diff --git a/.gitignore b/.gitignore
index 6bbc3ffa11b5ac3f4e9acca1b3eeeb70d886e60d..f0dad452b63ae5eed9c7d49a771727c7ca20a493 100644
--- a/.gitignore
+++ b/.gitignore
@@ -42,4 +42,9 @@ mongod.log*
data/db/
data/dbdump/
+# Generated Scenario Files
+scenarios/*/startScenario.sh
+scenarios/*/stopScenario.sh
+scenarios/*/ttyACM*.js
+scenarios/*/ttyACM*.log
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f178c8c26ec65b626e0b407d4327c125fb54a153..81a3e78efbcc8cb875a00173a48838f9c7d82154 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,12 +3,10 @@
cmake_minimum_required(VERSION 2.8)
find_package("ArmarXCore" REQUIRED
- PATHS "$ENV{HOME}/armarx/Core/build/cmake"
- "$ENV{HOME}/armarx-install/share/cmake/ArmarXCore"
- "/org/share/archive/SFB588_RefDist/armarx/share/cmake/ArmarXCore"
+ PATHS "$ENV{HOME}/armarx/Core/build"
)
-include(${ArmarXCore_CMAKE_DIR}/ArmarXProject.cmake)
+include(${ArmarXCore_USE_FILE})
armarx_project("RobotAPI")
@@ -17,3 +15,5 @@ add_subdirectory(interface)
install_project()
+
+add_subdirectory(scenarios)
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/etc/cmake/UseRobotAPI.cmake b/etc/cmake/UseRobotAPI.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..ddbb6ceada4a458087550ecb9ecff5032286c101
--- /dev/null
+++ b/etc/cmake/UseRobotAPI.cmake
@@ -0,0 +1 @@
+# This file contains macros for projects depending on RobotAPI
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.
+
+ 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
+you have. You must make sure that they, too, receive or can get the
+source code. And you must show them these terms so they know their
+rights.
+
+ We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
+distribute and/or modify the software.
+
+ Also, for each author's protection and ours, we want to make certain
+that everyone understands that there is no warranty for this free
+software. If the software is modified by someone else and passed on, we
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+ Finally, any free program is threatened constantly by software
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+patent must be licensed for everyone's free use or not licensed at all.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ GNU GENERAL PUBLIC LICENSE
+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+ 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,
+refers to any such program or work, and a "work based on the Program"
+means either the Program or any derivative work under copyright law:
+that is to say, a work containing the Program or a portion of it,
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+the term "modification".) Each licensee is addressed as "you".
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+Activities other than copying, distribution and modification are not
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+running the Program is not restricted, and the output from the Program
+is covered only if its contents constitute a work based on the
+Program (independent of having been made by running the Program).
+Whether that is true depends on what the Program does.
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+ 1. You may copy and distribute verbatim copies of the Program's
+source code as you receive it, in any medium, provided that you
+conspicuously and appropriately publish on each copy an appropriate
+copyright notice and disclaimer of warranty; keep intact all the
+notices that refer to this License and to the absence of any warranty;
+and give any other recipients of the Program a copy of this License
+along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and
+you may at your option offer warranty protection in exchange for a fee.
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+ 2. You may modify your copy or copies of the Program or any portion
+of it, thus forming a work based on the Program, and copy and
+distribute such modifications or work under the terms of Section 1
+above, provided that you also meet all of these conditions:
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+ a) You must cause the modified files to carry prominent notices
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+
+ b) You must cause any work that you distribute or publish, that in
+ whole or in part contains or is derived from the Program or any
+ part thereof, to be licensed as a whole at no charge to all third
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+ c) If the modified program normally reads commands interactively
+ when run, you must cause it, when started running for such
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+ announcement including an appropriate copyright notice and a
+ notice that there is no warranty (or else, saying that you provide
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+
+These requirements apply to the modified work as a whole. If
+identifiable sections of that work are not derived from the Program,
+and can be reasonably considered independent and separate works in
+themselves, then this License, and its terms, do not apply to those
+sections when you distribute them as separate works. But when you
+distribute the same sections as part of a whole which is a work based
+on the Program, the distribution of the whole must be on the terms of
+this License, whose permissions for other licensees extend to the
+entire whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest
+your rights to work written entirely by you; rather, the intent is to
+exercise the right to control the distribution of derivative or
+collective works based on the Program.
+
+In addition, mere aggregation of another work not based on the Program
+with the Program (or with a work based on the Program) on a volume of
+a storage or distribution medium does not bring the other work under
+the scope of this License.
+
+ 3. You may copy and distribute the Program (or a work based on it,
+under Section 2) in object code or executable form under the terms of
+Sections 1 and 2 above provided that you also do one of the following:
+
+ a) Accompany it with the complete corresponding machine-readable
+ source code, which must be distributed under the terms of Sections
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+ b) Accompany it with a written offer, valid for at least three
+ years, to give any third party, for a charge no more than your
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+The source code for a work means the preferred form of the work for
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+
+ 4. You may not copy, modify, sublicense, or distribute the Program
+except as expressly provided under this License. Any attempt
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+
+ 5. You are not required to accept this License, since you have not
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+prohibited by law if you do not accept this License. Therefore, by
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+
+ 6. Each time you redistribute the Program (or any work based on the
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+
+ 7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues),
+conditions are imposed on you (whether by court order, agreement or
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+may not distribute the Program at all. For example, if a patent
+license would not permit royalty-free redistribution of the Program by
+all those who receive copies directly or indirectly through you, then
+the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under
+any particular circumstance, the balance of the section is intended to
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+
+It is not the purpose of this section to induce you to infringe any
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+such claims; this section has the sole purpose of protecting the
+integrity of the free software distribution system, which is
+implemented by public license practices. Many people have made
+generous contributions to the wide range of software distributed
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+system; it is up to the author/donor to decide if he or she is willing
+to distribute software through any other system and a licensee cannot
+impose that choice.
+
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+
+ 8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
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+countries not thus excluded. In such case, this License incorporates
+the limitation as if written in the body of this License.
+
+ 9. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+Each version is given a distinguishing version number. If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation. If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+ 10. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
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+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+
+ NO WARRANTY
+
+ 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
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+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+ 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+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.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <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.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+ 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/CMakeLists.txt b/interface/CMakeLists.txt
index 59c35598d7a14e225c75952ce619863348a8b74a..0c47b575be2866337362dffefeb5724d3c3951e5 100644
--- a/interface/CMakeLists.txt
+++ b/interface/CMakeLists.txt
@@ -4,4 +4,4 @@
set(ROBOTAPI_INTERFACE_DEPEND ArmarXCore)
# generate the interface library
-armarx_interfaces_generate_library(RobotAPI 0.1.0 0 ${ROBOTAPI_INTERFACE_DEPEND})
+armarx_interfaces_generate_library(RobotAPI 0.1.0 0 "${ROBOTAPI_INTERFACE_DEPEND}")
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/interface/slice/units/HapticUnit.ice b/interface/slice/units/HapticUnit.ice
new file mode 100644
index 0000000000000000000000000000000000000000..adcba86504049b042850b8b419368cfbe33f03ca
--- /dev/null
+++ b/interface/slice/units/HapticUnit.ice
@@ -0,0 +1,53 @@
+/*
+ * 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
+ * @author Peter Kaiser <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
+#define _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
+
+#include <units/UnitInterface.ice>
+#include <core/UserException.ice>
+#include <core/BasicTypes.ice>
+#include <observers/VariantBase.ice>
+#include <observers/Matrix.ice>
+#include <observers/Timestamp.ice>
+#include <observers/ObserverInterface.ice>
+#include <robotstate/RobotState.ice>
+
+module armarx
+{
+ interface HapticUnitInterface extends armarx::SensorActorUnitInterface
+ {
+ };
+
+ interface HapticUnitListener
+ {
+ void reportSensorValues(string device, string name, MatrixFloatBase values, TimestampBase timestamp);
+ };
+
+ interface HapticUnitObserverInterface extends ObserverInterface, HapticUnitListener
+ {
+ };
+
+};
+
+#endif
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/MovePlatformTest/configs/MovePlatformExample.xml b/scenarios/MovePlatformTest/configs/MovePlatformExample.xml
index 3cc6e32ffc0257a9b33d627f6afe3a3d128c56fd..a2a7b1dfd1dcfd466f7e3a80cd4b416f9d67411b 100644
--- a/scenarios/MovePlatformTest/configs/MovePlatformExample.xml
+++ b/scenarios/MovePlatformTest/configs/MovePlatformExample.xml
@@ -40,9 +40,9 @@
<z>0</z>
</Item0>
</targetPositions-->
- <positionalAccuracy>10</positionAccuracy> <!--mm-->
- <orientationalAccuracy>0.1</orientationAccuracy> <!--rad-->
- <timeoutMoveTo>30000</timeoutMoveTO>
+ <positionalAccuracy>10</positionalAccuracy> <!--mm-->
+ <orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
+ <timeoutMoveTo>30000</timeoutMoveTo>
</StateParameters>
</MovePlatformStateChart>
diff --git a/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml b/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
index 791e75adbdeb3eed788b4846e60ee4f6f6ee3704..1d43e276b64b642df1011b90c87a44e4a33d2ada 100644
--- a/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
+++ b/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
@@ -20,9 +20,12 @@
<z>0</z>
</Item0>
</targetPositions-->
- <positionalAccuracy>10</positionAccuracy> <!--mm-->
- <orientationalAccuracy>0.1</orientationAccuracy> <!--rad-->
- <timeoutMoveTo>30000</timeoutMoveTO>
+ <positionalAccuracy>10</positionalAccuracy> <!--mm-->
+ <orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
+ <timeoutMoveTo>30000</timeoutMoveTo> <!--ms-->
+ <!-- after the last target was reached, wait a certain amount of
+ time (should be smaller than the timeout!) -->
+ <waitAfterLast>3000</waitAfterLast> <!--ms-->
</StateParameters>
</MovePlatformStateChart>
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml b/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
index 068d84b2447bb5ae98e14dd9534c881e6af8f01a..9abf93e7e4ac967f2c82d2a4842921f9f030ab40 100644
--- a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
+++ b/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
@@ -71,7 +71,7 @@
<!-- each edge is defined as "<nodename>;<nodename>" (";" is a delimiter between names,
so it shouldn't appear in any node name), all edges are bidirectional between the provided nodes -->
<landmarkEdges>
- <Item0>start;1</Item0>
+ <Item0>Start;1</Item0>
<Item1>1;2</Item1>
<Item2>2;Handover</Item2>
<Item3>2;3</Item3>
diff --git a/scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt b/scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d3f9b968efe4fc1217eef767d7ed8f436f223c4
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt
@@ -0,0 +1,15 @@
+
+set(SCENARIO_COMPONENTS
+ WeissHapticSensorsUnitApp
+ #WeissHapticSensorApp
+ HapticObserverApp)
+
+
+# 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/HapticObserverApp.cfg b/scenarios/WeissHapticSensorsUnitTest/config/HapticObserverApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..b722009b21b50e4731682b82fe2fd4404281ca5e
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/config/HapticObserverApp.cfg
@@ -0,0 +1,83 @@
+# ==================================================================
+# 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 = ""
+
+
+
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/jquery.sparkline.js b/scenarios/WeissHapticSensorsUnitTest/jquery.sparkline.js
new file mode 100644
index 0000000000000000000000000000000000000000..721e03b76b9b7bca11c25552f3aeae17abe87773
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/jquery.sparkline.js
@@ -0,0 +1,3054 @@
+/**
+*
+* jquery.sparkline.js
+*
+* v2.1.2
+* (c) Splunk, Inc
+* Contact: Gareth Watts (gareth@splunk.com)
+* http://omnipotent.net/jquery.sparkline/
+*
+* Generates inline sparkline charts from data supplied either to the method
+* or inline in HTML
+*
+* Compatible with Internet Explorer 6.0+ and modern browsers equipped with the canvas tag
+* (Firefox 2.0+, Safari, Opera, etc)
+*
+* License: New BSD License
+*
+* Copyright (c) 2012, Splunk Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without modification,
+* are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice,
+* this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above copyright notice,
+* this list of conditions and the following disclaimer in the documentation
+* and/or other materials provided with the distribution.
