/variant/TimestampVariant.h>
using namespace armarx;
@@ -85,7 +86,8 @@ void WeissHapticSensor::readAndReportSensorValues()
(*matrix)(y, x) = val;
}
}
- listenerPrx->reportSensorValues(tag, matrix);
+ TimestampVariantPtr timestamp = new TimestampVariant(0);
+ listenerPrx->reportSensorValues(device, tag, matrix, timestamp);
}
cout << this << ": stopPeriodicFrameAcquisition" << endl;
diff --git a/source/RobotAPI/units/HapticObserver.cpp b/source/RobotAPI/units/HapticObserver.cpp
index 2867e505a..2964cb2ff 100644
--- a/source/RobotAPI/units/HapticObserver.cpp
+++ b/source/RobotAPI/units/HapticObserver.cpp
@@ -40,28 +40,29 @@ void HapticObserver::onConnectObserver()
{
}
-void HapticObserver::reportSensorValues(const std::string &type, const MatrixFloatBasePtr &values, const Ice::Current &)
+void HapticObserver::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
{
ScopedLock lock(dataMutex);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(values);
Eigen::MatrixXf eigenMatrix = matrix->toEigen();
float max = eigenMatrix.maxCoeff();
float mean = eigenMatrix.mean();
- if(!existsChannel(type))
+ if(!existsChannel(device))
{
- offerChannel(type, "Force and Torque vectors on specific parts of the robot.");
- offerDataFieldWithDefault(type, "matrix", matrix, "Raw tactile matrix data");
- offerDataFieldWithDefault(type, "max", Variant(max), "Maximum value");
- offerDataFieldWithDefault(type, "mean", Variant(mean), "Mean value");
+ offerChannel(device, "Haptic data");
+ offerDataFieldWithDefault(device, "name", Variant(name), "Name of the tactile sensor");
+ offerDataFieldWithDefault(device, "matrix", matrix, "Raw tactile matrix data");
+ offerDataFieldWithDefault(device, "max", Variant(max), "Maximum value");
+ offerDataFieldWithDefault(device, "mean", Variant(mean), "Mean value");
}
else
{
- setDataField(type, "matrix", matrix);
- setDataField(type, "max", Variant(max));
- setDataField(type, "mean", Variant(mean));
+ setDataField(device, "matrix", matrix);
+ setDataField(device, "max", Variant(max));
+ setDataField(device, "mean", Variant(mean));
}
- updateChannel(type);
+ updateChannel(device);
}
PropertyDefinitionsPtr HapticObserver::createPropertyDefinitions()
diff --git a/source/RobotAPI/units/HapticObserver.h b/source/RobotAPI/units/HapticObserver.h
index f3cbc18eb..9eb13fcf4 100644
--- a/source/RobotAPI/units/HapticObserver.h
+++ b/source/RobotAPI/units/HapticObserver.h
@@ -56,7 +56,7 @@ namespace armarx
void onInitObserver();
void onConnectObserver();
- void reportSensorValues(const std::string &type, const ::armarx::MatrixFloatBasePtr &values, const ::Ice::Current& = ::Ice::Current());
+ void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current());
/**
* @see PropertyUser::createPropertyDefinitions()
--
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