diff --git a/CMakeLists.txt b/CMakeLists.txt
index f178c8c26ec65b626e0b407d4327c125fb54a153..91e5836611acc1be51c1a226b94d0cf4a0ffd16e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,9 @@ find_package("ArmarXCore" REQUIRED
)
include(${ArmarXCore_CMAKE_DIR}/ArmarXProject.cmake)
+depends_on_armarx_package(ArmarXGui)
+depends_on_armarx_package(MemoryX)
+depends_on_armarx_package(VisionX)
armarx_project("RobotAPI")
@@ -17,3 +20,5 @@ add_subdirectory(interface)
install_project()
+
+add_subdirectory(scenarios)
\ No newline at end of file
diff --git a/README.txt b/README.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3b3611ca8958eb5cb7e65846a2639fd68855f88
--- /dev/null
+++ b/README.txt
@@ -0,0 +1 @@
+Stub to make the package tool work.
diff --git a/data/.gitkeep b/data/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..65df063943986e0bdf4c4ecf5e822d953a402fd7
--- /dev/null
+++ b/data/.gitkeep
@@ -0,0 +1,4 @@
+Git can only track files and not directory.
+
+Therefore this file is added to all empty directories
+which need to be available after a Git clone.
diff --git a/etc/CMakeLists.txt b/etc/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/etc/cmake/.gitkeep b/etc/cmake/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..65df063943986e0bdf4c4ecf5e822d953a402fd7
--- /dev/null
+++ b/etc/cmake/.gitkeep
@@ -0,0 +1,4 @@
+Git can only track files and not directory.
+
+Therefore this file is added to all empty directories
+which need to be available after a Git clone.
diff --git a/gpl-2.0.txt b/gpl-2.0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d159169d1050894d3ea3b98e1c965c4058208fe1
--- /dev/null
+++ b/gpl-2.0.txt
@@ -0,0 +1,339 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it. (Some other Free Software Foundation software is covered by
+the GNU Lesser General Public License instead.) You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
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+ To protect your rights, we need to make restrictions that forbid
+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must give the recipients all the rights that
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+ We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
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+that everyone understands that there is no warranty for this free
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+ Finally, any free program is threatened constantly by software
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+
+ GNU GENERAL PUBLIC LICENSE
+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
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+ 0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License. The "Program", below,
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+ NO WARRANTY
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+POSSIBILITY OF SUCH DAMAGES.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
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+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
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+
+If the program is interactive, make it output a short notice like this
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+
+ Gnomovision version 69, Copyright (C) year name of author
+ Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. Here is a sample; alter the names:
+
+ Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+ `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+ <signature of Ty Coon>, 1 April 1989
+ Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.
diff --git a/interface/slice/.gitkeep b/interface/slice/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..65df063943986e0bdf4c4ecf5e822d953a402fd7
--- /dev/null
+++ b/interface/slice/.gitkeep
@@ -0,0 +1,4 @@
+Git can only track files and not directory.
+
+Therefore this file is added to all empty directories
+which need to be available after a Git clone.
diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a2af915ff2dae8e5f67ab8a06f366d36a393987a
--- /dev/null
+++ b/scenarios/CMakeLists.txt
@@ -0,0 +1,2 @@
+
+add_subdirectory(WeissHapticSensorsUnitTest)
\ No newline at end of file
diff --git a/scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt b/scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5c59fb93f7908f76a35a7221b991f3956cdcdcf
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt
@@ -0,0 +1,14 @@
+
+set(SCENARIO_COMPONENTS
+ WeissHapticSensorsUnitApp
+ WeissHapticSensorApp)
+
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario("WeissHapticSensorsUnitTest" "${SCENARIO_COMPONENTS}")
+
+#set(SCENARIO_CONFIGS
+# config/ComponentName.optionalString.cfg
+# )
+# optional 3rd parameter: "path/to/global/config.cfg"
+#armarx_scenario_from_configs("WeissHapticSensorsUnitTest" "${SCENARIO_CONFIGS}")
diff --git a/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorApp.cfg b/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..1f85d7c5cbdd1c0cbc11253d177937916a2a7581
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorApp.cfg
@@ -0,0 +1,104 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.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.HapticUnitObserver properties
+# ==================================================================
+
+# ArmarX.HapticUnitObserver.HapticTopicName: Name of the HapticUnit Topic
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HapticUnitObserver.HapticTopicName = "HapticValues"
+
+
+# ArmarX.HapticUnitObserver.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.HapticUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HapticUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HapticUnitObserver.ObjectName = ""
+
+
+# ==================================================================
+# ArmarX.WeissHapticSensorListener properties
+# ==================================================================
+
+# ArmarX.WeissHapticSensorListener.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.WeissHapticSensorListener.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.WeissHapticSensorListener.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.WeissHapticSensorListener.ObjectName = ""
+
+
+
diff --git a/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorsUnitApp.cfg b/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorsUnitApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..1758548b76a87189af145e83a809582e17327a4e
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorsUnitApp.cfg
@@ -0,0 +1,55 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+
diff --git a/scenarios/WeissHapticSensorsUnitTest/startScenario.sh b/scenarios/WeissHapticSensorsUnitTest/startScenario.sh
new file mode 100755
index 0000000000000000000000000000000000000000..3cae8d5150708a0164ee9e161c747e726e42118c
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/startScenario.sh
@@ -0,0 +1,6 @@
+export SCRIPT_PATH=/localhome/vmmaster/armarx/Core/build/bin
+# Components
+$SCRIPT_PATH/startApplication.sh /localhome/vmmaster/armarx/RobotAPI/build/bin/WeissHapticSensorsUnitAppRun --Ice.Config=config/WeissHapticSensorsUnitApp.cfg &
+
+$SCRIPT_PATH/startApplication.sh /localhome/vmmaster/armarx/RobotAPI/build/bin/WeissHapticSensorAppRun --Ice.Config=config/WeissHapticSensorApp.cfg &
+
diff --git a/scenarios/WeissHapticSensorsUnitTest/stopScenario.sh b/scenarios/WeissHapticSensorsUnitTest/stopScenario.sh
new file mode 100755
index 0000000000000000000000000000000000000000..99e852378bc989e2878c4f529f74dbfd45e30b6c
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/stopScenario.sh
@@ -0,0 +1,25 @@
+if test -z "$1"
+then
+ KILL_SIGNAL=2
+else
+ KILL_SIGNAL=$1
+fi
+
+skill ()
+{
+ EXECUTABLE_STR=`ps aux | grep "$1 \-\-Ice.Default" | grep -v grep | awk '{print $2}'`
+ if [ ${#EXECUTABLE_STR} == 0 ]
+ then
+ echo skipping $1
+ else
+ echo killing $1
+ kill -s $2 ${EXECUTABLE_STR}
+ fi
+}
+
+echo SENDING ${KILL_SIGNAL} TO ALL PROCESSES
+
+skill WeissHapticSensorsUnitAppRun ${KILL_SIGNAL}
+
+skill WeissHapticSensorAppRun ${KILL_SIGNAL}
+
diff --git a/source/RobotAPI/CMakeLists.txt b/source/RobotAPI/CMakeLists.txt
index 59796017c05137bcf7667a83e6cd36006671660c..602631618f7001892a3d75cae0bf1cf744fd6373 100644
--- a/source/RobotAPI/CMakeLists.txt
+++ b/source/RobotAPI/CMakeLists.txt
@@ -2,6 +2,7 @@ add_subdirectory(core)
add_subdirectory(motioncontrol)
add_subdirectory(applications)
add_subdirectory(units)
-#add_subdirectory(armarx-objects)
+add_subdirectory(armarx-objects)
add_subdirectory(statecharts)
+add_subdirectory(drivers)
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 828e1afa50b2f9505dfdb83a9f97ad1c5d06503d..c896fc61147005e454e20729d7569437d312acd2 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -5,3 +5,6 @@ add_subdirectory(MotionControlTest)
add_subdirectory(TCPControlUnit)
add_subdirectory(MovePlatform)
add_subdirectory(MovePlatformToLandmark)
+
+add_subdirectory(WeissHapticSensorsUnit)
+add_subdirectory(WeissHapticSensor)
\ No newline at end of file
diff --git a/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e08a3f6d4ec46d0b3417ef9746b60dda744a1300
--- /dev/null
+++ b/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt
@@ -0,0 +1,15 @@
+armarx_component_set_name("WeissHapticSensorApp")
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensorListener RobotAPIUnits)
+
+set(EXE_SOURCE main.cpp WeissHapticSensorApp.h)
+
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/WeissHapticSensor/WeissHapticSensorApp.h b/source/RobotAPI/applications/WeissHapticSensor/WeissHapticSensorApp.h
new file mode 100644
index 0000000000000000000000000000000000000000..c5812ade6b568e8aed6571b785ea4f4d58e303f5
--- /dev/null
+++ b/source/RobotAPI/applications/WeissHapticSensor/WeissHapticSensorApp.h
@@ -0,0 +1,56 @@
+/**
+ * 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::application::WeissHapticSensor
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_APPLICATION_RobotAPI_WeissHapticSensor_H
+#define _ARMARX_APPLICATION_RobotAPI_WeissHapticSensor_H
+
+
+#include <RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h>
+
+#include <Core/core/application/Application.h>
+#include <RobotAPI/units/HapticObserver.h>
+
+namespace armarx
+{
+ /**
+ * @class WeissHapticSensorApp
+ * @brief A brief description
+ *
+ * Detailed Description
+ */
+ class WeissHapticSensorApp :
+ virtual public armarx::Application
+ {
+ /**
+ * @see armarx::Application::setup()
+ */
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+ Ice::PropertiesPtr properties)
+ {
+ registry->addObject( Component::create<WeissHapticSensorListener>(properties) );
+ registry->addObject( Component::create<HapticObserver>(properties) );
+ }
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/applications/WeissHapticSensor/main.cpp b/source/RobotAPI/applications/WeissHapticSensor/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..edff60ba31440bbdcb1e8908eacfd3ebd57ac4fb
--- /dev/null
+++ b/source/RobotAPI/applications/WeissHapticSensor/main.cpp
@@ -0,0 +1,33 @@
+/**
+ * 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::application::WeissHapticSensor
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "WeissHapticSensorApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::WeissHapticSensorApp > ();