+* * Neither the name of Splunk Inc nor the names of its contributors may
+* be used to endorse or promote products derived from this software without
+* specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+* SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+* OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*
+* Usage:
+* $(selector).sparkline(values, options)
+*
+* If values is undefined or set to 'html' then the data values are read from the specified tag:
+* <p>Sparkline: <span class="sparkline">1,4,6,6,8,5,3,5</span></p>
+* $('.sparkline').sparkline();
+* There must be no spaces in the enclosed data set
+*
+* Otherwise values must be an array of numbers or null values
+* <p>Sparkline: <span id="sparkline1">This text replaced if the browser is compatible</span></p>
+* $('#sparkline1').sparkline([1,4,6,6,8,5,3,5])
+* $('#sparkline2').sparkline([1,4,6,null,null,5,3,5])
+*
+* Values can also be specified in an HTML comment, or as a values attribute:
+* <p>Sparkline: <span class="sparkline"><!--1,4,6,6,8,5,3,5 --></span></p>
+* <p>Sparkline: <span class="sparkline" values="1,4,6,6,8,5,3,5"></span></p>
+* $('.sparkline').sparkline();
+*
+* For line charts, x values can also be specified:
+* <p>Sparkline: <span class="sparkline">1:1,2.7:4,3.4:6,5:6,6:8,8.7:5,9:3,10:5</span></p>
+* $('#sparkline1').sparkline([ [1,1], [2.7,4], [3.4,6], [5,6], [6,8], [8.7,5], [9,3], [10,5] ])
+*
+* By default, options should be passed in as teh second argument to the sparkline function:
+* $('.sparkline').sparkline([1,2,3,4], {type: 'bar'})
+*
+* Options can also be set by passing them on the tag itself. This feature is disabled by default though
+* as there's a slight performance overhead:
+* $('.sparkline').sparkline([1,2,3,4], {enableTagOptions: true})
+* <p>Sparkline: <span class="sparkline" sparkType="bar" sparkBarColor="red">loading</span></p>
+* Prefix all options supplied as tag attribute with "spark" (configurable by setting tagOptionPrefix)
+*
+* Supported options:
+* lineColor - Color of the line used for the chart
+* fillColor - Color used to fill in the chart - Set to '' or false for a transparent chart
+* width - Width of the chart - Defaults to 3 times the number of values in pixels
+* height - Height of the chart - Defaults to the height of the containing element
+* chartRangeMin - Specify the minimum value to use for the Y range of the chart - Defaults to the minimum value supplied
+* chartRangeMax - Specify the maximum value to use for the Y range of the chart - Defaults to the maximum value supplied
+* chartRangeClip - Clip out of range values to the max/min specified by chartRangeMin and chartRangeMax
+* chartRangeMinX - Specify the minimum value to use for the X range of the chart - Defaults to the minimum value supplied
+* chartRangeMaxX - Specify the maximum value to use for the X range of the chart - Defaults to the maximum value supplied
+* composite - If true then don't erase any existing chart attached to the tag, but draw
+* another chart over the top - Note that width and height are ignored if an
+* existing chart is detected.
+* tagValuesAttribute - Name of tag attribute to check for data values - Defaults to 'values'
+* enableTagOptions - Whether to check tags for sparkline options
+* tagOptionPrefix - Prefix used for options supplied as tag attributes - Defaults to 'spark'
+* disableHiddenCheck - If set to true, then the plugin will assume that charts will never be drawn into a
+* hidden dom element, avoding a browser reflow
+* disableInteraction - If set to true then all mouseover/click interaction behaviour will be disabled,
+* making the plugin perform much like it did in 1.x
+* disableTooltips - If set to true then tooltips will be disabled - Defaults to false (tooltips enabled)
+* disableHighlight - If set to true then highlighting of selected chart elements on mouseover will be disabled
+* defaults to false (highlights enabled)
+* highlightLighten - Factor to lighten/darken highlighted chart values by - Defaults to 1.4 for a 40% increase
+* tooltipContainer - Specify which DOM element the tooltip should be rendered into - defaults to document.body
+* tooltipClassname - Optional CSS classname to apply to tooltips - If not specified then a default style will be applied
+* tooltipOffsetX - How many pixels away from the mouse pointer to render the tooltip on the X axis
+* tooltipOffsetY - How many pixels away from the mouse pointer to render the tooltip on the r axis
+* tooltipFormatter - Optional callback that allows you to override the HTML displayed in the tooltip
+* callback is given arguments of (sparkline, options, fields)
+* tooltipChartTitle - If specified then the tooltip uses the string specified by this setting as a title
+* tooltipFormat - A format string or SPFormat object (or an array thereof for multiple entries)
+* to control the format of the tooltip
+* tooltipPrefix - A string to prepend to each field displayed in a tooltip
+* tooltipSuffix - A string to append to each field displayed in a tooltip
+* tooltipSkipNull - If true then null values will not have a tooltip displayed (defaults to true)
+* tooltipValueLookups - An object or range map to map field values to tooltip strings
+* (eg. to map -1 to "Lost", 0 to "Draw", and 1 to "Win")
+* numberFormatter - Optional callback for formatting numbers in tooltips
+* numberDigitGroupSep - Character to use for group separator in numbers "1,234" - Defaults to ","
+* numberDecimalMark - Character to use for the decimal point when formatting numbers - Defaults to "."
+* numberDigitGroupCount - Number of digits between group separator - Defaults to 3
+*
+* There are 7 types of sparkline, selected by supplying a "type" option of 'line' (default),
+* 'bar', 'tristate', 'bullet', 'discrete', 'pie' or 'box'
+* line - Line chart. Options:
+* spotColor - Set to '' to not end each line in a circular spot
+* minSpotColor - If set, color of spot at minimum value
+* maxSpotColor - If set, color of spot at maximum value
+* spotRadius - Radius in pixels
+* lineWidth - Width of line in pixels
+* normalRangeMin
+* normalRangeMax - If set draws a filled horizontal bar between these two values marking the "normal"
+* or expected range of values
+* normalRangeColor - Color to use for the above bar
+* drawNormalOnTop - Draw the normal range above the chart fill color if true
+* defaultPixelsPerValue - Defaults to 3 pixels of width for each value in the chart
+* highlightSpotColor - The color to use for drawing a highlight spot on mouseover - Set to null to disable
+* highlightLineColor - The color to use for drawing a highlight line on mouseover - Set to null to disable
+* valueSpots - Specify which points to draw spots on, and in which color. Accepts a range map
+*
+* bar - Bar chart. Options:
+* barColor - Color of bars for postive values
+* negBarColor - Color of bars for negative values
+* zeroColor - Color of bars with zero values
+* nullColor - Color of bars with null values - Defaults to omitting the bar entirely
+* barWidth - Width of bars in pixels
+* colorMap - Optional mappnig of values to colors to override the *BarColor values above
+* can be an Array of values to control the color of individual bars or a range map
+* to specify colors for individual ranges of values
+* barSpacing - Gap between bars in pixels
+* zeroAxis - Centers the y-axis around zero if true
+*
+* tristate - Charts values of win (>0), lose (<0) or draw (=0)
+* posBarColor - Color of win values
+* negBarColor - Color of lose values
+* zeroBarColor - Color of draw values
+* barWidth - Width of bars in pixels
+* barSpacing - Gap between bars in pixels
+* colorMap - Optional mappnig of values to colors to override the *BarColor values above
+* can be an Array of values to control the color of individual bars or a range map
+* to specify colors for individual ranges of values
+*
+* discrete - Options:
+* lineHeight - Height of each line in pixels - Defaults to 30% of the graph height
+* thesholdValue - Values less than this value will be drawn using thresholdColor instead of lineColor
+* thresholdColor
+*
+* bullet - Values for bullet graphs msut be in the order: target, performance, range1, range2, range3, ...
+* options:
+* targetColor - The color of the vertical target marker
+* targetWidth - The width of the target marker in pixels
+* performanceColor - The color of the performance measure horizontal bar
+* rangeColors - Colors to use for each qualitative range background color
+*
+* pie - Pie chart. Options:
+* sliceColors - An array of colors to use for pie slices
+* offset - Angle in degrees to offset the first slice - Try -90 or +90
+* borderWidth - Width of border to draw around the pie chart, in pixels - Defaults to 0 (no border)
+* borderColor - Color to use for the pie chart border - Defaults to #000
+*
+* box - Box plot. Options:
+* raw - Set to true to supply pre-computed plot points as values
+* values should be: low_outlier, low_whisker, q1, median, q3, high_whisker, high_outlier
+* When set to false you can supply any number of values and the box plot will
+* be computed for you. Default is false.