+ app->setName("WeissHapticSensor");
+
+ return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt b/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2d552863d973ec5ba41238a790810b5f7ff8f2d
--- /dev/null
+++ b/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
@@ -0,0 +1,15 @@
+armarx_component_set_name("WeissHapticSensorsUnitApp")
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreEigen3Variants WeissHapticSensor)
+
+set(EXE_SOURCE main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h b/source/RobotAPI/applications/WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h
new file mode 100644
index 0000000000000000000000000000000000000000..fba3b1a793e7963b95932e033863113ba0630ec8
--- /dev/null
+++ b/source/RobotAPI/applications/WeissHapticSensorsUnit/WeissHapticSensorsUnitApp.h
@@ -0,0 +1,55 @@
+/**
+ * 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::application::WeissHapticSensorsUnit
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_APPLICATION_RobotAPI_WeissHapticSensorsUnit_H
+#define _ARMARX_APPLICATION_RobotAPI_WeissHapticSensorsUnit_H
+
+
+// #include <RobotAPI/armarx-objects/@MyComponent@.h>
+
+#include <Core/core/application/Application.h>
+#include <RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h>
+
+namespace armarx
+{
+ /**
+ * @class WeissHapticSensorsUnitApp
+ * @brief A brief description
+ *
+ * Detailed Description
+ */
+ class WeissHapticSensorsUnitApp :
+ virtual public armarx::Application
+ {
+ /**
+ * @see armarx::Application::setup()
+ */
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+ Ice::PropertiesPtr properties)
+ {
+ registry->addObject( Component::create<WeissHapticSensorsUnit>(properties) );
+ }
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/applications/WeissHapticSensorsUnit/main.cpp b/source/RobotAPI/applications/WeissHapticSensorsUnit/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..383d05876e7eadfd48ab4faeb807d8443f9fba7f
--- /dev/null
+++ b/source/RobotAPI/applications/WeissHapticSensorsUnit/main.cpp
@@ -0,0 +1,33 @@
+/**
+ * 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::application::WeissHapticSensorsUnit
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "WeissHapticSensorsUnitApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::WeissHapticSensorsUnitApp > ();
+ app->setName("WeissHapticSensorsUnit");
+
+ return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/armarx-objects/CMakeLists.txt b/source/RobotAPI/armarx-objects/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc89e3a90eb6b211fb0b93856eee897ff374afbb
--- /dev/null
+++ b/source/RobotAPI/armarx-objects/CMakeLists.txt
@@ -0,0 +1,2 @@
+
+add_subdirectory(WeissHapticSensorListener)
\ No newline at end of file
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..613112f8e1fae0115c71e6fd745abc90bf2bf20a
--- /dev/null
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt
@@ -0,0 +1,19 @@
+armarx_component_set_name("WeissHapticSensorListener")
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants RobotAPIInterfaces)
+
+set(SOURCES WeissHapticSensorListener.cpp)
+set(HEADERS WeissHapticSensorListener.h)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+#add_subdirectory(test)
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..80bd04d05aa08ddb997ca632f329781b27a60ff1
--- /dev/null
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp
@@ -0,0 +1,65 @@
+/**
+ * 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::ArmarXObjects::WeissHapticSensorListener
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "WeissHapticSensorListener.h"
+
+
+using namespace armarx;
+
+
+void WeissHapticSensorListener::onInitComponent()
+{
+ this->usingTopic("HapticValues");
+ ARMARX_LOG << "WeissHapticSensorListener::onInitComponent()";
+}
+
+
+void WeissHapticSensorListener::onConnectComponent()
+{
+
+}
+
+
+void WeissHapticSensorListener::onDisconnectComponent()
+{
+
+}
+
+
+void WeissHapticSensorListener::onExitComponent()
+{
+
+}
+
+PropertyDefinitionsPtr WeissHapticSensorListener::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new WeissHapticSensorListenerPropertyDefinitions(
+ getConfigIdentifier()));
+}
+
+void armarx::WeissHapticSensorListener::reportSensorValues(const std::string& type, const armarx::MatrixFloatBasePtr& values, 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
new file mode 100644
index 0000000000000000000000000000000000000000..2287e9060a7aecbad51b90976a7b0f15b7b931c6
--- /dev/null
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h
@@ -0,0 +1,101 @@
+/**
+ * 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::ArmarXObjects::WeissHapticSensorListener
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_COMPONENT_RobotAPI_WeissHapticSensorListener_H
+#define _ARMARX_COMPONENT_RobotAPI_WeissHapticSensorListener_H
+
+
+#include <Core/core/Component.h>
+#include <RobotAPI/interface/units/HapticUnit.h>
+#include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+
+namespace armarx
+{
+ /**
+ * @class WeissHapticSensorListenerPropertyDefinitions
+ * @brief
+ * @ingroup Components
+ */
+ class WeissHapticSensorListenerPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ WeissHapticSensorListenerPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ //defineRequiredProperty<std::string>("PropertyName", "Description");
+ //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
+ }
+ };
+
+ /**
+ * @class WeissHapticSensorListener
+ * @brief A brief description
+ *
+ * Detailed Description
+ */
+ class WeissHapticSensorListener :
+ virtual public armarx::Component,
+ virtual public armarx::HapticUnitListener
+ {
+ public:
+ /**
+ * @see armarx::ManagedIceObject::getDefaultName()
+ */
+ virtual std::string getDefaultName() const
+ {
+ return "WeissHapticSensorListener";
+ }
+
+ virtual void reportSensorValues(const ::std::string& type, const ::armarx::MatrixFloatBasePtr& values, const ::Ice::Current& = ::Ice::Current());
+
+ protected:
+ /**
+ * @see armarx::ManagedIceObject::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onDisconnectComponent()
+ */
+ virtual void onDisconnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onExitComponent()
+ */
+ virtual void onExitComponent();
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/CMakeLists.txt b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c89a2d67c402d97784d7a903af9de0c6191150f
--- /dev/null
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore WeissHapticSensorListener)
+
+armarx_add_test(WeissHapticSensorListenerTest WeissHapticSensorListenerTest.cpp "${LIBS}")
\ No newline at end of file
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..089961daf9fcd32354f8b52cb28ad509c22503cb
--- /dev/null
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/test/WeissHapticSensorListenerTest.cpp
@@ -0,0 +1,38 @@
+/**
+ * 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::ArmarXObjects::WeissHapticSensorListener
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::WeissHapticSensorListener
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+ armarx::WeissHapticSensorListener instance;
+
+ BOOST_CHECK_EQUAL(true, true);
+}
diff --git a/source/RobotAPI/drivers/CMakeLists.txt b/source/RobotAPI/drivers/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..802a6b533e8945574afb9e92d9d86a1d0e41fe19
--- /dev/null
+++ b/source/RobotAPI/drivers/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(WeissHapticSensor)
diff --git a/source/RobotAPI/drivers/Types.h b/source/RobotAPI/drivers/Types.h
new file mode 100644
index 0000000000000000000000000000000000000000..1b3690f88038ea8330950f56c0cdb2adb1f99c64
--- /dev/null
+++ b/source/RobotAPI/drivers/Types.h
@@ -0,0 +1,49 @@
+#ifndef TYPES_H
+#define TYPES_H
+
+typedef struct
+{
+ unsigned char id;
+ unsigned int len;
+ unsigned char *data;
+} msg_t;
+
+
+typedef enum {
+ E_SUCCESS = 0, // No error
+ E_NOT_AVAILABLE, // Device, service or data is not available
+ E_NO_SENSOR, // No sensor connected
+ E_NOT_INITIALIZED, // The device is not initialized
+ E_ALREADY_RUNNING, // Service is already running
+ E_FEATURE_NOT_SUPPORTED, // The asked feature is not supported
+ E_INCONSISTENT_DATA, // One or more dependent parameters mismatch
+ E_TIMEOUT, // Timeout error
+ E_READ_ERROR, // Error while reading from a device
+ E_WRITE_ERROR, // Error while writing to a device
+ E_INSUFFICIENT_RESOURCES, // No memory available
+ E_CHECKSUM_ERROR, // Checksum error
+ E_NO_PARAM_EXPECTED, // No parameters expected
+ E_NOT_ENOUGH_PARAMS, // Not enough parameters
+ E_CMD_UNKNOWN, // Unknown command
+ E_CMD_FORMAT_ERROR, // Command format error
+ E_ACCESS_DENIED, // Access denied
+ E_ALREADY_OPEN, // The interface is already open
+ E_CMD_FAILED, // Command failed
+ E_CMD_ABORTED, // Command aborted
+ E_INVALID_HANDLE, // invalid handle
+ E_NOT_FOUND, // device not found
+ E_NOT_OPEN, // device not open
+ E_IO_ERROR, // I/O error
+ E_INVALID_PARAMETER, // invalid parameter
+ E_INDEX_OUT_OF_BOUNDS, // index out of bounds
+ E_CMD_PENDING, // Command was received correctly, but the execution needs more time. If the command was completely processed, another status message is returned indicating the command's result
+ E_OVERRUN, // Data overrun
+ E_RANGE_ERROR, // Range error
+ E_AXIS_BLOCKED, // Axis is blocked
+ E_FILE_EXISTS // File already exists
+} status_t;
+
+
+//const char* status_to_str( status_t status );
+
+#endif // TYPES_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e1248b9240375b32f7463db1bd64c1f9db5483d2
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
@@ -0,0 +1,244 @@
+#include "AbstractInterface.h"
+#include "Response.h"
+#include "Checksum.h"
+#include "Types.h"
+#include "TransmissionException.h"
+#include <string.h>
+#include <iostream>
+#include <stdio.h>
+#include <stdexcept>
+
+
+AbstractInterface::AbstractInterface() :
+ connected(false) {
+}
+
+AbstractInterface::~AbstractInterface() {
+ // TODO Auto-generated destructor stub
+}
+
+
+Response AbstractInterface::submitCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending )
+{
+ /*int res;
+
+ // Check if we're connected
+ if ( !connected )
+ {
+ throw TransmissionException("Interface not connected");
+ }
+
+ // Send command
+ res = send( id, len, payload );
+ if ( res < 0 )
+ {
+ throw TransmissionException("Message send failed");
+ }*/
+ fireAndForgetCmd(id, payload, len, pending);
+ return receive(pending, id);
+}
+
+void AbstractInterface::fireAndForgetCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending )
+{
+
+ int res;
+
+ // Check if we're connected
+ if ( !connected )
+ {
+ throw TransmissionException("Interface not connected");
+ }
+
+ // Send command
+ res = send( id, len, payload );
+ if ( res < 0 )
+ {
+ throw TransmissionException("Message send failed");
+ }
+}
+
+Response AbstractInterface::receiveWithoutChecks()
+{
+ int res;
+ status_t status;
+ msg_t msg;
+
+ // Receive response data
+ res = receive( &msg );
+ if ( res < 0 )
+ {
+ throw TransmissionException("Message receive failed");
+ }
+
+ status = (status_t) make_short( msg.data[0], msg.data[1] );
+
+ return Response(res, msg.id, status, msg.data, msg.len);
+}
+
+Response AbstractInterface::receive(bool pending, unsigned char expectedId)
+{
+ int res;
+ status_t status;
+ msg_t msg;
+
+ // Receive response. Repeat if pending.