+* showOutliers - Set to true (default) to display outliers as circles
+* outlierIQR - Interquartile range used to determine outliers. Default 1.5
+* boxLineColor - Outline color of the box
+* boxFillColor - Fill color for the box
+* whiskerColor - Line color used for whiskers
+* outlierLineColor - Outline color of outlier circles
+* outlierFillColor - Fill color of the outlier circles
+* spotRadius - Radius of outlier circles
+* medianColor - Line color of the median line
+* target - Draw a target cross hair at the supplied value (default undefined)
+*
+*
+*
+* Examples:
+* $('#sparkline1').sparkline(myvalues, { lineColor: '#f00', fillColor: false });
+* $('.barsparks').sparkline('html', { type:'bar', height:'40px', barWidth:5 });
+* $('#tristate').sparkline([1,1,-1,1,0,0,-1], { type:'tristate' }):
+* $('#discrete').sparkline([1,3,4,5,5,3,4,5], { type:'discrete' });
+* $('#bullet').sparkline([10,12,12,9,7], { type:'bullet' });
+* $('#pie').sparkline([1,1,2], { type:'pie' });
+*/
+
+/*jslint regexp: true, browser: true, jquery: true, white: true, nomen: false, plusplus: false, maxerr: 500, indent: 4 */
+
+(function(document, Math, undefined) { // performance/minified-size optimization
+(function(factory) {
+ if(typeof define === 'function' && define.amd) {
+ define(['jquery'], factory);
+ } else if (jQuery && !jQuery.fn.sparkline) {
+ factory(jQuery);
+ }
+}
+(function($) {
+ 'use strict';
+
+ var UNSET_OPTION = {},
+ getDefaults, createClass, SPFormat, clipval, quartile, normalizeValue, normalizeValues,
+ remove, isNumber, all, sum, addCSS, ensureArray, formatNumber, RangeMap,
+ MouseHandler, Tooltip, barHighlightMixin,
+ line, bar, tristate, discrete, bullet, pie, box, defaultStyles, initStyles,
+ VShape, VCanvas_base, VCanvas_canvas, VCanvas_vml, pending, shapeCount = 0;
+
+ /**
+ * Default configuration settings
+ */
+ getDefaults = function () {
+ return {
+ // Settings common to most/all chart types
+ common: {
+ type: 'line',
+ lineColor: '#00f',
+ fillColor: '#cdf',
+ defaultPixelsPerValue: 3,
+ width: 'auto',
+ height: 'auto',
+ composite: false,
+ tagValuesAttribute: 'values',
+ tagOptionsPrefix: 'spark',
+ enableTagOptions: false,
+ enableHighlight: true,
+ highlightLighten: 1.4,
+ tooltipSkipNull: true,
+ tooltipPrefix: '',
+ tooltipSuffix: '',
+ disableHiddenCheck: false,
+ numberFormatter: false,
+ numberDigitGroupCount: 3,
+ numberDigitGroupSep: ',',
+ numberDecimalMark: '.',
+ disableTooltips: false,
+ disableInteraction: false
+ },
+ // Defaults for line charts
+ line: {
+ spotColor: '#f80',
+ highlightSpotColor: '#5f5',
+ highlightLineColor: '#f22',
+ spotRadius: 1.5,
+ minSpotColor: '#f80',
+ maxSpotColor: '#f80',
+ lineWidth: 1,
+ normalRangeMin: undefined,
+ normalRangeMax: undefined,
+ normalRangeColor: '#ccc',
+ drawNormalOnTop: false,
+ chartRangeMin: undefined,
+ chartRangeMax: undefined,
+ chartRangeMinX: undefined,
+ chartRangeMaxX: undefined,
+ tooltipFormat: new SPFormat('<span style="color: {{color}}">●</span> {{prefix}}{{y}}{{suffix}}')
+ },
+ // Defaults for bar charts
+ bar: {
+ barColor: '#3366cc',
+ negBarColor: '#f44',
+ stackedBarColor: ['#3366cc', '#dc3912', '#ff9900', '#109618', '#66aa00',
+ '#dd4477', '#0099c6', '#990099'],
+ zeroColor: undefined,
+ nullColor: undefined,
+ zeroAxis: true,
+ barWidth: 4,
+ barSpacing: 1,
+ chartRangeMax: undefined,
+ chartRangeMin: undefined,
+ chartRangeClip: false,
+ colorMap: undefined,
+ tooltipFormat: new SPFormat('<span style="color: {{color}}">●</span> {{prefix}}{{value}}{{suffix}}')
+ },
+ // Defaults for tristate charts
+ tristate: {
+ barWidth: 4,
+ barSpacing: 1,
+ posBarColor: '#6f6',
+ negBarColor: '#f44',
+ zeroBarColor: '#999',
+ colorMap: {},
+ tooltipFormat: new SPFormat('<span style="color: {{color}}">●</span> {{value:map}}'),
+ tooltipValueLookups: { map: { '-1': 'Loss', '0': 'Draw', '1': 'Win' } }
+ },
+ // Defaults for discrete charts
+ discrete: {
+ lineHeight: 'auto',
+ thresholdColor: undefined,
+ thresholdValue: 0,
+ chartRangeMax: undefined,
+ chartRangeMin: undefined,
+ chartRangeClip: false,
+ tooltipFormat: new SPFormat('{{prefix}}{{value}}{{suffix}}')
+ },
+ // Defaults for bullet charts
+ bullet: {
+ targetColor: '#f33',
+ targetWidth: 3, // width of the target bar in pixels
+ performanceColor: '#33f',
+ rangeColors: ['#d3dafe', '#a8b6ff', '#7f94ff'],
+ base: undefined, // set this to a number to change the base start number
+ tooltipFormat: new SPFormat('{{fieldkey:fields}} - {{value}}'),
+ tooltipValueLookups: { fields: {r: 'Range', p: 'Performance', t: 'Target'} }
+ },
+ // Defaults for pie charts
+ pie: {
+ offset: 0,
+ sliceColors: ['#3366cc', '#dc3912', '#ff9900', '#109618', '#66aa00',
+ '#dd4477', '#0099c6', '#990099'],
+ borderWidth: 0,
+ borderColor: '#000',
+ tooltipFormat: new SPFormat('<span style="color: {{color}}">●</span> {{value}} ({{percent.1}}%)')
+ },
+ // Defaults for box plots
+ box: {
+ raw: false,
+ boxLineColor: '#000',
+ boxFillColor: '#cdf',
+ whiskerColor: '#000',
+ outlierLineColor: '#333',
+ outlierFillColor: '#fff',
+ medianColor: '#f00',
+ showOutliers: true,
+ outlierIQR: 1.5,
+ spotRadius: 1.5,
+ target: undefined,
+ targetColor: '#4a2',
+ chartRangeMax: undefined,
+ chartRangeMin: undefined,
+ tooltipFormat: new SPFormat('{{field:fields}}: {{value}}'),
+ tooltipFormatFieldlistKey: 'field',
+ tooltipValueLookups: { fields: { lq: 'Lower Quartile', med: 'Median',
+ uq: 'Upper Quartile', lo: 'Left Outlier', ro: 'Right Outlier',
+ lw: 'Left Whisker', rw: 'Right Whisker'} }
+ }
+ };
+ };
+
+ // You can have tooltips use a css class other than jqstooltip by specifying tooltipClassname
+ defaultStyles = '.jqstooltip { ' +
+ 'position: absolute;' +
+ 'left: 0px;' +
+ 'top: 0px;' +
+ 'visibility: hidden;' +
+ 'background: rgb(0, 0, 0) transparent;' +
+ 'background-color: rgba(0,0,0,0.6);' +
+ 'filter:progid:DXImageTransform.Microsoft.gradient(startColorstr=#99000000, endColorstr=#99000000);' +
+ '-ms-filter: "progid:DXImageTransform.Microsoft.gradient(startColorstr=#99000000, endColorstr=#99000000)";' +
+ 'color: white;' +
+ 'font: 10px arial, san serif;' +
+ 'text-align: left;' +
+ 'white-space: nowrap;' +
+ 'padding: 5px;' +
+ 'border: 1px solid white;' +
+ 'z-index: 10000;' +
+ '}' +
+ '.jqsfield { ' +
+ 'color: white;' +
+ 'font: 10px arial, san serif;' +
+ 'text-align: left;' +
+ '}';
+
+ /**
+ * Utilities
+ */
+
+ createClass = function (/* [baseclass, [mixin, ...]], definition */) {
+ var Class, args;
+ Class = function () {
+ this.init.apply(this, arguments);
+ };
+ if (arguments.length > 1) {
+ if (arguments[0]) {
+ Class.prototype = $.extend(new arguments[0](), arguments[arguments.length - 1]);
+ Class._super = arguments[0].prototype;
+ } else {
+ Class.prototype = arguments[arguments.length - 1];
+ }
+ if (arguments.length > 2) {
+ args = Array.prototype.slice.call(arguments, 1, -1);
+ args.unshift(Class.prototype);
+ $.extend.apply($, args);
+ }
+ } else {
+ Class.prototype = arguments[0];
+ }
+ Class.prototype.cls = Class;
+ return Class;
+ };
+
+ /**
+ * Wraps a format string for tooltips
+ * {{x}}
+ * {{x.2}
+ * {{x:months}}
+ */
+ $.SPFormatClass = SPFormat = createClass({
+ fre: /\{\{([\w.]+?)(:(.+?))?\}\}/g,
+ precre: /(\w+)\.(\d+)/,
+
+ init: function (format, fclass) {
+ this.format = format;
+ this.fclass = fclass;
+ },
+
+ render: function (fieldset, lookups, options) {
+ var self = this,
+ fields = fieldset,
+ match, token, lookupkey, fieldvalue, prec;
+ return this.format.replace(this.fre, function () {
+ var lookup;
+ token = arguments[1];
+ lookupkey = arguments[3];
+ match = self.precre.exec(token);
+ if (match) {
+ prec = match[2];
+ token = match[1];
+ } else {
+ prec = false;
+ }
+ fieldvalue = fields[token];
+ if (fieldvalue === undefined) {
+ return '';
+ }
+ if (lookupkey && lookups && lookups[lookupkey]) {
+ lookup = lookups[lookupkey];
+ if (lookup.get) { // RangeMap
+ return lookups[lookupkey].get(fieldvalue) || fieldvalue;
+ } else {
+ return lookups[lookupkey][fieldvalue] || fieldvalue;
+ }
+ }
+ if (isNumber(fieldvalue)) {
+ if (options.get('numberFormatter')) {
+ fieldvalue = options.get('numberFormatter')(fieldvalue);
+ } else {
+ fieldvalue = formatNumber(fieldvalue, prec,
+ options.get('numberDigitGroupCount'),
+ options.get('numberDigitGroupSep'),
+ options.get('numberDecimalMark'));
+ }
+ }
+ return fieldvalue;
+ });
+ }
+ });
+
+ // convience method to avoid needing the new operator
+ $.spformat = function(format, fclass) {
+ return new SPFormat(format, fclass);
+ };
+
+ clipval = function (val, min, max) {
+ if (val < min) {
+ return min;
+ }
+ if (val > max) {
+ return max;
+ }
+ return val;
+ };
+
+ quartile = function (values, q) {
+ var vl;
+ if (q === 2) {
+ vl = Math.floor(values.length / 2);
+ return values.length % 2 ? values[vl] : (values[vl-1] + values[vl]) / 2;
+ } else {
+ if (values.length % 2 ) { // odd
+ vl = (values.length * q + q) / 4;
+ return vl % 1 ? (values[Math.floor(vl)] + values[Math.floor(vl) - 1]) / 2 : values[vl-1];
+ } else { //even
+ vl = (values.length * q + 2) / 4;
+ return vl % 1 ? (values[Math.floor(vl)] + values[Math.floor(vl) - 1]) / 2 : values[vl-1];
+
+ }
+ }
+ };
+
+ normalizeValue = function (val) {
+ var nf;
+ switch (val) {
+ case 'undefined':
+ val = undefined;
+ break;
+ case 'null':
+ val = null;
+ break;
+ case 'true':
+ val = true;
+ break;
+ case 'false':
+ val = false;
+ break;
+ default:
+ nf = parseFloat(val);
+ if (val == nf) {
+ val = nf;
+ }
+ }
+ return val;
+ };
+
+ normalizeValues = function (vals) {
+ var i, result = [];
+ for (i = vals.length; i--;) {
+ result[i] = normalizeValue(vals[i]);
+ }
+ return result;
+ };
+
+ remove = function (vals, filter) {
+ var i, vl, result = [];
+ for (i = 0, vl = vals.length; i < vl; i++) {
+ if (vals[i] !== filter) {
+ result.push(vals[i]);
+ }
+ }
+ return result;
+ };
+
+ isNumber = function (num) {
+ return !isNaN(parseFloat(num)) && isFinite(num);
+ };
+
+ formatNumber = function (num, prec, groupsize, groupsep, decsep) {
+ var p, i;
+ num = (prec === false ? parseFloat(num).toString() : num.toFixed(prec)).split('');
+ p = (p = $.inArray('.', num)) < 0 ? num.length : p;
+ if (p < num.length) {
+ num[p] = decsep;
+ }
+ for (i = p - groupsize; i > 0; i -= groupsize) {
+ num.splice(i, 0, groupsep);
+ }
+ return num.join('');
+ };
+
+ // determine if all values of an array match a value
+ // returns true if the array is empty
+ all = function (val, arr, ignoreNull) {
+ var i;
+ for (i = arr.length; i--; ) {
+ if (ignoreNull && arr[i] === null) continue;
+ if (arr[i] !== val) {
+ return false;
+ }
+ }
+ return true;
+ };
+
+ // sums the numeric values in an array, ignoring other values
+ sum = function (vals) {
+ var total = 0, i;
+ for (i = vals.length; i--;) {
+ total += typeof vals[i] === 'number' ? vals[i] : 0;
+ }
+ return total;
+ };
+
+ ensureArray = function (val) {
+ return $.isArray(val) ? val : [val];
+ };
+
+ // http://paulirish.com/2008/bookmarklet-inject-new-css-rules/
+ addCSS = function(css) {
+ var tag;
+ //if ('\v' == 'v') /* ie only */ {
+ if (document.createStyleSheet) {
+ document.createStyleSheet().cssText = css;
+ } else {
+ tag = document.createElement('style');
+ tag.type = 'text/css';
+ document.getElementsByTagName('head')[0].appendChild(tag);
+ tag[(typeof document.body.style.WebkitAppearance == 'string') /* webkit only */ ? 'innerText' : 'innerHTML'] = css;
+ }
+ };
+
+ // Provide a cross-browser interface to a few simple drawing primitives
+ $.fn.simpledraw = function (width, height, useExisting, interact) {
+ var target, mhandler;
+ if (useExisting && (target = this.data('_jqs_vcanvas'))) {
+ return target;
+ }
+
+ if ($.fn.sparkline.canvas === false) {
+ // We've already determined that neither Canvas nor VML are available
+ return false;
+
+ } else if ($.fn.sparkline.canvas === undefined) {
+ // No function defined yet -- need to see if we support Canvas or VML
+ var el = document.createElement('canvas');
+ if (!!(el.getContext && el.getContext('2d'))) {
+ // Canvas is available
+ $.fn.sparkline.canvas = function(width, height, target, interact) {
+ return new VCanvas_canvas(width, height, target, interact);
+ };
+ } else if (document.namespaces && !document.namespaces.v) {
+ // VML is available
+ document.namespaces.add('v', 'urn:schemas-microsoft-com:vml', '#default#VML');
+ $.fn.sparkline.canvas = function(width, height, target, interact) {
+ return new VCanvas_vml(width, height, target);
+ };
+ } else {
+ // Neither Canvas nor VML are available
+ $.fn.sparkline.canvas = false;
+ return false;
+ }
+ }
+
+ if (width === undefined) {
+ width = $(this).innerWidth();
+ }
+ if (height === undefined) {
+ height = $(this).innerHeight();
+ }
+
+ target = $.fn.sparkline.canvas(width, height, this, interact);
+
+ mhandler = $(this).data('_jqs_mhandler');
+ if (mhandler) {
+ mhandler.registerCanvas(target);
+ }
+ return target;
+ };
+
+ $.fn.cleardraw = function () {
+ var target = this.data('_jqs_vcanvas');
+ if (target) {
+ target.reset();
+ }
+ };
+
+ $.RangeMapClass = RangeMap = createClass({
+ init: function (map) {
+ var key, range, rangelist = [];
+ for (key in map) {
+ if (map.hasOwnProperty(key) && typeof key === 'string' && key.indexOf(':') > -1) {
+ range = key.split(':');
+ range[0] = range[0].length === 0 ? -Infinity : parseFloat(range[0]);
+ range[1] = range[1].length === 0 ? Infinity : parseFloat(range[1]);
+ range[2] = map[key];
+ rangelist.push(range);
+ }
+ }
+ this.map = map;
+ this.rangelist = rangelist || false;
+ },
+
+ get: function (value) {
+ var rangelist = this.rangelist,
+ i, range, result;
+ if ((result = this.map[value]) !== undefined) {
+ return result;
+ }
+ if (rangelist) {
+ for (i = rangelist.length; i--;) {
+ range = rangelist[i];
+ if (range[0] <= value && range[1] >= value) {
+ return range[2];
+ }
+ }
+ }
+ return undefined;
+ }
+ });
+
+ // Convenience function
+ $.range_map = function(map) {
+ return new RangeMap(map);
+ };
+
+ MouseHandler = createClass({
+ init: function (el, options) {
+ var $el = $(el);
+ this.$el = $el;
+ this.options = options;
+ this.currentPageX = 0;
+ this.currentPageY = 0;
+ this.el = el;
+ this.splist = [];
+ this.tooltip = null;
+ this.over = false;
+ this.displayTooltips = !options.get('disableTooltips');
+ this.highlightEnabled = !options.get('disableHighlight');
+ },
+
+ registerSparkline: function (sp) {
+ this.splist.push(sp);
+ if (this.over) {
+ this.updateDisplay();
+ }
+ },
+
+ registerCanvas: function (canvas) {
+ var $canvas = $(canvas.canvas);
+ this.canvas = canvas;
+ this.$canvas = $canvas;
+ $canvas.mouseenter($.proxy(this.mouseenter, this));
+ $canvas.mouseleave($.proxy(this.mouseleave, this));
+ $canvas.click($.proxy(this.mouseclick, this));
+ },
+
+ reset: function (removeTooltip) {
+ this.splist = [];
+ if (this.tooltip && removeTooltip) {
+ this.tooltip.remove();
+ this.tooltip = undefined;
+ }
+ },
+
+ mouseclick: function (e) {
+ var clickEvent = $.Event('sparklineClick');
+ clickEvent.originalEvent = e;
+ clickEvent.sparklines = this.splist;
+ this.$el.trigger(clickEvent);
+ },
+
+ mouseenter: function (e) {
+ $(document.body).unbind('mousemove.jqs');
+ $(document.body).bind('mousemove.jqs', $.proxy(this.mousemove, this));
+ this.over = true;
+ this.currentPageX = e.pageX;
+ this.currentPageY = e.pageY;
+ this.currentEl = e.target;
+ if (!this.tooltip && this.displayTooltips) {
+ this.tooltip = new Tooltip(this.options);
+ this.tooltip.updatePosition(e.pageX, e.pageY);
+ }
+ this.updateDisplay();
+ },
+
+ mouseleave: function () {
+ $(document.body).unbind('mousemove.jqs');
+ var splist = this.splist,
+ spcount = splist.length,
+ needsRefresh = false,
+ sp, i;
+ this.over = false;
+ this.currentEl = null;
+
+ if (this.tooltip) {
+ this.tooltip.remove();
+ this.tooltip = null;
+ }
+
+ for (i = 0; i < spcount; i++) {
+ sp = splist[i];
+ if (sp.clearRegionHighlight()) {
+ needsRefresh = true;
+ }
+ }
+
+ if (needsRefresh) {
+ this.canvas.render();
+ }
+ },
+
+ mousemove: function (e) {
+ this.currentPageX = e.pageX;
+ this.currentPageY = e.pageY;
+ this.currentEl = e.target;
+ if (this.tooltip) {
+ this.tooltip.updatePosition(e.pageX, e.pageY);
+ }
+ this.updateDisplay();
+ },
+
+ updateDisplay: function () {
+ var splist = this.splist,
+ spcount = splist.length,
+ needsRefresh = false,
+ offset = this.$canvas.offset(),
+ localX = this.currentPageX - offset.left,
+ localY = this.currentPageY - offset.top,
+ tooltiphtml, sp, i, result, changeEvent;
+ if (!this.over) {
+ return;
+ }
+ for (i = 0; i < spcount; i++) {
+ sp = splist[i];
+ result = sp.setRegionHighlight(this.currentEl, localX, localY);
+ if (result) {
+ needsRefresh = true;
+ }
+ }
+ if (needsRefresh) {
+ changeEvent = $.Event('sparklineRegionChange');
+ changeEvent.sparklines = this.splist;
+ this.$el.trigger(changeEvent);
+ if (this.tooltip) {
+ tooltiphtml = '';
+ for (i = 0; i < spcount; i++) {
+ sp = splist[i];
+ tooltiphtml += sp.getCurrentRegionTooltip();
+ }
+ this.tooltip.setContent(tooltiphtml);
+ }
+ if (!this.disableHighlight) {
+ this.canvas.render();
+ }
+ }
+ if (result === null) {
+ this.mouseleave();
+ }
+ }
+ });
+
+
+ Tooltip = createClass({
+ sizeStyle: 'position: static !important;' +
+ 'display: block !important;' +
+ 'visibility: hidden !important;' +
+ 'float: left !important;',
+
+ init: function (options) {
+ var tooltipClassname = options.get('tooltipClassname', 'jqstooltip'),
+ sizetipStyle = this.sizeStyle,
+ offset;
+ this.container = options.get('tooltipContainer') || document.body;
+ this.tooltipOffsetX = options.get('tooltipOffsetX', 10);
+ this.tooltipOffsetY = options.get('tooltipOffsetY', 12);
+ // remove any previous lingering tooltip
+ $('#jqssizetip').remove();
+ $('#jqstooltip').remove();
+ this.sizetip = $('<div/>', {
+ id: 'jqssizetip',
+ style: sizetipStyle,
+ 'class': tooltipClassname
+ });
+ this.tooltip = $('<div/>', {
+ id: 'jqstooltip',
+ 'class': tooltipClassname
+ }).appendTo(this.container);
+ // account for the container's location
+ offset = this.tooltip.offset();
+ this.offsetLeft = offset.left;
+ this.offsetTop = offset.top;
+ this.hidden = true;
+ $(window).unbind('resize.jqs scroll.jqs');
+ $(window).bind('resize.jqs scroll.jqs', $.proxy(this.updateWindowDims, this));
+ this.updateWindowDims();
+ },
+
+ updateWindowDims: function () {
+ this.scrollTop = $(window).scrollTop();
+ this.scrollLeft = $(window).scrollLeft();
+ this.scrollRight = this.scrollLeft + $(window).width();
+ this.updatePosition();
+ },
+
+ getSize: function (content) {
+ this.sizetip.html(content).appendTo(this.container);
+ this.width = this.sizetip.width() + 1;
+ this.height = this.sizetip.height();
+ this.sizetip.remove();
+ },
+
+ setContent: function (content) {
+ if (!content) {
+ this.tooltip.css('visibility', 'hidden');
+ this.hidden = true;
+ return;
+ }
+ this.getSize(content);
+ this.tooltip.html(content)
+ .css({
+ 'width': this.width,
+ 'height': this.height,
+ 'visibility': 'visible'
+ });
+ if (this.hidden) {
+ this.hidden = false;
+ this.updatePosition();
+ }
+ },
+
+ updatePosition: function (x, y) {
+ if (x === undefined) {
+ if (this.mousex === undefined) {
+ return;
+ }
+ x = this.mousex - this.offsetLeft;
+ y = this.mousey - this.offsetTop;
+
+ } else {
+ this.mousex = x = x - this.offsetLeft;
+ this.mousey = y = y - this.offsetTop;
+ }
+ if (!this.height || !this.width || this.hidden) {
+ return;
+ }
+
+ y -= this.height + this.tooltipOffsetY;
+ x += this.tooltipOffsetX;
+
+ if (y < this.scrollTop) {
+ y = this.scrollTop;
+ }
+ if (x < this.scrollLeft) {
+ x = this.scrollLeft;
+ } else if (x + this.width > this.scrollRight) {
+ x = this.scrollRight - this.width;
+ }
+
+ this.tooltip.css({
+ 'left': x,
+ 'top': y
+ });
+ },
+
+ remove: function () {
+ this.tooltip.remove();
+ this.sizetip.remove();
+ this.sizetip = this.tooltip = undefined;
+ $(window).unbind('resize.jqs scroll.jqs');
+ }
+ });
+
+ initStyles = function() {
+ addCSS(defaultStyles);
+ };
+
+ $(initStyles);
+
+ pending = [];
+ $.fn.sparkline = function (userValues, userOptions) {
+ return this.each(function () {
+ var options = new $.fn.sparkline.options(this, userOptions),
+ $this = $(this),
+ render, i;
+ render = function () {
+ var values, width, height, tmp, mhandler, sp, vals;
+ if (userValues === 'html' || userValues === undefined) {
+ vals = this.getAttribute(options.get('tagValuesAttribute'));
+ if (vals === undefined || vals === null) {
+ vals = $this.html();
+ }
+ values = vals.replace(/(^\s*<!--)|(-->\s*$)|\s+/g, '').split(',');
+ } else {
+ values = userValues;
+ }
+
+ width = options.get('width') === 'auto' ? values.length * options.get('defaultPixelsPerValue') : options.get('width');
+ if (options.get('height') === 'auto') {
+ if (!options.get('composite') || !$.data(this, '_jqs_vcanvas')) {
+ // must be a better way to get the line height
+ tmp = document.createElement('span');
+ tmp.innerHTML = 'a';
+ $this.html(tmp);
+ height = $(tmp).innerHeight() || $(tmp).height();
+ $(tmp).remove();
+ tmp = null;
+ }
+ } else {
+ height = options.get('height');
+ }
+
+ if (!options.get('disableInteraction')) {
+ mhandler = $.data(this, '_jqs_mhandler');
+ if (!mhandler) {
+ mhandler = new MouseHandler(this, options);
+ $.data(this, '_jqs_mhandler', mhandler);
+ } else if (!options.get('composite')) {
+ mhandler.reset();
+ }
+ } else {
+ mhandler = false;
+ }
+
+ if (options.get('composite') && !$.data(this, '_jqs_vcanvas')) {
+ if (!$.data(this, '_jqs_errnotify')) {
+ alert('Attempted to attach a composite sparkline to an element with no existing sparkline');
+ $.data(this, '_jqs_errnotify', true);
+ }
+ return;
+ }
+
+ sp = new $.fn.sparkline[options.get('type')](this, values, options, width, height);
+
+ sp.render();
+
+ if (mhandler) {
+ mhandler.registerSparkline(sp);
+ }
+ };
+ if (($(this).html() && !options.get('disableHiddenCheck') && $(this).is(':hidden')) || !$(this).parents('body').length) {
+ if (!options.get('composite') && $.data(this, '_jqs_pending')) {
+ // remove any existing references to the element
+ for (i = pending.length; i; i--) {
+ if (pending[i - 1][0] == this) {
+ pending.splice(i - 1, 1);
+ }
+ }
+ }
+ pending.push([this, render]);
+ $.data(this, '_jqs_pending', true);
+ } else {
+ render.call(this);
+ }
+ });
+ };
+
+ $.fn.sparkline.defaults = getDefaults();
+
+
+ $.sparkline_display_visible = function () {
+ var el, i, pl;
+ var done = [];
+ for (i = 0, pl = pending.length; i < pl; i++) {
+ el = pending[i][0];
+ if ($(el).is(':visible') && !$(el).parents().is(':hidden')) {
+ pending[i][1].call(el);
+ $.data(pending[i][0], '_jqs_pending', false);
+ done.push(i);
+ } else if (!$(el).closest('html').length && !$.data(el, '_jqs_pending')) {
+ // element has been inserted and removed from the DOM
+ // If it was not yet inserted into the dom then the .data request
+ // will return true.