+ do
+ {
+ // Receive response data
+ res = receive( &msg );
+ if ( res < 0 )
+ {
+ throw TransmissionException("Message receive failed");
+ }
+
+ // Check response ID
+ if ( msg.id != expectedId )
+ {
+ //std::strstream strStream;
+ //strStream << "Response ID ()" << msg.id << ") does not match submitted command ID (" << id << ")";
+ //throw std::runtime_error(strStream.str());
+ throw TransmissionException(str(boost::format("Response ID (%02X) does not match submitted command ID (%02X)") % (int)msg.id % (int)expectedId));
+ }
+
+ if ( pending )
+ {
+ if ( msg.len < 2 )
+ {
+ throw TransmissionException("No status code received");
+ }
+
+ status = (status_t) make_short( msg.data[0], msg.data[1] );
+ }
+ }
+ while( pending && status == E_CMD_PENDING );
+
+ status = (status_t) make_short( msg.data[0], msg.data[1] );
+
+ return Response(res, msg.id, status, msg.data, msg.len);
+}
+
+int AbstractInterface::receive( msg_t *msg )
+{
+ int res;
+ unsigned char header[3]; // 1 byte command, 2 bytes payload length
+ unsigned short checksum = 0x50f5; // Checksum over preamble (0xaa 0xaa 0xaa)
+ unsigned int sync;
+
+ // Syncing - necessary for compatibility with serial interface
+ sync = 0;
+ while( sync != MSG_PREAMBLE_LEN )
+ {
+ res = read( header, 1 );
+ if ( res > 0 && header[0] == MSG_PREAMBLE_BYTE )
+ {
+ sync++;
+ }
+ else
+ {
+ sync = 0;
+ }
+ }
+
+ // Read header
+ res = read( header, 3 );
+ if ( res < 3 )
+ {
+ throw TransmissionException(str(boost::format("Failed to receive header data (%d bytes read)") % res));
+ }
+
+ // Calculate checksum over header
+ checksum = Checksum::Update_crc16( header, 3, checksum );
+
+ // Get message id of received
+ msg->id = header[0];
+
+ // Get payload size of received message
+ msg->len = make_short( header[1], header[2] );
+
+ // Allocate space for payload and checksum
+ msg->data.resize( msg->len + 2u );
+ //if ( !msg->data ) return -1;
+
+ // Read payload and checksum
+ int maxReads = 10;
+ int remaining = msg->len + 2;
+ int dataOffset = 0;
+ while ( maxReads > 0 && remaining > 0)
+ {
+ int read = this->read( msg->data.data() + dataOffset, remaining );
+ dataOffset += read;
+ remaining -= read;
+ maxReads--;
+ if (remaining > 0) {
+ //fprintf( stderr, "Partial message received, waiting 100µs\n" );
+ usleep(100);
+ }
+ }
+ if (remaining > 0)
+ {
+ throw TransmissionException(str(boost::format("Not enough data (%d, expected %d), Command = %02X") % res % (msg->len + 2) % msg->id));
+ }
+ /*
+ res = interface->read( msg->data, msg->len + 2 );
+ if ( res < (int) (msg->len + 2) )
+ {
+ fprintf( stderr, "Not enough data (%d, expected %d)\n", res, msg->len + 2 );
+ fprintf( stderr, "Command = %X\n", msg->id );
+ return -1;
+ }*/
+
+ // Check checksum
+ checksum = Checksum::Update_crc16( msg->data.data(), msg->len + 2, checksum );
+ if ( checksum != 0 )
+ {
+ throw TransmissionException("Checksum error");
+ }
+
+ return msg->len + 8;
+}
+
+int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char *data)
+{
+ unsigned char header[MSG_PREAMBLE_LEN + 3];
+ unsigned short crc;
+ int i, res;
+
+ // Preamble
+ for ( i = 0; i < MSG_PREAMBLE_LEN; i++ ) header[i] = MSG_PREAMBLE_BYTE;
+
+ // Command ID
+ header[MSG_PREAMBLE_LEN] = id;
+
+ // Length
+ header[MSG_PREAMBLE_LEN + 1] = lo( len );
+ header[MSG_PREAMBLE_LEN + 2] = hi( len );
+
+ // Checksum
+ crc = Checksum::Crc16( header, 6 );
+ crc = Checksum::Update_crc16( data, len, crc );
+
+
+ unsigned char *buf = new unsigned char[ 6 + len + 2 ];
+ memcpy( buf, header, 6 );
+ memcpy( buf + 6, data, len );
+ memcpy( buf + 6 + len, (unsigned char *) &crc, 2 );
+
+ res = write( buf, 6 + len + 2 );
+ if ( res < 6 + (int)len + 2 )
+ {
+ close();
+ throw TransmissionException("Failed to submit message checksum");
+ //cerr << "Failed to submit message checksum" << endl;
+ }
+
+ delete[] buf;
+
+ return len + 8;
+}
+
+
+
+
+ostream& operator<<(ostream &strm, const AbstractInterface &a) {
+ return strm << a.toString();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..5c01b9fc52b83107aee10ec9e706379a9c604863
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
@@ -0,0 +1,57 @@
+#ifndef ABSTRACTINTERFACE_H
+#define ABSTRACTINTERFACE_H
+
+#include <string>
+#include "Types.h"
+
+
+#define MSG_PREAMBLE_BYTE 0xaa
+#define MSG_PREAMBLE_LEN 3
+
+// Combine bytes to different types
+#define make_short( lowbyte, highbyte ) ( (unsigned short)lowbyte | ( (unsigned short)highbyte << 8 ) )
+#define make_signed_short( lowbyte, highbyte ) ( (signed short) ( (unsigned short) lowbyte | ( (unsigned short) highbyte << 8 ) ) )
+#define make_int( lowbyte, mid1, mid2, highbyte ) ( (unsigned int) lowbyte | ( (unsigned int) mid1 << 8 ) | ( (unsigned int) mid2 << 16 ) | ( (unsigned int) highbyte << 24 ) )
+#define make_float( result, byteptr ) memcpy( &result, byteptr, sizeof( float ) )
+
+// Byte access
+#define hi( x ) (unsigned char) ( ((x) >> 8) & 0xff ) // Returns the upper byte of the passed short
+#define lo( x ) (unsigned char) ( (x) & 0xff ) // Returns the lower byte of the passed short
+
+
+
+struct Response;
+
+class AbstractInterface
+{
+public:
+ AbstractInterface();
+ virtual ~AbstractInterface();
+ virtual int open() = 0;
+ virtual void close() = 0;
+ virtual int read( unsigned char *buf, unsigned int len) = 0;
+ virtual int write( unsigned char *buf, unsigned int len) = 0;
+
+ bool IsConnected() const { return connected; }
+
+ virtual std::string toString() const = 0;
+
+ int send(unsigned char id, unsigned int len, unsigned char *data);
+ int receive( msg_t *msg );
+ Response submitCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending );
+ Response receive(bool pending, unsigned char expectedId);
+ Response receiveWithoutChecks();
+ void fireAndForgetCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending );
+
+
+protected:
+ bool connected;
+
+private:
+ friend std::ostream& operator<<(std::ostream&, const AbstractInterface&);
+};
+
+std::ostream& operator<<(std::ostream &strm, const AbstractInterface &a);
+
+
+#endif // ABSTRACTINTERFACE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b3a494138b7b09728b93c8db2e5fdf8250bc98de
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
@@ -0,0 +1,34 @@
+#include "BinaryLogger.h"
+#include <boost/format.hpp>
+
+BinaryLogger::BinaryLogger(std::string filename)
+{
+ this->log.open(filename.c_str());
+}
+
+BinaryLogger::~BinaryLogger()
+{
+ log.close();
+}
+
+void BinaryLogger::logRead(unsigned char *buf, unsigned int len)
+{
+ log << "READ";
+ for(unsigned int i = 0; i < len; i++)
+ {
+ log << boost::format(" %02X") % (int)buf[i];
+ }
+ log << std::endl;
+ log.flush();
+}
+
+void BinaryLogger::logWrite(unsigned char *buf, unsigned int len)
+{
+ log << "WRITE";
+ for(unsigned int i = 0; i < len; i++)
+ {
+ log << boost::format(" %02X") % (int)buf[i];
+ }
+ log << std::endl;
+ log.flush();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
new file mode 100644
index 0000000000000000000000000000000000000000..d16c85ca6f26e5245b3adeb834214e440131e1f1
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
@@ -0,0 +1,19 @@
+#ifndef BINARYLOGGER_H
+#define BINARYLOGGER_H
+
+#include <fstream>
+
+class BinaryLogger
+{
+public:
+ BinaryLogger(std::string filename);
+ ~BinaryLogger();
+
+ void logRead(unsigned char *buf, unsigned int len);
+ void logWrite(unsigned char *buf, unsigned int len);
+
+private:
+ std::ofstream log;
+};
+
+#endif // BINARYLOGGER_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01d560fb88deeaf26fe40072368db32e01715b9d
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
@@ -0,0 +1,41 @@
+armarx_set_target("WeissHapticSensor Library: WeissHapticSensor")
+
+
+find_package(Eigen3 QUIET)
+
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(LIB_NAME WeissHapticSensor)
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+
+set(LIBS RobotAPIUnits RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants)
+
+set(LIB_FILES
+ WeissHapticSensorsUnit.cpp
+ WeissHapticSensor.cpp
+ AbstractInterface.cpp
+ BinaryLogger.cpp
+ Checksum.cpp
+ SerialInterface.cpp
+ TactileSensor.cpp
+)
+set(LIB_HEADERS
+ WeissHapticSensorsUnit.h
+ WeissHapticSensor.h
+ AbstractInterface.h
+ BinaryLogger.h
+ Checksum.h
+ Response.h
+ SerialInterface.h
+ TactileSensor.h
+ TransmissionException.h
+ Types.h
+)
+
+armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..15b3cecfff3a5073d476ce5c544f6ad617696859
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.cpp
@@ -0,0 +1,94 @@
+
+#include "Checksum.h"
+
+/*
+ * CRC16 lookup table
+ *
+ * CCITT-16 compatible crc table using polynomial 0x1021,
+ * corresponding to x^16 + x^12 + x^5 + 1
+ */
+
+const unsigned short Checksum::CRC_TABLE_CCITT16[256] = {