+ // removing from the dom causes the data to be removed.
+ $.data(pending[i][0], '_jqs_pending', false);
+ done.push(i);
+ }
+ }
+ for (i = done.length; i; i--) {
+ pending.splice(done[i - 1], 1);
+ }
+ };
+
+
+ /**
+ * User option handler
+ */
+ $.fn.sparkline.options = createClass({
+ init: function (tag, userOptions) {
+ var extendedOptions, defaults, base, tagOptionType;
+ this.userOptions = userOptions = userOptions || {};
+ this.tag = tag;
+ this.tagValCache = {};
+ defaults = $.fn.sparkline.defaults;
+ base = defaults.common;
+ this.tagOptionsPrefix = userOptions.enableTagOptions && (userOptions.tagOptionsPrefix || base.tagOptionsPrefix);
+
+ tagOptionType = this.getTagSetting('type');
+ if (tagOptionType === UNSET_OPTION) {
+ extendedOptions = defaults[userOptions.type || base.type];
+ } else {
+ extendedOptions = defaults[tagOptionType];
+ }
+ this.mergedOptions = $.extend({}, base, extendedOptions, userOptions);
+ },
+
+
+ getTagSetting: function (key) {
+ var prefix = this.tagOptionsPrefix,
+ val, i, pairs, keyval;
+ if (prefix === false || prefix === undefined) {
+ return UNSET_OPTION;
+ }
+ if (this.tagValCache.hasOwnProperty(key)) {
+ val = this.tagValCache.key;
+ } else {
+ val = this.tag.getAttribute(prefix + key);
+ if (val === undefined || val === null) {
+ val = UNSET_OPTION;
+ } else if (val.substr(0, 1) === '[') {
+ val = val.substr(1, val.length - 2).split(',');
+ for (i = val.length; i--;) {
+ val[i] = normalizeValue(val[i].replace(/(^\s*)|(\s*$)/g, ''));
+ }
+ } else if (val.substr(0, 1) === '{') {
+ pairs = val.substr(1, val.length - 2).split(',');
+ val = {};
+ for (i = pairs.length; i--;) {
+ keyval = pairs[i].split(':', 2);
+ val[keyval[0].replace(/(^\s*)|(\s*$)/g, '')] = normalizeValue(keyval[1].replace(/(^\s*)|(\s*$)/g, ''));
+ }
+ } else {
+ val = normalizeValue(val);
+ }
+ this.tagValCache.key = val;
+ }
+ return val;
+ },
+
+ get: function (key, defaultval) {
+ var tagOption = this.getTagSetting(key),
+ result;
+ if (tagOption !== UNSET_OPTION) {
+ return tagOption;
+ }
+ return (result = this.mergedOptions[key]) === undefined ? defaultval : result;
+ }
+ });
+
+
+ $.fn.sparkline._base = createClass({
+ disabled: false,
+
+ init: function (el, values, options, width, height) {
+ this.el = el;
+ this.$el = $(el);
+ this.values = values;
+ this.options = options;
+ this.width = width;
+ this.height = height;
+ this.currentRegion = undefined;
+ },
+
+ /**
+ * Setup the canvas
+ */
+ initTarget: function () {
+ var interactive = !this.options.get('disableInteraction');
+ if (!(this.target = this.$el.simpledraw(this.width, this.height, this.options.get('composite'), interactive))) {
+ this.disabled = true;
+ } else {
+ this.canvasWidth = this.target.pixelWidth;
+ this.canvasHeight = this.target.pixelHeight;
+ }
+ },
+
+ /**
+ * Actually render the chart to the canvas
+ */
+ render: function () {
+ if (this.disabled) {
+ this.el.innerHTML = '';
+ return false;
+ }
+ return true;
+ },
+
+ /**
+ * Return a region id for a given x/y co-ordinate
+ */
+ getRegion: function (x, y) {
+ },
+
+ /**
+ * Highlight an item based on the moused-over x,y co-ordinate
+ */
+ setRegionHighlight: function (el, x, y) {
+ var currentRegion = this.currentRegion,
+ highlightEnabled = !this.options.get('disableHighlight'),
+ newRegion;
+ if (x > this.canvasWidth || y > this.canvasHeight || x < 0 || y < 0) {
+ return null;
+ }
+ newRegion = this.getRegion(el, x, y);
+ if (currentRegion !== newRegion) {
+ if (currentRegion !== undefined && highlightEnabled) {
+ this.removeHighlight();
+ }
+ this.currentRegion = newRegion;
+ if (newRegion !== undefined && highlightEnabled) {
+ this.renderHighlight();
+ }
+ return true;
+ }
+ return false;
+ },
+
+ /**
+ * Reset any currently highlighted item
+ */
+ clearRegionHighlight: function () {
+ if (this.currentRegion !== undefined) {
+ this.removeHighlight();
+ this.currentRegion = undefined;
+ return true;
+ }
+ return false;
+ },
+
+ renderHighlight: function () {
+ this.changeHighlight(true);
+ },
+
+ removeHighlight: function () {
+ this.changeHighlight(false);
+ },
+
+ changeHighlight: function (highlight) {},
+
+ /**
+ * Fetch the HTML to display as a tooltip
+ */
+ getCurrentRegionTooltip: function () {
+ var options = this.options,
+ header = '',
+ entries = [],
+ fields, formats, formatlen, fclass, text, i,
+ showFields, showFieldsKey, newFields, fv,
+ formatter, format, fieldlen, j;
+ if (this.currentRegion === undefined) {
+ return '';
+ }
+ fields = this.getCurrentRegionFields();
+ formatter = options.get('tooltipFormatter');
+ if (formatter) {
+ return formatter(this, options, fields);
+ }
+ if (options.get('tooltipChartTitle')) {
+ header += '<div class="jqs jqstitle">' + options.get('tooltipChartTitle') + '</div>\n';
+ }
+ formats = this.options.get('tooltipFormat');
+ if (!formats) {
+ return '';
+ }
+ if (!$.isArray(formats)) {
+ formats = [formats];
+ }
+ if (!$.isArray(fields)) {
+ fields = [fields];
+ }
+ showFields = this.options.get('tooltipFormatFieldlist');
+ showFieldsKey = this.options.get('tooltipFormatFieldlistKey');
+ if (showFields && showFieldsKey) {
+ // user-selected ordering of fields
+ newFields = [];
+ for (i = fields.length; i--;) {
+ fv = fields[i][showFieldsKey];
+ if ((j = $.inArray(fv, showFields)) != -1) {
+ newFields[j] = fields[i];
+ }
+ }
+ fields = newFields;
+ }
+ formatlen = formats.length;
+ fieldlen = fields.length;
+ for (i = 0; i < formatlen; i++) {
+ format = formats[i];
+ if (typeof format === 'string') {
+ format = new SPFormat(format);
+ }
+ fclass = format.fclass || 'jqsfield';
+ for (j = 0; j < fieldlen; j++) {
+ if (!fields[j].isNull || !options.get('tooltipSkipNull')) {
+ $.extend(fields[j], {
+ prefix: options.get('tooltipPrefix'),
+ suffix: options.get('tooltipSuffix')
+ });
+ text = format.render(fields[j], options.get('tooltipValueLookups'), options);
+ entries.push('<div class="' + fclass + '">' + text + '</div>');
+ }
+ }
+ }
+ if (entries.length) {
+ return header + entries.join('\n');
+ }
+ return '';
+ },
+
+ getCurrentRegionFields: function () {},
+
+ calcHighlightColor: function (color, options) {
+ var highlightColor = options.get('highlightColor'),
+ lighten = options.get('highlightLighten'),
+ parse, mult, rgbnew, i;
+ if (highlightColor) {
+ return highlightColor;
+ }
+ if (lighten) {
+ // extract RGB values
+ parse = /^#([0-9a-f])([0-9a-f])([0-9a-f])$/i.exec(color) || /^#([0-9a-f]{2})([0-9a-f]{2})([0-9a-f]{2})$/i.exec(color);
+ if (parse) {
+ rgbnew = [];
+ mult = color.length === 4 ? 16 : 1;
+ for (i = 0; i < 3; i++) {
+ rgbnew[i] = clipval(Math.round(parseInt(parse[i + 1], 16) * mult * lighten), 0, 255);
+ }
+ return 'rgb(' + rgbnew.join(',') + ')';
+ }
+
+ }
+ return color;
+ }
+
+ });
+
+ barHighlightMixin = {
+ changeHighlight: function (highlight) {
+ var currentRegion = this.currentRegion,
+ target = this.target,
+ shapeids = this.regionShapes[currentRegion],
+ newShapes;
+ // will be null if the region value was null
+ if (shapeids) {
+ newShapes = this.renderRegion(currentRegion, highlight);
+ if ($.isArray(newShapes) || $.isArray(shapeids)) {
+ target.replaceWithShapes(shapeids, newShapes);
+ this.regionShapes[currentRegion] = $.map(newShapes, function (newShape) {
+ return newShape.id;
+ });
+ } else {
+ target.replaceWithShape(shapeids, newShapes);
+ this.regionShapes[currentRegion] = newShapes.id;
+ }
+ }
+ },
+
+ render: function () {
+ var values = this.values,
+ target = this.target,
+ regionShapes = this.regionShapes,
+ shapes, ids, i, j;
+
+ if (!this.cls._super.render.call(this)) {
+ return;
+ }
+ for (i = values.length; i--;) {
+ shapes = this.renderRegion(i);
+ if (shapes) {
+ if ($.isArray(shapes)) {
+ ids = [];
+ for (j = shapes.length; j--;) {
+ shapes[j].append();
+ ids.push(shapes[j].id);
+ }
+ regionShapes[i] = ids;
+ } else {
+ shapes.append();
+ regionShapes[i] = shapes.id; // store just the shapeid
+ }
+ } else {
+ // null value
+ regionShapes[i] = null;
+ }
+ }
+ target.render();
+ }
+ };
+
+ /**
+ * Line charts
+ */
+ $.fn.sparkline.line = line = createClass($.fn.sparkline._base, {
+ type: 'line',
+
+ init: function (el, values, options, width, height) {
+ line._super.init.call(this, el, values, options, width, height);
+ this.vertices = [];
+ this.regionMap = [];
+ this.xvalues = [];
+ this.yvalues = [];
+ this.yminmax = [];
+ this.hightlightSpotId = null;
+ this.lastShapeId = null;
+ this.initTarget();
+ },
+
+ getRegion: function (el, x, y) {
+ var i,
+ regionMap = this.regionMap; // maps regions to value positions
+ for (i = regionMap.length; i--;) {
+ if (regionMap[i] !== null && x >= regionMap[i][0] && x <= regionMap[i][1]) {
+ return regionMap[i][2];
+ }
+ }
+ return undefined;
+ },
+
+ getCurrentRegionFields: function () {
+ var currentRegion = this.currentRegion;
+ return {
+ isNull: this.yvalues[currentRegion] === null,
+ x: this.xvalues[currentRegion],
+ y: this.yvalues[currentRegion],
+ color: this.options.get('lineColor'),
+ fillColor: this.options.get('fillColor'),
+ offset: currentRegion
+ };
+ },
+
+ renderHighlight: function () {
+ var currentRegion = this.currentRegion,