+ 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+ 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+ 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+ 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+ 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+ 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+ 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+ 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+ 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+ 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+ 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+ 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+ 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+ 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+ 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+ 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+ 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+ 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+ 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+ 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+ 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+ 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+ 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+ 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+ 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+ 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+ 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+ 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+ 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+ 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+ 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+ 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
+};
+
+/**
+ * Calculates the CRC16 checksum of an array by using a table.
+ * The crc16 polynomial is 0x1021 ( x^16 + x^12 + x^5 + 1 ).
+ *
+ * Note: The checksum generated by this function is NOT according
+ * to CCITT standard!
+ *
+ * @param *data Points to the byte array from which checksum should
+ * be calculated
+ * @param size Size of the byte array
+ * @param crc Value calculated over another array and start value
+ * of the crc16 calculation
+ *
+ * @return CRC16 checksum
+ */
+
+unsigned short Checksum::Update_crc16( unsigned char *data, unsigned int size, unsigned short crc )
+{
+ unsigned long c;
+
+ /* process each byte prior to checksum field */
+ for ( c=0; c < size; c++ )
+ {
+ crc = CRC_TABLE_CCITT16[ ( crc ^ *( data ++ )) & 0x00FF ] ^ ( crc >> 8 );
+ }
+ return crc;
+}
+
+
+/**
+ * Calculates the CRC16 checksum of an array by using a table.
+ * The crc16 polynomial is 0x1021 ( x^16 + x^12 + x^5 + 1 ).
+ * This function takes 0xffff as initial value.
+ *
+ * Note: The checksum generated by this function is NOT according
+ * to CCITT standard!
+ *
+ * @param *data Points to the byte array from which checksum should
+ * be calculated
+ * @param size Size of the byte array
+ *
+ * @return CRC16 checksum
+ */
+
+unsigned short Checksum::Crc16( unsigned char *data, unsigned int size )
+{
+ return( Update_crc16( data, size, 0xffff ) );
+}
+
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
new file mode 100644
index 0000000000000000000000000000000000000000..7603e1b69f4a71856b801a716c2454e18024ffca
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
@@ -0,0 +1,14 @@
+#ifndef CHECKSUM_H
+#define CHECKSUM_H
+
+class Checksum
+{
+public:
+ static unsigned short Crc16( unsigned char *data, unsigned int size );
+ static unsigned short Update_crc16( unsigned char *data, unsigned int size, unsigned short crc );
+
+private:
+ static const unsigned short CRC_TABLE_CCITT16[256];
+};
+
+#endif // CHECKSUM_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Response.h b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
new file mode 100644
index 0000000000000000000000000000000000000000..452f8f835d97fec39ea9e69f4e2d31e74c6796bd
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
@@ -0,0 +1,102 @@
+#ifndef RESPONSE_H
+#define RESPONSE_H
+
+#include "Types.h"
+#include "TransmissionException.h"
+//#include <strstream>
+#include <stdexcept>
+#include <boost/format.hpp>
+#include <vector>
+
+struct Response {
+public:
+ Response(int res, unsigned char cmdId, status_t status, const std::vector<unsigned char> &data, unsigned int len)
+ : res(res), cmdId(cmdId), status(status), data(data), len(len) {}
+
+ unsigned int getUInt(int index)
+ {
+ return (unsigned int)data[index] | ( (unsigned int)data[index + 1] << 8) | ( (unsigned int)data[index + 2] << 16) | ( (unsigned int)data[index + 3] << 24);
+ }
+
+ unsigned short getShort(int index)
+ {
+ return (unsigned short)data[index] | ( (unsigned short)data[index + 1] << 8);
+ }
+ unsigned char getByte(int index)
+ {
+ return data[index];
+ }
+
+ void ensureMinLength(int len)
+ {
+ if ( res < len ) {
+ //std::strstream strStream;
+ //strStream << "Response length is too short, should be = " << len << " (is " << res << ")";
+ //throw std::runtime_error(strStream.str());
+ throw TransmissionException(str(boost::format("Response length is too short, should be = %1% (is %2%)") % len % res));
+ }
+ }
+
+ void ensureSuccess()
+ {
+ if ( status != E_SUCCESS )
+ {
+ //std::strstream strStream;
+ //strStream << "Command not successful: " << status_to_str( status );
+ //throw std::runtime_error(strStream.str());
+ cerr << " status != E_SUCCESS" << endl;
+ for(int i=0; i<(int)len; i++){
+ cerr << boost::format("%02X ") % (int)data[i];
+ }
+ cerr << endl;
+ throw TransmissionException(str(boost::format("Command not successful: %1% (0x%2$02X)") % status_to_str( status ) % status));
+ }
+ }
+
+ int res;
+ unsigned char cmdId;
+ status_t status;
+ std::vector<unsigned char> data;
+ unsigned int len;
+
+ static const char* status_to_str( status_t status )
+ {
+ switch( status )
+ {
+ case E_SUCCESS: return( "No error" );
+ case E_NOT_AVAILABLE: return( "Service or data is not available" );
+ case E_NO_SENSOR: return( "No sensor connected" );
+ case E_NOT_INITIALIZED: return( "The device is not initialized" );
+ case E_ALREADY_RUNNING: return( "Service is already running" );
+ case E_FEATURE_NOT_SUPPORTED: return( "The requested feature is not supported" );
+ case E_INCONSISTENT_DATA: return( "One or more dependent parameters mismatch" );
+ case E_TIMEOUT: return( "Timeout error" );
+ case E_READ_ERROR: return( "Error while reading from a device" );
+ case E_WRITE_ERROR: return( "Error while writing to a device" );
+ case E_INSUFFICIENT_RESOURCES: return( "No memory available" );
+ case E_CHECKSUM_ERROR: return( "Checksum error" );
+ case E_NO_PARAM_EXPECTED: return( "No parameters expected" );
+ case E_NOT_ENOUGH_PARAMS: return( "Not enough parameters" );
+ case E_CMD_UNKNOWN: return( "Unknown command" );
+ case E_CMD_FORMAT_ERROR: return( "Command format error" );
+ case E_ACCESS_DENIED: return( "Access denied" );
+ case E_ALREADY_OPEN: return( "Interface already open" );
+ case E_CMD_FAILED: return( "Command failed" );
+ case E_CMD_ABORTED: return( "Command aborted" );
+ case E_INVALID_HANDLE: return( "Invalid handle" );
+ case E_NOT_FOUND: return( "Device not found" );
+ case E_NOT_OPEN: return( "Device not open" );
+ case E_IO_ERROR: return( "General I/O-Error" );
+ case E_INVALID_PARAMETER: return( "Invalid parameter" );
+ case E_INDEX_OUT_OF_BOUNDS: return( "Index out of bounds" );
+ case E_CMD_PENDING: return( "Command is pending..." );
+ case E_OVERRUN: return( "Data overrun" );
+ case E_RANGE_ERROR: return( "Value out of range" );
+ case E_AXIS_BLOCKED: return( "Axis is blocked" );
+ case E_FILE_EXISTS: return( "File already exists" );
+ default: return( "Internal error. Unknown error code." );
+ }
+ }
+};
+
+#endif // RESPONSE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b9bdfe5f0a93e98fa114a81e129f45e39e6bc4a1
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
@@ -0,0 +1,162 @@
+#include "SerialInterface.h"
+
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <errno.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/ioctl.h>
+#include <iostream>
+#include <boost/lexical_cast.hpp>
+#include <boost/format.hpp>
+
+static inline tcflag_t __bitrate_to_flag( unsigned int bitrate )
+{
+ switch( bitrate )
+ {
+ case 1200: return B1200;
+ case 2400: return B2400;
+ case 4800: return B4800;
+ case 9600: return B9600;
+ case 19200: return B19200;
+ case 38400: return B38400;
+ case 57600: return B57600;
+ case 115200: return B115200;
+ case 230400: return B230400;
+ case 460800: return B460800;
+ default: return 0;
+ }
+}
+
+
+SerialInterface::SerialInterface(const char *device, unsigned int bitrate)
+ : log(NULL)
+{
+ this->device = device;
+ this->bitrate = bitrate;
+}
+
+SerialInterface::~SerialInterface() {
+ if(log != NULL)
+ {
+ delete log;
+ }
+}
+
+int SerialInterface::open() {
+ // Convert bitrate to flag
+ tcflag_t bitrate = __bitrate_to_flag(this->bitrate);
+ if ( bitrate == 0 )
+ {
+ fprintf( stderr, "Invalid bitrate '%d' for serial device\n", this->bitrate );