+ target = this.target,
+ vertex = this.vertices[currentRegion],
+ options = this.options,
+ spotRadius = options.get('spotRadius'),
+ highlightSpotColor = options.get('highlightSpotColor'),
+ highlightLineColor = options.get('highlightLineColor'),
+ highlightSpot, highlightLine;
+
+ if (!vertex) {
+ return;
+ }
+ if (spotRadius && highlightSpotColor) {
+ highlightSpot = target.drawCircle(vertex[0], vertex[1],
+ spotRadius, undefined, highlightSpotColor);
+ this.highlightSpotId = highlightSpot.id;
+ target.insertAfterShape(this.lastShapeId, highlightSpot);
+ }
+ if (highlightLineColor) {
+ highlightLine = target.drawLine(vertex[0], this.canvasTop, vertex[0],
+ this.canvasTop + this.canvasHeight, highlightLineColor);
+ this.highlightLineId = highlightLine.id;
+ target.insertAfterShape(this.lastShapeId, highlightLine);
+ }
+ },
+
+ removeHighlight: function () {
+ var target = this.target;
+ if (this.highlightSpotId) {
+ target.removeShapeId(this.highlightSpotId);
+ this.highlightSpotId = null;
+ }
+ if (this.highlightLineId) {
+ target.removeShapeId(this.highlightLineId);
+ this.highlightLineId = null;
+ }
+ },
+
+ scanValues: function () {
+ var values = this.values,
+ valcount = values.length,
+ xvalues = this.xvalues,
+ yvalues = this.yvalues,
+ yminmax = this.yminmax,
+ i, val, isStr, isArray, sp;
+ for (i = 0; i < valcount; i++) {
+ val = values[i];
+ isStr = typeof(values[i]) === 'string';
+ isArray = typeof(values[i]) === 'object' && values[i] instanceof Array;
+ sp = isStr && values[i].split(':');
+ if (isStr && sp.length === 2) { // x:y
+ xvalues.push(Number(sp[0]));
+ yvalues.push(Number(sp[1]));
+ yminmax.push(Number(sp[1]));
+ } else if (isArray) {
+ xvalues.push(val[0]);
+ yvalues.push(val[1]);
+ yminmax.push(val[1]);
+ } else {
+ xvalues.push(i);
+ if (values[i] === null || values[i] === 'null') {
+ yvalues.push(null);
+ } else {
+ yvalues.push(Number(val));
+ yminmax.push(Number(val));
+ }
+ }
+ }
+ if (this.options.get('xvalues')) {
+ xvalues = this.options.get('xvalues');
+ }
+
+ this.maxy = this.maxyorg = Math.max.apply(Math, yminmax);
+ this.miny = this.minyorg = Math.min.apply(Math, yminmax);
+
+ this.maxx = Math.max.apply(Math, xvalues);
+ this.minx = Math.min.apply(Math, xvalues);
+
+ this.xvalues = xvalues;
+ this.yvalues = yvalues;
+ this.yminmax = yminmax;
+
+ },
+
+ processRangeOptions: function () {
+ var options = this.options,
+ normalRangeMin = options.get('normalRangeMin'),
+ normalRangeMax = options.get('normalRangeMax');
+
+ if (normalRangeMin !== undefined) {
+ if (normalRangeMin < this.miny) {
+ this.miny = normalRangeMin;
+ }
+ if (normalRangeMax > this.maxy) {
+ this.maxy = normalRangeMax;
+ }
+ }
+ if (options.get('chartRangeMin') !== undefined && (options.get('chartRangeClip') || options.get('chartRangeMin') < this.miny)) {
+ this.miny = options.get('chartRangeMin');
+ }
+ if (options.get('chartRangeMax') !== undefined && (options.get('chartRangeClip') || options.get('chartRangeMax') > this.maxy)) {
+ this.maxy = options.get('chartRangeMax');
+ }
+ if (options.get('chartRangeMinX') !== undefined && (options.get('chartRangeClipX') || options.get('chartRangeMinX') < this.minx)) {
+ this.minx = options.get('chartRangeMinX');
+ }
+ if (options.get('chartRangeMaxX') !== undefined && (options.get('chartRangeClipX') || options.get('chartRangeMaxX') > this.maxx)) {
+ this.maxx = options.get('chartRangeMaxX');
+ }
+
+ },
+
+ drawNormalRange: function (canvasLeft, canvasTop, canvasHeight, canvasWidth, rangey) {
+ var normalRangeMin = this.options.get('normalRangeMin'),
+ normalRangeMax = this.options.get('normalRangeMax'),
+ ytop = canvasTop + Math.round(canvasHeight - (canvasHeight * ((normalRangeMax - this.miny) / rangey))),
+ height = Math.round((canvasHeight * (normalRangeMax - normalRangeMin)) / rangey);
+ this.target.drawRect(canvasLeft, ytop, canvasWidth, height, undefined, this.options.get('normalRangeColor')).append();
+ },
+
+ render: function () {
+ var options = this.options,
+ target = this.target,
+ canvasWidth = this.canvasWidth,
+ canvasHeight = this.canvasHeight,
+ vertices = this.vertices,
+ spotRadius = options.get('spotRadius'),
+ regionMap = this.regionMap,
+ rangex, rangey, yvallast,
+ canvasTop, canvasLeft,
+ vertex, path, paths, x, y, xnext, xpos, xposnext,
+ last, next, yvalcount, lineShapes, fillShapes, plen,
+ valueSpots, hlSpotsEnabled, color, xvalues, yvalues, i;
+
+ if (!line._super.render.call(this)) {
+ return;
+ }
+
+ this.scanValues();
+ this.processRangeOptions();
+
+ xvalues = this.xvalues;
+ yvalues = this.yvalues;
+
+ if (!this.yminmax.length || this.yvalues.length < 2) {
+ // empty or all null valuess
+ return;
+ }
+
+ canvasTop = canvasLeft = 0;
+
+ rangex = this.maxx - this.minx === 0 ? 1 : this.maxx - this.minx;
+ rangey = this.maxy - this.miny === 0 ? 1 : this.maxy - this.miny;
+ yvallast = this.yvalues.length - 1;
+
+ if (spotRadius && (canvasWidth < (spotRadius * 4) || canvasHeight < (spotRadius * 4))) {
+ spotRadius = 0;
+ }
+ if (spotRadius) {
+ // adjust the canvas size as required so that spots will fit
+ hlSpotsEnabled = options.get('highlightSpotColor') && !options.get('disableInteraction');
+ if (hlSpotsEnabled || options.get('minSpotColor') || (options.get('spotColor') && yvalues[yvallast] === this.miny)) {
+ canvasHeight -= Math.ceil(spotRadius);
+ }
+ if (hlSpotsEnabled || options.get('maxSpotColor') || (options.get('spotColor') && yvalues[yvallast] === this.maxy)) {
+ canvasHeight -= Math.ceil(spotRadius);
+ canvasTop += Math.ceil(spotRadius);
+ }
+ if (hlSpotsEnabled ||
+ ((options.get('minSpotColor') || options.get('maxSpotColor')) && (yvalues[0] === this.miny || yvalues[0] === this.maxy))) {
+ canvasLeft += Math.ceil(spotRadius);
+ canvasWidth -= Math.ceil(spotRadius);
+ }
+ if (hlSpotsEnabled || options.get('spotColor') ||
+ (options.get('minSpotColor') || options.get('maxSpotColor') &&
+ (yvalues[yvallast] === this.miny || yvalues[yvallast] === this.maxy))) {
+ canvasWidth -= Math.ceil(spotRadius);
+ }
+ }
+
+
+ canvasHeight--;
+
+ if (options.get('normalRangeMin') !== undefined && !options.get('drawNormalOnTop')) {
+ this.drawNormalRange(canvasLeft, canvasTop, canvasHeight, canvasWidth, rangey);
+ }
+
+ path = [];
+ paths = [path];
+ last = next = null;
+ yvalcount = yvalues.length;
+ for (i = 0; i < yvalcount; i++) {
+ x = xvalues[i];
+ xnext = xvalues[i + 1];
+ y = yvalues[i];
+ xpos = canvasLeft + Math.round((x - this.minx) * (canvasWidth / rangex));
+ xposnext = i < yvalcount - 1 ? canvasLeft + Math.round((xnext - this.minx) * (canvasWidth / rangex)) : canvasWidth;
+ next = xpos + ((xposnext - xpos) / 2);
+ regionMap[i] = [last || 0, next, i];
+ last = next;
+ if (y === null) {
+ if (i) {
+ if (yvalues[i - 1] !== null) {
+ path = [];
+ paths.push(path);
+ }
+ vertices.push(null);
+ }
+ } else {
+ if (y < this.miny) {
+ y = this.miny;
+ }
+ if (y > this.maxy) {
+ y = this.maxy;
+ }
+ if (!path.length) {
+ // previous value was null
+ path.push([xpos, canvasTop + canvasHeight]);
+ }
+ vertex = [xpos, canvasTop + Math.round(canvasHeight - (canvasHeight * ((y - this.miny) / rangey)))];
+ path.push(vertex);
+ vertices.push(vertex);
+ }
+ }
+
+ lineShapes = [];
+ fillShapes = [];
+ plen = paths.length;
+ for (i = 0; i < plen; i++) {
+ path = paths[i];
+ if (path.length) {
+ if (options.get('fillColor')) {
+ path.push([path[path.length - 1][0], (canvasTop + canvasHeight)]);
+ fillShapes.push(path.slice(0));
+ path.pop();
+ }
+ // if there's only a single point in this path, then we want to display it
+ // as a vertical line which means we keep path[0] as is
+ if (path.length > 2) {
+ // else we want the first value
+ path[0] = [path[0][0], path[1][1]];
+ }
+ lineShapes.push(path);
+ }
+ }
+
+ // draw the fill first, then optionally the normal range, then the line on top of that
+ plen = fillShapes.length;
+ for (i = 0; i < plen; i++) {
+ target.drawShape(fillShapes[i],
+ options.get('fillColor'), options.get('fillColor')).append();
+ }
+
+ if (options.get('normalRangeMin') !== undefined && options.get('drawNormalOnTop')) {
+ this.drawNormalRange(canvasLeft, canvasTop, canvasHeight, canvasWidth, rangey);
+ }
+
+ plen = lineShapes.length;
+ for (i = 0; i < plen; i++) {
+ target.drawShape(lineShapes[i], options.get('lineColor'), undefined,
+ options.get('lineWidth')).append();
+ }
+
+ if (spotRadius && options.get('valueSpots')) {
+ valueSpots = options.get('valueSpots');
+ if (valueSpots.get === undefined) {
+ valueSpots = new RangeMap(valueSpots);
+ }
+ for (i = 0; i < yvalcount; i++) {
+ color = valueSpots.get(yvalues[i]);
+ if (color) {
+ target.drawCircle(canvasLeft + Math.round((xvalues[i] - this.minx) * (canvasWidth / rangex)),
+ canvasTop + Math.round(canvasHeight - (canvasHeight * ((yvalues[i] - this.miny) / rangey))),
+ spotRadius, undefined,
+ color).append();
+ }
+ }
+
+ }
+ if (spotRadius && options.get('spotColor') && yvalues[yvallast] !== null) {
+ target.drawCircle(canvasLeft + Math.round((xvalues[xvalues.length - 1] - this.minx) * (canvasWidth / rangex)),
+ canvasTop + Math.round(canvasHeight - (canvasHeight * ((yvalues[yvallast] - this.miny) / rangey))),