+ return -1;
+ }
+
+
+ // Open serial device
+ fd = ::open( device, O_RDWR | O_NOCTTY );
+ if ( fd < 0 )
+ {
+ fprintf( stderr, "Failed to open serial device '%s' (errno: %s)\n", device, strerror(errno) );
+ return -1;
+ }
+ if (::ioctl(fd, TIOCEXCL))
+ {
+ fprintf( stderr, "Failed to lock serial device '%s' (errno: %s)\n", device, strerror(errno) );
+ return -1;
+ }
+
+
+
+ // Check if device is a terminal device
+ if ( !isatty( fd ) )
+ {
+ fprintf( stderr, "Device '%s' is not a terminal device (errno: %s)!\n", device, strerror(errno) );
+ ::close( fd );
+ return -1;
+ }
+
+ struct termios settings;
+ // Set input flags
+ settings.c_iflag = IGNBRK // Ignore BREAKS on Input
+ | IGNPAR; // No Parity
+ // ICRNL: map CR to NL (otherwise a CR input on the other computer will not terminate input)
+
+ // Set output flags
+ settings.c_oflag = 0; // Raw output
+
+ // Set controlflags
+ settings.c_cflag = bitrate
+ | CS8 // 8 bits per byte
+ | CSTOPB // Stop bit
+ | CREAD // characters may be read
+ | CLOCAL; // ignore modem state, local connection
+
+ // Set local flags
+ settings.c_lflag = 0; // Other option: ICANON = enable canonical input
+
+ // Set maximum wait time on input - cf. Linux Serial Programming HowTo, non-canonical mode
+ // http://tldp.org/HOWTO/Serial-Programming-HOWTO/x115.html
+ settings.c_cc[VTIME] = 10; // 0 means timer is not uses
+
+ // Set minimum bytes to read
+ settings.c_cc[VMIN] = 0; // 1 means wait until at least 1 character is received
+
+ // Now clean the modem line and activate the settings for the port
+ tcflush( fd, TCIFLUSH );
+ tcsetattr( fd, TCSANOW, &settings );
+
+ connected = true;
+
+ return 0;
+}
+
+void SerialInterface::close()
+{
+ if(connected) ::close(fd);
+ connected = false;
+}
+
+int SerialInterface::read( unsigned char *buf, unsigned int len)
+{
+ int res;
+
+ res = ::read( fd, buf, len );
+ if ( res < 0 )
+ {
+ std::cerr << "Failed to read from serial device" << std::endl;
+ }
+
+ if(log != NULL)
+ {
+ log->logRead(buf, res);
+ }
+
+ return res;
+
+}
+int SerialInterface::write( unsigned char *buf, unsigned int len)
+{
+ if(log != NULL)
+ {
+ log->logWrite(buf, len);
+ }
+
+ return( ::write( fd, (void *) buf, len ) );
+}
+
+std::string SerialInterface::toString() const
+{
+ return str(boost::format("SerialInterface(connected=%1%, device=%2%, bitrate=%3%, fd=%4%)")
+ % connected % device % bitrate % fd);
+}
+
+void SerialInterface::startLogging(std::string file)
+{
+ log = new BinaryLogger(file);
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..e5c9b396b4774c8b4fac8532c9ec0cfeeb6017fd
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
@@ -0,0 +1,30 @@
+#ifndef SERIALINTERFACE_H
+#define SERIALINTERFACE_H
+
+#include "AbstractInterface.h"
+#include <iostream>
+#include "BinaryLogger.h"
+
+
+class SerialInterface : public AbstractInterface {
+public:
+ SerialInterface(const char *device, const unsigned int bitrate);
+ virtual ~SerialInterface();
+
+ virtual int open();
+ virtual void close();
+ virtual int read( unsigned char *, unsigned int );
+ virtual int write( unsigned char *, unsigned int );
+
+ virtual std::string toString() const;
+
+ void startLogging(std::string file);
+
+private:
+ const char *device;
+ unsigned int bitrate;
+ int fd;
+ BinaryLogger* log;
+};
+
+#endif // SERIALINTERFACE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8ce5aaf158090938d5446e5a9d22d24636bd05ed
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
@@ -0,0 +1,277 @@
+#include "TactileSensor.h"
+#include "AbstractInterface.h"
+#include "Response.h"
+#include "Types.h"
+#include <string>
+#include <stdio.h>
+
+TactileSensor::TactileSensor(boost::shared_ptr<AbstractInterface> interface)
+{
+ this->interface = interface;
+}
+
+TactileSensor::~TactileSensor() {
+ // TODO Auto-generated destructor stub
+}
+
+tac_matrix_info_t TactileSensor::getMatrixInformation( )
+{
+ unsigned char payload[0];
+
+ Response response = interface->submitCmd( 0x30, payload, sizeof(payload), false );
+ response.ensureMinLength(12);
+ response.ensureSuccess();
+
+ tac_matrix_info_t matrix_info;
+
+ matrix_info.res_x = response.getShort(2);
+ matrix_info.res_y = response.getShort(4);
+ matrix_info.cell_width = response.getShort(6);
+ matrix_info.cell_height = response.getShort(8);
+ matrix_info.fullscale = response.getShort(10);
+
+ //delete response;
+ return matrix_info;
+}
+
+void TactileSensor::printMatrixInfo( tac_matrix_info_t *mi )
+{
+ printf("res_x = %d, res_y = %d, cell_width = %d, cell_height = %d, fullscale = %X\n",
+ mi->res_x, mi->res_y, mi->cell_width, mi->cell_height, mi->fullscale);
+}
+
+void TactileSensor::printMatrix ( short *matrix, int width, int height )
+{
+ int x, y;
+ for (y = 0; y < height; y++)
+ {
+ printf("%03X", matrix[y * width]);
+ for (x = 1; x < width; x++)
+ {
+ printf(", %03X", matrix[y * width + x]);
+ }
+ printf("\n");
+ }
+}
+
+FrameData TactileSensor::readSingleFrame()
+{
+ unsigned char payload[1];
+ payload[0] = 0x00; // FLAGS = 0
+ Response response = interface->submitCmd( 0x20, payload, sizeof(payload), false );
+ return getFrameData(&response);
+}
+PeriodicFrameData TactileSensor::receicePeriodicFrame()
+{
+ Response response = interface->receiveWithoutChecks();
+ if(response.cmdId == 0x21)
+ {
+ response = interface->receiveWithoutChecks();
+ }
+ if(response.cmdId == 0x00)
+ {
+ return getPeriodicFrameData(&response);
+ }
+ else
+ {
+ throw TransmissionException(str(boost::format("Response ID (%02X) does not match submitted command ID (%02X)") % (int)response.cmdId % (int)0x00));
+ }
+}
+
+PeriodicFrameData TactileSensor::getPeriodicFrameData(Response *response)
+{
+ response->ensureMinLength(7);
+
+ unsigned int timestamp = response->getUInt( 0 );
+ int offset = 5;
+
+ int count = (response->len - offset) / 2;
+ int i;
+ short* data = new short[ count ];
+ for(i = 0; i < count; i++)
+ {
+ short value = response->getShort(i*2 + offset);
+ data[i] = value;
+ }
+ return PeriodicFrameData(data, count, timestamp);
+}
+
+FrameData TactileSensor::getFrameData(Response *response)
+{
+ response->ensureMinLength(7);
+ response->ensureSuccess();
+
+ int offset = 5 + 2;
+
+ int count = (response->len - offset) / 2;
+ int i;
+ short* data = new short[ sizeof(short) * count ];
+ for(i = 0; i < count; i++)
+ {
+ short value = response->getShort(i*2 + offset);
+ data[i] = value;
+ }
+ return FrameData(data, count);
+}
+
+void TactileSensor::startPeriodicFrameAcquisition( unsigned short delay_ms )
+{
+ unsigned char payload[3];
+ payload[0] = 0x00; // FLAGS = 0
+ payload[1] = delay_ms & 0xFF;
+ payload[2] = (delay_ms >> 8) & 0xFF;
+ interface->fireAndForgetCmd( 0x21, payload, sizeof(payload), false );
+}
+void TactileSensor::stopPeriodicFrameAcquisition( void )
+{
+ while(1)
+ {
+ unsigned char payload[0];
+ interface->fireAndForgetCmd( 0x22, payload, sizeof(payload), false );
+ int waitCount = 10;
+ while (waitCount > 0)
+ {
+ Response response = interface->receiveWithoutChecks();
+ if(response.cmdId == 0x22) {
+ return;
+ }
+ else
+ {
+ cout << boost::format("stopPeriodicFrameAcquisition :: Discarding Response with ID 0x%02X") % (int)response.cmdId << endl;
+ }
+ waitCount--;
+ }
+ }
+}
+void TactileSensor::tareSensorMatrix( unsigned char operation )
+{
+ unsigned char payload[1];
+ payload[0] = operation; // OPERATION: 0 = un-tare the sensor matrix using the currently set threshold value, 1 = tare the sensor matrix
+ Response response = interface->submitCmd( 0x23, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+}
+void TactileSensor::setAquisitionWindow( unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2 )
+{
+ unsigned char payload[4];
+ payload[0] = x1;
+ payload[1] = y1;
+ payload[2] = x2;
+ payload[3] = y2;
+ Response response = interface->submitCmd( 0x31, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+}
+int TactileSensor::setAdvanvedAcquisitionMask( char *mask ) { return 0; }
+int TactileSensor::getAcquisitionMask( char **mask, int *mask_len ) { return 0; }
+void TactileSensor::setThreshold( short threshold )
+{
+ unsigned char payload[2];
+ payload[0] = threshold & 0xFF;
+ payload[1] = (threshold >> 8) & 0xFF;
+ Response response = interface->submitCmd( 0x34, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+}
+unsigned short TactileSensor::getThreshold()
+{
+ unsigned char payload[0];
+ Response response = interface->submitCmd( 0x35, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+ return response.getShort(2);
+}
+void TactileSensor::setFrontEndGain( unsigned char gain )
+{
+ /*
+ * Adjust the pressure sensitivity of a matrix by setting the gain of the Analog Front-End. The gain can
+ * be set using an integer value in the range of 0 to 255, where 0 is the most insensitive (lowest gain)
+ * and 255 is the most sensitive (highest gain) setting.
+ */
+ unsigned char payload[1];
+ payload[0] = gain;
+ Response response = interface->submitCmd( 0x36, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+}
+unsigned char TactileSensor::getFrontEndGain()
+{
+ /*
+ * Get the currently set analog front-end gain value. The gain is as an integer value ranging from 0 to
+ * 255, where 0 is the most insensitive (lowest gain) and 255 is the most sensitive (highest gain) setting.
+ */
+ unsigned char payload[0];
+ Response response = interface->submitCmd( 0x37, payload, sizeof(payload), false );
+ response.ensureMinLength(3);
+ response.ensureSuccess();
+ unsigned char gain = response.getByte(2);
+ return gain;
+}
+std::string TactileSensor::getSensorType()
+{
+ /*
+ * Return a string containing the sensor type.
+ */
+ unsigned char payload[0];
+ Response response = interface->submitCmd( 0x38, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+ std::string type = std::string((char*)response.data.data() + 2, response.len - 2);
+ return type;
+}
+float TactileSensor::readDeviceTemperature()
+{
+ unsigned char payload[0];
+ Response response = interface->submitCmd( 0x46, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ short value = (short)response.getShort(2);
+ return value * 0.1f;
+}
+tac_system_information_t TactileSensor::getSystemInformation()
+{
+ unsigned char payload[0];
+ Response response = interface->submitCmd( 0x50, payload, sizeof(payload), false );
+ response.ensureMinLength(9);
+ response.ensureSuccess();
+ tac_system_information_t si;
+ si.type = response.getByte(2);
+ si.hw_rev = response.getByte(3);
+ si.fw_version = response.getShort(4);
+ si.sn = response.getShort(6);
+ return si;
+}
+void TactileSensor::printSystemInformation(tac_system_information_t si)
+{
+ int v1 = (si.fw_version & 0xF000) >> 12;
+ int v2 = (si.fw_version & 0x0F00) >> 8;
+ int v3 = (si.fw_version & 0x00F0) >> 4;
+ int v4 = (si.fw_version & 0x000F) >> 0;
+ cout << boost::format("System Type=%1%, Hardware Revision=%2%, Firmware Version=%3%.%4%.%5%.%6% (0x%7$04X), Serial Number=%8%")
+ % (int)si.type % (int)si.hw_rev % v1 % v2 % v3 % v4 % si.fw_version % si.sn << endl;
+}
+void TactileSensor::setDeviceTag(string tag)
+{
+ unsigned char *payload = (unsigned char*)tag.c_str();
+ Response response = interface->submitCmd( 0x51, payload, tag.length(), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+}
+string TactileSensor::getDeviceTag()
+{
+ unsigned char payload[0];
+ Response response = interface->submitCmd( 0x52, payload, sizeof(payload), false );
+ response.ensureMinLength(2);
+ response.ensureSuccess();
+ std::string type = std::string((char*)response.data.data() + 2, response.len - 2);
+ return type;
+}
+int TactileSensor::loop( char *data, int data_len ) { return 0; }
+
+string TactileSensor::getInterfaceInfo()
+{
+ return interface->toString();
+}
+
+ostream& operator<<(ostream &strm, const TactileSensor &a) {
+ return strm << a.interface;
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
new file mode 100644
index 0000000000000000000000000000000000000000..c47414449891bd1c2aa2d423e3d643dd4e964362
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
@@ -0,0 +1,103 @@
+#ifndef TACTILESENSOR_H
+#define TACTILESENSOR_H
+
+#include "AbstractInterface.h"
+using namespace std;
+#include <boost/shared_ptr.hpp>
+
+#define extract_short( array, index ) ( (unsigned short)array[index] | ( (unsigned short)array[index + 1] << 8 ) )
+#define TAC_CHECK_RES( res, expected, resp ) { \
+ if ( res < expected ) { \
+ dbgPrint( "Response length is too short, should be = %d (is %d)\n", expected, res ); \
+ if ( res > 0 ) free( resp ); \
+ return -1; \
+ } \
+ status_t status = cmd_get_response_status( resp ); \
+ if ( status != E_SUCCESS ) \
+ { \
+ dbgPrint( "Command not successful: %s\n", status_to_str( status ) ); \
+ free( resp ); \
+ return -1; \
+ } \
+ }
+
+typedef struct
+{
+ int res_x; // Horizontal matrix resolution. For non-rectangular matrices, this is the horizontal resolution of the surrounding rectangle measured in sensor cells.
+ int res_y; // Vertical matrix resolution. For non-rectangular matrices, this is the vertical resolution of the surrounding rectangle measured in sensor cells.
+ int cell_width; // Width of one sensor cell in 1/100 millimeters.
+ int cell_height; // Height of one sensor cell in 1/100 millimeters.
+ int fullscale; // Full scale value of the output signal.