+ spotRadius, undefined,
+ options.get('spotColor')).append();
+ }
+ if (this.maxy !== this.minyorg) {
+ if (spotRadius && options.get('minSpotColor')) {
+ x = xvalues[$.inArray(this.minyorg, yvalues)];
+ target.drawCircle(canvasLeft + Math.round((x - this.minx) * (canvasWidth / rangex)),
+ canvasTop + Math.round(canvasHeight - (canvasHeight * ((this.minyorg - this.miny) / rangey))),
+ spotRadius, undefined,
+ options.get('minSpotColor')).append();
+ }
+ if (spotRadius && options.get('maxSpotColor')) {
+ x = xvalues[$.inArray(this.maxyorg, yvalues)];
+ target.drawCircle(canvasLeft + Math.round((x - this.minx) * (canvasWidth / rangex)),
+ canvasTop + Math.round(canvasHeight - (canvasHeight * ((this.maxyorg - this.miny) / rangey))),
+ spotRadius, undefined,
+ options.get('maxSpotColor')).append();
+ }
+ }
+
+ this.lastShapeId = target.getLastShapeId();
+ this.canvasTop = canvasTop;
+ target.render();
+ }
+ });
+
+ /**
+ * Bar charts
+ */
+ $.fn.sparkline.bar = bar = createClass($.fn.sparkline._base, barHighlightMixin, {
+ type: 'bar',
+
+ init: function (el, values, options, width, height) {
+ var barWidth = parseInt(options.get('barWidth'), 10),
+ barSpacing = parseInt(options.get('barSpacing'), 10),
+ chartRangeMin = options.get('chartRangeMin'),
+ chartRangeMax = options.get('chartRangeMax'),
+ chartRangeClip = options.get('chartRangeClip'),
+ stackMin = Infinity,
+ stackMax = -Infinity,
+ isStackString, groupMin, groupMax, stackRanges,
+ numValues, i, vlen, range, zeroAxis, xaxisOffset, min, max, clipMin, clipMax,
+ stacked, vlist, j, slen, svals, val, yoffset, yMaxCalc, canvasHeightEf;
+ bar._super.init.call(this, el, values, options, width, height);
+
+ // scan values to determine whether to stack bars
+ for (i = 0, vlen = values.length; i < vlen; i++) {
+ val = values[i];
+ isStackString = typeof(val) === 'string' && val.indexOf(':') > -1;
+ if (isStackString || $.isArray(val)) {
+ stacked = true;
+ if (isStackString) {
+ val = values[i] = normalizeValues(val.split(':'));
+ }
+ val = remove(val, null); // min/max will treat null as zero
+ groupMin = Math.min.apply(Math, val);
+ groupMax = Math.max.apply(Math, val);
+ if (groupMin < stackMin) {
+ stackMin = groupMin;
+ }
+ if (groupMax > stackMax) {
+ stackMax = groupMax;
+ }
+ }
+ }
+
+ this.stacked = stacked;
+ this.regionShapes = {};
+ this.barWidth = barWidth;
+ this.barSpacing = barSpacing;
+ this.totalBarWidth = barWidth + barSpacing;
+ this.width = width = (values.length * barWidth) + ((values.length - 1) * barSpacing);
+
+ this.initTarget();
+
+ if (chartRangeClip) {
+ clipMin = chartRangeMin === undefined ? -Infinity : chartRangeMin;
+ clipMax = chartRangeMax === undefined ? Infinity : chartRangeMax;
+ }
+
+ numValues = [];
+ stackRanges = stacked ? [] : numValues;
+ var stackTotals = [];
+ var stackRangesNeg = [];
+ for (i = 0, vlen = values.length; i < vlen; i++) {
+ if (stacked) {
+ vlist = values[i];
+ values[i] = svals = [];
+ stackTotals[i] = 0;
+ stackRanges[i] = stackRangesNeg[i] = 0;
+ for (j = 0, slen = vlist.length; j < slen; j++) {
+ val = svals[j] = chartRangeClip ? clipval(vlist[j], clipMin, clipMax) : vlist[j];
+ if (val !== null) {
+ if (val > 0) {
+ stackTotals[i] += val;
+ }
+ if (stackMin < 0 && stackMax > 0) {
+ if (val < 0) {
+ stackRangesNeg[i] += Math.abs(val);
+ } else {
+ stackRanges[i] += val;
+ }
+ } else {
+ stackRanges[i] += Math.abs(val - (val < 0 ? stackMax : stackMin));
+ }
+ numValues.push(val);
+ }
+ }
+ } else {
+ val = chartRangeClip ? clipval(values[i], clipMin, clipMax) : values[i];
+ val = values[i] = normalizeValue(val);
+ if (val !== null) {
+ numValues.push(val);
+ }
+ }
+ }
+ this.max = max = Math.max.apply(Math, numValues);
+ this.min = min = Math.min.apply(Math, numValues);
+ this.stackMax = stackMax = stacked ? Math.max.apply(Math, stackTotals) : max;
+ this.stackMin = stackMin = stacked ? Math.min.apply(Math, numValues) : min;
+
+ if (options.get('chartRangeMin') !== undefined && (options.get('chartRangeClip') || options.get('chartRangeMin') < min)) {
+ min = options.get('chartRangeMin');
+ }
+ if (options.get('chartRangeMax') !== undefined && (options.get('chartRangeClip') || options.get('chartRangeMax') > max)) {
+ max = options.get('chartRangeMax');
+ }
+
+ this.zeroAxis = zeroAxis = options.get('zeroAxis', true);
+ if (min <= 0 && max >= 0 && zeroAxis) {
+ xaxisOffset = 0;
+ } else if (zeroAxis == false) {
+ xaxisOffset = min;
+ } else if (min > 0) {
+ xaxisOffset = min;
+ } else {
+ xaxisOffset = max;
+ }
+ this.xaxisOffset = xaxisOffset;
+
+ range = stacked ? (Math.max.apply(Math, stackRanges) + Math.max.apply(Math, stackRangesNeg)) : max - min;
+
+ // as we plot zero/min values a single pixel line, we add a pixel to all other
+ // values - Reduce the effective canvas size to suit
+ this.canvasHeightEf = (zeroAxis && min < 0) ? this.canvasHeight - 2 : this.canvasHeight - 1;
+
+ if (min < xaxisOffset) {
+ yMaxCalc = (stacked && max >= 0) ? stackMax : max;
+ yoffset = (yMaxCalc - xaxisOffset) / range * this.canvasHeight;
+ if (yoffset !== Math.ceil(yoffset)) {
+ this.canvasHeightEf -= 2;
+ yoffset = Math.ceil(yoffset);
+ }
+ } else {
+ yoffset = this.canvasHeight;
+ }
+ this.yoffset = yoffset;
+
+ if ($.isArray(options.get('colorMap'))) {
+ this.colorMapByIndex = options.get('colorMap');
+ this.colorMapByValue = null;
+ } else {
+ this.colorMapByIndex = null;
+ this.colorMapByValue = options.get('colorMap');
+ if (this.colorMapByValue && this.colorMapByValue.get === undefined) {
+ this.colorMapByValue = new RangeMap(this.colorMapByValue);
+ }
+ }
+
+ this.range = range;
+ },
+
+ getRegion: function (el, x, y) {
+ var result = Math.floor(x / this.totalBarWidth);
+ return (result < 0 || result >= this.values.length) ? undefined : result;
+ },
+
+ getCurrentRegionFields: function () {
+ var currentRegion = this.currentRegion,
+ values = ensureArray(this.values[currentRegion]),
+ result = [],
+ value, i;
+ for (i = values.length; i--;) {
+ value = values[i];
+ result.push({
+ isNull: value === null,
+ value: value,
+ color: this.calcColor(i, value, currentRegion),
+ offset: currentRegion
+ });
+ }
+ return result;
+ },
+
+ calcColor: function (stacknum, value, valuenum) {
+ var colorMapByIndex = this.colorMapByIndex,
+ colorMapByValue = this.colorMapByValue,
+ options = this.options,
+ color, newColor;
+ if (this.stacked) {
+ color = options.get('stackedBarColor');
+ } else {
+ color = (value < 0) ? options.get('negBarColor') : options.get('barColor');
+ }
+ if (value === 0 && options.get('zeroColor') !== undefined) {
+ color = options.get('zeroColor');
+ }
+ if (colorMapByValue && (newColor = colorMapByValue.get(value))) {
+ color = newColor;
+ } else if (colorMapByIndex && colorMapByIndex.length > valuenum) {
+ color = colorMapByIndex[valuenum];
+ }
+ return $.isArray(color) ? color[stacknum % color.length] : color;
+ },
+
+ /**
+ * Render bar(s) for a region
+ */
+ renderRegion: function (valuenum, highlight) {
+ var vals = this.values[valuenum],
+ options = this.options,
+ xaxisOffset = this.xaxisOffset,
+ result = [],
+ range = this.range,
+ stacked = this.stacked,
+ target = this.target,
+ x = valuenum * this.totalBarWidth,
+ canvasHeightEf = this.canvasHeightEf,
+ yoffset = this.yoffset,
+ y, height, color, isNull, yoffsetNeg, i, valcount, val, minPlotted, allMin;
+
+ vals = $.isArray(vals) ? vals : [vals];
+ valcount = vals.length;
+ val = vals[0];
+ isNull = all(null, vals);
+ allMin = all(xaxisOffset, vals, true);
+
+ if (isNull) {
+ if (options.get('nullColor')) {
+ color = highlight ? options.get('nullColor') : this.calcHighlightColor(options.get('nullColor'), options);
+ y = (yoffset > 0) ? yoffset - 1 : yoffset;
+ return target.drawRect(x, y, this.barWidth - 1, 0, color, color);
+ } else {
+ return undefined;
+ }
+ }
+ yoffsetNeg = yoffset;
+ for (i = 0; i < valcount; i++) {
+ val = vals[i];
+
+ if (stacked && val === xaxisOffset) {
+ if (!allMin || minPlotted) {
+ continue;
+ }
+ minPlotted = true;
+ }
+
+ if (range > 0) {
+ height = Math.floor(canvasHeightEf * ((Math.abs(val - xaxisOffset) / range))) + 1;
+ } else {
+ height = 1;
+ }
+ if (val < xaxisOffset || (val === xaxisOffset && yoffset === 0)) {
+ y = yoffsetNeg;
+ yoffsetNeg += height;
+ } else {
+ y = yoffset - height;
+ yoffset -= height;
+ }
+ color = this.calcColor(i, val, valuenum);
+ if (highlight) {
+ color = this.calcHighlightColor(color, options);
+ }
+ result.push(target.drawRect(x, y, this.barWidth - 1, height - 1, color, color));
+ }
+ if (result.length === 1) {
+ return result[0];
+ }
+ return result;
+ }
+ });
+
+ /**
+ * Tristate charts
+ */
+ $.fn.sparkline.tristate = tristate = createClass($.fn.sparkline._base, barHighlightMixin, {
+ type: 'tristate',
+
+ init: function (el, values, options, width, height) {
+ var barWidth = parseInt(options.get('barWidth'), 10),
+ barSpacing = parseInt(options.get('barSpacing'), 10);
+ tristate._super.init.call(this, el, values, options, width, height);
+
+ this.regionShapes = {};
+ this.barWidth = barWidth;
+ this.barSpacing = barSpacing;