+} tac_matrix_info_t;
+
+typedef struct
+{
+ unsigned char type; // System Type: 0 - unknown, 4 - WTS Tactile Sensor Module
+ unsigned char hw_rev; // Hardware Revision
+ unsigned short fw_version; // Firmware Version: D15...12: major version, D11...8: minor version 1, D7..4 minor version 2, D3..0: 0 for release version, 1..15 for release candidate versions
+ unsigned short sn; // Serial Number of the device
+} tac_system_information_t;
+
+struct FrameData
+{
+public:
+ FrameData(short *data, int count)
+ : data(data), count(count)
+ {}
+ short *data;
+ int count;
+};
+struct PeriodicFrameData
+{
+public:
+ PeriodicFrameData(short *data, int count, unsigned int timestamp)
+ : data(data), count(count), timestamp(timestamp)
+ {}
+ short *data;
+ int count;
+ unsigned int timestamp;
+};
+
+class TactileSensor {
+public:
+ TactileSensor(boost::shared_ptr<AbstractInterface> interface);
+ virtual ~TactileSensor();
+
+ tac_matrix_info_t getMatrixInformation( );
+ static void printMatrixInfo( tac_matrix_info_t *mi );
+ FrameData readSingleFrame();
+ static void printMatrix ( short *matrix, int width, int height );
+
+ void startPeriodicFrameAcquisition( unsigned short delay_ms );
+ void stopPeriodicFrameAcquisition( void );
+ PeriodicFrameData receicePeriodicFrame();
+ void tareSensorMatrix( unsigned char operation );
+ void setAquisitionWindow( unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2 );
+ int setAdvanvedAcquisitionMask( char *mask );
+ int getAcquisitionMask( char **mask, int *mask_len );
+ void setThreshold( short threshold );
+ unsigned short getThreshold();
+ void setFrontEndGain( unsigned char gain );
+ unsigned char getFrontEndGain();
+ string getSensorType();
+ float readDeviceTemperature();
+ tac_system_information_t getSystemInformation();
+ static void printSystemInformation(tac_system_information_t si);
+ void setDeviceTag(string tag);
+ string getDeviceTag();
+ int loop( char *data, int data_len );
+
+ string getInterfaceInfo();
+
+private:
+ boost::shared_ptr<AbstractInterface> interface;
+ FrameData getFrameData(Response *response);
+ PeriodicFrameData getPeriodicFrameData(Response *response);
+
+private:
+ friend std::ostream& operator<<(std::ostream&, const TactileSensor&);
+};
+
+std::ostream& operator<<(std::ostream &strm, const TactileSensor &a);
+
+#endif // TACTILESENSOR_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
new file mode 100644
index 0000000000000000000000000000000000000000..2b19c579b2f6c0a0d82742151a4f7514ead30cad
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
@@ -0,0 +1,15 @@
+#ifndef TRANSMISSIONEXCEPTION_H
+#define TRANSMISSIONEXCEPTION_H
+
+#include <stdexcept>
+
+using namespace std;
+
+class TransmissionException : public runtime_error {
+public:
+ TransmissionException(string message)
+ : runtime_error(message)
+ { }
+};
+
+#endif // TRANSMISSIONEXCEPTION_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Types.h b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
new file mode 100644
index 0000000000000000000000000000000000000000..1fec7ca5f2535af8cea1197b7e87ca326d7d317e
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
@@ -0,0 +1,51 @@
+#ifndef TYPES_H
+#define TYPES_H
+
+#include <vector>
+
+typedef struct
+{
+ unsigned char id;
+ unsigned int len;
+ std::vector<unsigned char> data;
+} msg_t;
+
+
+typedef enum {
+ E_SUCCESS = 0, // No error
+ E_NOT_AVAILABLE, // Device, service or data is not available
+ E_NO_SENSOR, // No sensor connected
+ E_NOT_INITIALIZED, // The device is not initialized
+ E_ALREADY_RUNNING, // Service is already running
+ E_FEATURE_NOT_SUPPORTED, // The asked feature is not supported
+ E_INCONSISTENT_DATA, // One or more dependent parameters mismatch
+ E_TIMEOUT, // Timeout error
+ E_READ_ERROR, // Error while reading from a device
+ E_WRITE_ERROR, // Error while writing to a device
+ E_INSUFFICIENT_RESOURCES, // No memory available
+ E_CHECKSUM_ERROR, // Checksum error
+ E_NO_PARAM_EXPECTED, // No parameters expected
+ E_NOT_ENOUGH_PARAMS, // Not enough parameters
+ E_CMD_UNKNOWN, // Unknown command
+ E_CMD_FORMAT_ERROR, // Command format error
+ E_ACCESS_DENIED, // Access denied
+ E_ALREADY_OPEN, // The interface is already open
+ E_CMD_FAILED, // Command failed
+ E_CMD_ABORTED, // Command aborted
+ E_INVALID_HANDLE, // invalid handle
+ E_NOT_FOUND, // device not found
+ E_NOT_OPEN, // device not open
+ E_IO_ERROR, // I/O error
+ E_INVALID_PARAMETER, // invalid parameter
+ E_INDEX_OUT_OF_BOUNDS, // index out of bounds
+ E_CMD_PENDING, // Command was received correctly, but the execution needs more time. If the command was completely processed, another status message is returned indicating the command's result
+ E_OVERRUN, // Data overrun
+ E_RANGE_ERROR, // Range error
+ E_AXIS_BLOCKED, // Axis is blocked
+ E_FILE_EXISTS // File already exists
+} status_t;
+
+
+const char* status_to_str( status_t status );
+
+#endif // TYPES_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e366018681ebe62e2ebce4c61e64f6f7eb49217a
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -0,0 +1,93 @@
+#include "WeissHapticSensor.h"
+#include <Core/util/variants/eigen3/MatrixVariant.h>
+
+
+using namespace armarx;
+
+WeissHapticSensor::WeissHapticSensor(std::string device)
+ : device(device)
+{
+ sensorTask = new RunningTask<WeissHapticSensor>(this, &WeissHapticSensor::readAndReportSensorValues);
+}
+
+void WeissHapticSensor::connect()
+{
+ //cout << "Open Serial" << endl;
+ this->interface.reset(new SerialInterface(device.c_str(), 115200));
+ //interface->startLogging(this->deviceFileName + ".transmission.log");
+ interface->open();
+ //cout << *interface << endl;
+ this->sensor.reset(new TactileSensor(interface));
+
+ //cout << "Stop Periodic Frame Acquisition" << endl;
+ sensor->stopPeriodicFrameAcquisition();
+
+ //string sensorType = sensor->getSensorType();
+ //cout << boost::format("Sensor Type = %1%") % sensorType << endl;
+
+ //tac_system_information_t si = sensor->getSystemInformation();
+ //TactileSensor::printSystemInformation(si);
+
+ //sensor->setDeviceTag("Test Tag");
+ this->tag = sensor->getDeviceTag();
+ //cout << boost::format("Sensor Tag = %1%") % tag << endl;
+
+ //cout << "Tare Sensor Matrix" << endl;
+ //sensor->tareSensorMatrix(1);
+
+ //cout << "Get Matrix Information" << endl;
+ this->mi = sensor->getMatrixInformation();
+ TactileSensor::printMatrixInfo(&mi);
+
+ sensor->setAquisitionWindow(1, 1, mi.res_x, mi.res_y);
+
+ connected = true;
+ cout << this << ": Connect done, Interface=" << sensor->getInterfaceInfo() << endl;
+}
+
+void WeissHapticSensor::disconnect()
+{
+ connected = false;
+ sensorTask->stop(true);
+}
+
+void WeissHapticSensor::setListenerPrx(HapticUnitListenerPrx listenerPrx)
+{
+ this->listenerPrx = listenerPrx;
+}
+
+void WeissHapticSensor::startSampling()
+{
+ cout << this << ": startSampling" << endl;
+ sensorTask->start();
+}
+
+void WeissHapticSensor::readAndReportSensorValues()
+{
+ cout << this << ": readAndReportSensorValues" << endl;
+ //bool periodic = false;
+ cout << sensor->getInterfaceInfo() << endl;
+
+ cout << this << ": startPeriodicFrameAcquisition" << endl;
+ sensor->startPeriodicFrameAcquisition(0);
+
+ while(!sensorTask->isStopped())
+ {
+ ARMARX_INFO << deactivateSpam(1) << this << ": receicePeriodicFrame";
+ PeriodicFrameData data = sensor->receicePeriodicFrame();
+
+ MatrixFloatPtr matrix = new MatrixFloat(mi.res_y, mi.res_x);
+ for (int y = 0; y < mi.res_y; y++)
+ {
+ for (int x = 0; x < mi.res_x; x++)
+ {
+ short val = data.data[y * mi.res_x + x];
+ (*matrix)(y, x) = val;
+ }
+ }
+ listenerPrx->reportSensorValues(tag, matrix);
+ }
+
+ cout << this << ": stopPeriodicFrameAcquisition" << endl;
+ sensor->stopPeriodicFrameAcquisition();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
new file mode 100644
index 0000000000000000000000000000000000000000..06838dffedc84e02703b2c9a34b00357ea97f4cd
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -0,0 +1,37 @@
+#ifndef WEISSHAPTICSENSOR_H
+#define WEISSHAPTICSENSOR_H
+
+#include <Core/core/services/tasks/RunningTask.h>
+#include <Core/core/system/ImportExportComponent.h>
+#include "SerialInterface.h"
+#include "TactileSensor.h"
+#include <RobotAPI/interface/units/HapticUnit.h>
+#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+
+namespace armarx
+{
+ class WeissHapticSensor : public Logging
+ {
+ public:
+ WeissHapticSensor(std::string device);
+
+ void connect();
+ void disconnect();
+
+ void setListenerPrx(HapticUnitListenerPrx listenerPrx);
+ void startSampling();
+
+ private:
+ RunningTask<WeissHapticSensor>::pointer_type sensorTask;
+ void readAndReportSensorValues();
+ std::string device;
+ boost::shared_ptr<SerialInterface> interface;
+ boost::shared_ptr<TactileSensor> sensor;
+ bool connected;
+ string tag;
+ tac_matrix_info_t mi;
+ HapticUnitListenerPrx listenerPrx;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..a2f4a69f37a23eb1fff055d8e7007cdd1fac5dc0
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
@@ -0,0 +1,157 @@
+/**
+ * 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 ArmarXCore::units
+ * @author Peter Kaiser
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "WeissHapticSensorsUnit.h"
+
+#include <Core/robotstate/remote/ArmarPose.h>
+#include <Core/robotstate/remote/RobotStateObjectFactories.h>
+
+#include <boost/regex.hpp>
+#include <boost/filesystem.hpp>
+
+
+using namespace armarx;
+
+void WeissHapticSensorsUnit::onInitHapticUnit()
+{
+ // Read pipe Id property
+ /*int firstPipeID = getProperty<int>("FirstPipeID").getValue();
+ if(firstPipeID < 0)
+ {
+ throw UserException("Value of FirstPipeID must be bigger than 0");
+ }*/
+
+ // Read pipe base name property
+ // std::string pipeBaseName = getProperty<std::string>("PipeBaseName").getValue();
+
+ // Read logfile property
+ //std::string logfile = getProperty<std::string>("Logfile").getValue();
+
+ //std::vector<std::string> sensors;
+ //sensors.push_back("RightSole.HapticMatrix");
+ //hapticProtocol.defineSensorCategory(250, sensors);
+
+ // TODO: The task frequency needs to be adapted when the underlying sensor frequency changes
+ //sensorTask = new RunningTask<WeissHapticSensorsUnit>(this, &WeissHapticSensorsUnit::readAndReportSensorValues);
+
+ //remoteSystemReady = false;
+ /*
+ if(!hapticProtocol.openPipes(firstPipeID, firstPipeID + 1, false, true, pipeBaseName))
+ {
+ throw UserException("Failed to open pipes");
+ }
+
+ if(!hapticProtocol.openLogfile(logfile))
+ {
+ throw UserException("Failed to open logfile");
+ }*/
+
+ std::vector<std::string> devices = getDevices();
+ /*boost::shared_ptr<WeissHapticSensor> sensor(new WeissHapticSensor(devices.front()));
+ this->sensors.push_back(sensor);*/
+
+ for(std::vector<std::string>::iterator it = devices.begin(); it != devices.end(); ++it)
+ {
+ boost::shared_ptr<WeissHapticSensor> sensor(new WeissHapticSensor(*it));
+ this->sensors.push_back(sensor);
+ }
+
+ std::cout << "Connect Interfaces" << std::endl;
+
+ //sensors.front()->connect();
+
+ for(std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
+ {
+ (*it)->connect();
+ }
+
+}
+
+std::vector< std::string > WeissHapticSensorsUnit::getDevices()
+{
+ const std::string target_path( "/dev/" );
+ const boost::regex my_filter( "ttyACM[0-9]+" );
+
+ std::vector< std::string > files;
+
+ boost::filesystem::directory_iterator end_itr; // Default ctor yields past-the-end
+ for( boost::filesystem::directory_iterator i( target_path ); i != end_itr; ++i )
+ {
+ // Skip if not a file
+ //if( !boost::filesystem::is_( i->status() ) ) continue;
+
+ boost::smatch what;
+
+ // Skip if no match
+ if( !boost::regex_match( i->path().filename().string(), what, my_filter ) ) continue;
+
+
+ // File matches, store it
+ files.push_back( "/dev/" + i->path().filename().string() );
+ }
+ std::sort(files.begin(), files.end());
+
+ std::cout << "Detected ACM-Interfaces: " << std::endl;
+ for(std::vector<std::string>::iterator it = files.begin(); it != files.end(); ++it)
+ {
+ std::cout << *it << std::endl;
+ }
+
+ return files;
+}
+
+void WeissHapticSensorsUnit::onStartHapticUnit()
+{
+
+ for(std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
+ {
+ (*it)->setListenerPrx(listenerPrx);
+ (*it)->startSampling();
+ }
+
+}
+
+void WeissHapticSensorsUnit::onExitHapticUnit()
+{
+ for(std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
+ {
+ (*it)->disconnect();
+ }
+}
+
+/*void WeissHapticSensorsUnit::onConnectComponent()
+{
+
+}*/
+
+void WeissHapticSensorsUnit::onDisconnectComponent()
+{
+
+}
+
+
+PropertyDefinitionsPtr WeissHapticSensorsUnit::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new WeissHapticSensorsUnitPropertyDefinitions(getConfigIdentifier()));
+}
+
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
new file mode 100755
index 0000000000000000000000000000000000000000..078bfe63905991b19026b71856470acf892e7d6a
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
@@ -0,0 +1,80 @@
+/**
+ * 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 Armar4::units
+ * @author Peter Kaiser <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef ARMAR4_FT_UNIT_ARMAR4_H
+#define ARMAR4_FT_UNIT_ARMAR4_H
+
+#include <RobotAPI/units/HapticUnit.h>
+//#include <Core/interface/units/
+#include <Core/core/system/ImportExportComponent.h>
+
+#include <string>
+#include "WeissHapticSensor.h"
+
+namespace armarx
+{
+ class WeissHapticSensorsUnitPropertyDefinitions : public HapticUnitPropertyDefinitions
+ {
+ public:
+ WeissHapticSensorsUnitPropertyDefinitions(std::string prefix):
+ HapticUnitPropertyDefinitions(prefix)
+ {
+ //defineOptionalProperty<int>("FirstPipeID", 1, "Id of the first Linux/Xenomai Pipe to use for data transfer");
+ //defineOptionalProperty<std::string>("PipeBaseName", "rtp", "Base name of pipe devices");
+ //defineOptionalProperty<std::string>("Logfile", "", "Logfile for logging pipe communication");
+ }
+ };
+
+ class WeissHapticSensorsUnit : virtual public HapticUnit
+ {
+ public:
+ virtual std::string getDefaultName() { return "HapticUnitArmar4"; }
+
+ virtual void onInitHapticUnit();
+ virtual void onStartHapticUnit();
+ virtual void onExitHapticUnit();
+
+ //virtual void onConnectComponent();
+ virtual void onDisconnectComponent();
+
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ //void proceedSensorCategory(SensorCategoryDefinition<MatrixFloat> *category);
+
+ //std::map<std::string, MatrixFloatPtr> currentValues;
+
+
+
+ //HapticSensorProtocolMaster hapticProtocol;
+
+ //bool remoteSystemReady;
+
+ private:
+ std::vector< std::string > getDevices();
+
+ std::vector< boost::shared_ptr< WeissHapticSensor > > sensors;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 6572a5dc9db9950d7d47ba148b82ca669855db57..494f973851ce21d59ccc39d36db1be6221a9d611 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -17,13 +17,14 @@ set(LIB_NAME RobotAPIUnits)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
+set(LIBS RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
set(LIB_HEADERS
ForceTorqueObserver.h
ForceTorqueUnit.h
HeadIKUnit.h
HapticUnit.h
+ HapticObserver.h
TCPControlUnit.h
TCPControlUnitObserver.h
)
@@ -33,6 +34,7 @@ set(LIB_FILES
ForceTorqueUnit.cpp
HeadIKUnit.cpp
HapticUnit.cpp
+ HapticObserver.cpp
TCPControlUnit.cpp
TCPControlUnitObserver.cpp
)
diff --git a/source/RobotAPI/units/HapticObserver.cpp b/source/RobotAPI/units/HapticObserver.cpp
index ca002cd83ceec4cf865dfcdf8a1e1c4d89107d77..2867e505aa29cecf074cc6ca842781c281165203 100644
--- a/source/RobotAPI/units/HapticObserver.cpp
+++ b/source/RobotAPI/units/HapticObserver.cpp
@@ -8,6 +8,7 @@
#include <Core/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
#include <Core/robotstate/remote/RobotStateObjectFactories.h>
+#include <Eigen/Dense>
using namespace armarx;
@@ -32,18 +33,6 @@ void HapticObserver::onInitObserver()
offerConditionCheck("larger", new ConditionCheckLarger());
offerConditionCheck("equals", new ConditionCheckEquals());
offerConditionCheck("smaller", new ConditionCheckSmaller());
-// offerConditionCheck("magnitudeinrange", new ConditionCheckInRange());
- offerConditionCheck("magnitudelarger", new ConditionCheckMagnitudeLarger());
-// offerConditionCheck("magnitudesmaller", new ConditionCheckSmaller());
-
- // register all channels
-// offerChannel(FORCETORQUEVECTORS,"Force and Torque vectors on specific parts of the robot.");
-
-// offerChannel(RAWFORCE,"Forces on specific parts of the robot.");
-// offerChannel(OFFSETFORCE,"Force Torques of specific parts of the robot with an offset.");
-// offerChannel(FILTEREDFORCE,"Gaussian filtered force torques of specific parts of the robot.");
-
-// offerChannel(RAWTORQUE,"Torques on specific parts of the robot.");
}
@@ -51,13 +40,31 @@ void HapticObserver::onConnectObserver()
{
}
-void HapticObserver::reportSensorValues(const std::string &type, const MatrixFloat &values, const Ice::Current &)
+void HapticObserver::reportSensorValues(const std::string &type, const MatrixFloatBasePtr &values, const Ice::Current &)
{
- // TODO
+ ScopedLock lock(dataMutex);
+ MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(values);
+ Eigen::MatrixXf eigenMatrix = matrix->toEigen();
+ float max = eigenMatrix.maxCoeff();
+ float mean = eigenMatrix.mean();
+ if(!existsChannel(type))
+ {
+ 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");
+ }
+ else
+ {
+ setDataField(type, "matrix", matrix);
+ setDataField(type, "max", Variant(max));
+ setDataField(type, "mean", Variant(mean));
+ }
+
+ updateChannel(type);
}
PropertyDefinitionsPtr HapticObserver::createPropertyDefinitions()
{
- return PropertyDefinitionsPtr(new HapticObserverPropertyDefinitions(
- getConfigIdentifier()));
+ return PropertyDefinitionsPtr(new HapticObserverPropertyDefinitions(getConfigIdentifier()));
}
diff --git a/source/RobotAPI/units/HapticObserver.h b/source/RobotAPI/units/HapticObserver.h
index 20a43213bcde58ce5e76dd3c8dad9d8afa7c5a90..e2357b63d8d8a7bf47fbcb26fa54ad2da36842bf 100644
--- a/source/RobotAPI/units/HapticObserver.h
+++ b/source/RobotAPI/units/HapticObserver.h
@@ -26,7 +26,7 @@
#include <RobotAPI/interface/units/HapticUnit.h>
#include <Core/observers/Observer.h>
-#include <Core/observers/variant/MatrixVariant.h>
+#include <Core/util/variants/eigen3/MatrixVariant.h>
namespace armarx
{
@@ -56,7 +56,7 @@ namespace armarx
void onInitObserver();
void onConnectObserver();
- void reportSensorValues(const std::string &type, const ::armarx::MatrixFloat &values, const ::Ice::Current& = ::Ice::Current());
+ void reportSensorValues(const std::string &type, const ::armarx::MatrixFloatBasePtr &values, const ::Ice::Current& = ::Ice::Current());
/**
* @see PropertyUser::createPropertyDefinitions()