+ this.totalBarWidth = barWidth + barSpacing;
+ this.values = $.map(values, Number);
+ this.width = width = (values.length * barWidth) + ((values.length - 1) * barSpacing);
+
+ if ($.isArray(options.get('colorMap'))) {
+ this.colorMapByIndex = options.get('colorMap');
+ this.colorMapByValue = null;
+ } else {
+ this.colorMapByIndex = null;
+ this.colorMapByValue = options.get('colorMap');
+ if (this.colorMapByValue && this.colorMapByValue.get === undefined) {
+ this.colorMapByValue = new RangeMap(this.colorMapByValue);
+ }
+ }
+ this.initTarget();
+ },
+
+ getRegion: function (el, x, y) {
+ return Math.floor(x / this.totalBarWidth);
+ },
+
+ getCurrentRegionFields: function () {
+ var currentRegion = this.currentRegion;
+ return {
+ isNull: this.values[currentRegion] === undefined,
+ value: this.values[currentRegion],
+ color: this.calcColor(this.values[currentRegion], currentRegion),
+ offset: currentRegion
+ };
+ },
+
+ calcColor: function (value, valuenum) {
+ var values = this.values,
+ options = this.options,
+ colorMapByIndex = this.colorMapByIndex,
+ colorMapByValue = this.colorMapByValue,
+ color, newColor;
+
+ if (colorMapByValue && (newColor = colorMapByValue.get(value))) {
+ color = newColor;
+ } else if (colorMapByIndex && colorMapByIndex.length > valuenum) {
+ color = colorMapByIndex[valuenum];
+ } else if (values[valuenum] < 0) {
+ color = options.get('negBarColor');
+ } else if (values[valuenum] > 0) {
+ color = options.get('posBarColor');
+ } else {
+ color = options.get('zeroBarColor');
+ }
+ return color;
+ },
+
+ renderRegion: function (valuenum, highlight) {
+ var values = this.values,
+ options = this.options,
+ target = this.target,
+ canvasHeight, height, halfHeight,
+ x, y, color;
+
+ canvasHeight = target.pixelHeight;
+ halfHeight = Math.round(canvasHeight / 2);
+
+ x = valuenum * this.totalBarWidth;
+ if (values[valuenum] < 0) {
+ y = halfHeight;
+ height = halfHeight - 1;
+ } else if (values[valuenum] > 0) {
+ y = 0;
+ height = halfHeight - 1;
+ } else {
+ y = halfHeight - 1;
+ height = 2;
+ }
+ color = this.calcColor(values[valuenum], valuenum);
+ if (color === null) {
+ return;
+ }
+ if (highlight) {
+ color = this.calcHighlightColor(color, options);
+ }
+ return target.drawRect(x, y, this.barWidth - 1, height - 1, color, color);
+ }
+ });
+
+ /**
+ * Discrete charts
+ */
+ $.fn.sparkline.discrete = discrete = createClass($.fn.sparkline._base, barHighlightMixin, {
+ type: 'discrete',
+
+ init: function (el, values, options, width, height) {
+ discrete._super.init.call(this, el, values, options, width, height);
+
+ this.regionShapes = {};
+ this.values = values = $.map(values, Number);
+ this.min = Math.min.apply(Math, values);
+ this.max = Math.max.apply(Math, values);
+ this.range = this.max - this.min;
+ this.width = width = options.get('width') === 'auto' ? values.length * 2 : this.width;
+ this.interval = Math.floor(width / values.length);
+ this.itemWidth = width / values.length;
+ if (options.get('chartRangeMin') !== undefined && (options.get('chartRangeClip') || options.get('chartRangeMin') < this.min)) {
+ this.min = options.get('chartRangeMin');
+ }
+ if (options.get('chartRangeMax') !== undefined && (options.get('chartRangeClip') || options.get('chartRangeMax') > this.max)) {
+ this.max = options.get('chartRangeMax');
+ }
+ this.initTarget();
+ if (this.target) {
+ this.lineHeight = options.get('lineHeight') === 'auto' ? Math.round(this.canvasHeight * 0.3) : options.get('lineHeight');
+ }
+ },
+
+ getRegion: function (el, x, y) {
+ return Math.floor(x / this.itemWidth);
+ },
+
+ getCurrentRegionFields: function () {
+ var currentRegion = this.currentRegion;
+ return {
+ isNull: this.values[currentRegion] === undefined,
+ value: this.values[currentRegion],
+ offset: currentRegion
+ };
+ },
+
+ renderRegion: function (valuenum, highlight) {
+ var values = this.values,
+ options = this.options,
+ min = this.min,
+ max = this.max,
+ range = this.range,
+ interval = this.interval,
+ target = this.target,
+ canvasHeight = this.canvasHeight,
+ lineHeight = this.lineHeight,
+ pheight = canvasHeight - lineHeight,
+ ytop, val, color, x;
+
+ val = clipval(values[valuenum], min, max);
+ x = valuenum * interval;
+ ytop = Math.round(pheight - pheight * ((val - min) / range));
+ color = (options.get('thresholdColor') && val < options.get('thresholdValue')) ? options.get('thresholdColor') : options.get('lineColor');
+ if (highlight) {
+ color = this.calcHighlightColor(color, options);
+ }
+ return target.drawLine(x, ytop, x, ytop + lineHeight, color);
+ }
+ });
+
+ /**
+ * Bullet charts
+ */
+ $.fn.sparkline.bullet = bullet = createClass($.fn.sparkline._base, {
+ type: 'bullet',
+
+ init: function (el, values, options, width, height) {
+ var min, max, vals;
+ bullet._super.init.call(this, el, values, options, width, height);
+
+ // values: target, performance, range1, range2, range3
+ this.values = values = normalizeValues(values);
+ // target or performance could be null
+ vals = values.slice();
+ vals[0] = vals[0] === null ? vals[2] : vals[0];
+ vals[1] = values[1] === null ? vals[2] : vals[1];
+ min = Math.min.apply(Math, values);
+ max = Math.max.apply(Math, values);
+ if (options.get('base') === undefined) {
+ min = min < 0 ? min : 0;
+ } else {
+ min = options.get('base');
+ }
+ this.min = min;
+ this.max = max;
+ this.range = max - min;
+ this.shapes = {};
+ this.valueShapes = {};
+ this.regiondata = {};
+ this.width = width = options.get('width') === 'auto' ? '4.0em' : width;
+ this.target = this.$el.simpledraw(width, height, options.get('composite'));
+ if (!values.length) {
+ this.disabled = true;
+ }
+ this.initTarget();
+ },
+
+ getRegion: function (el, x, y) {
+ var shapeid = this.target.getShapeAt(el, x, y);
+ return (shapeid !== undefined && this.shapes[shapeid] !== undefined) ? this.shapes[shapeid] : undefined;
+ },
+
+ getCurrentRegionFields: function () {
+ var currentRegion = this.currentRegion;
+ return {
+ fieldkey: currentRegion.substr(0, 1),
+ value: this.values[currentRegion.substr(1)],
+ region: currentRegion
+ };
+ },
+
+ changeHighlight: function (highlight) {
+ var currentRegion = this.currentRegion,
+ shapeid = this.valueShapes[currentRegion],
+ shape;
+ delete this.shapes[shapeid];
+ switch (currentRegion.substr(0, 1)) {
+ case 'r':
+ shape = this.renderRange(currentRegion.substr(1), highlight);
+ break;
+ case 'p':
+ shape = this.renderPerformance(highlight);
+ break;
+ case 't':
+ shape = this.renderTarget(highlight);
+ break;
+ }
+ this.valueShapes[currentRegion] = shape.id;
+ this.shapes[shape.id] = currentRegion;
+ this.target.replaceWithShape(shapeid, shape);
+ },
+
+ renderRange: function (rn, highlight) {
+ var rangeval = this.values[rn],
+ rangewidth = Math.round(this.canvasWidth * ((rangeval - this.min) / this.range)),
+ color = this.options.get('rangeColors')[rn - 2];
+ if (highlight) {
+ color = this.calcHighlightColor(color, this.options);
+ }
+ return this.target.drawRect(0, 0, rangewidth - 1, this.canvasHeight - 1, color, color);
+ },
+
+ renderPerformance: function (highlight) {
+ var perfval = this.values[1],
+ perfwidth = Math.round(this.canvasWidth * ((perfval - this.min) / this.range)),
+ color = this.options.get('performanceColor');
+ if (highlight) {
+ color = this.calcHighlightColor(color, this.options);
+ }
+ return this.target.drawRect(0, Math.round(this.canvasHeight * 0.3), perfwidth - 1,
+ Math.round(this.canvasHeight * 0.4) - 1, color, color);
+ },
+
+ renderTarget: function (highlight) {
+ var targetval = this.values[0],
+ x = Math.round(this.canvasWidth * ((targetval - this.min) / this.range) - (this.options.get('targetWidth') / 2)),
+ targettop = Math.round(this.canvasHeight * 0.10),
+ targetheight = this.canvasHeight - (targettop * 2),
+ color = this.options.get('targetColor');
+ if (highlight) {
+ color = this.calcHighlightColor(color, this.options);
+ }
+ return this.target.drawRect(x, targettop, this.options.get('targetWidth') - 1, targetheight - 1, color, color);
+ },
+
+ render: function () {
+ var vlen = this.values.length,
+ target = this.target,
+ i, shape;
+ if (!bullet._super.render.call(this)) {
+ return;
+ }
+ for (i = 2; i < vlen; i++) {
+ shape = this.renderRange(i).append();
+ this.shapes[shape.id] = 'r' + i;
+ this.valueShapes['r' + i] = shape.id;
+ }
+ if (this.values[1] !== null) {
+ shape = this.renderPerformance().append();
+ this.shapes[shape.id] = 'p1';
+ this.valueShapes.p1 = shape.id;
+ }
+ if (this.values[0] !== null) {
+ shape = this.renderTarget().append();
+ this.shapes[shape.id] = 't0';
+ this.valueShapes.t0 = shape.id;
+ }
+ target.render();
+ }
+ });
+
+ /**
+ * Pie charts
+ */
+ $.fn.sparkline.pie = pie = createClass($.fn.sparkline._base, {
+ type: 'pie',
+
+ init: function (el, values, options, width, height) {
+ var total = 0, i;
+
+ pie._super.init.call(this, el, values, options, width, height);
+
+ this.shapes = {}; // map shape ids to value offsets
+ this.valueShapes = {}; // maps value offsets to shape ids
+ this.values = values = $.map(values, Number);
+
+ if (options.get('width') === 'auto') {
+ this.width = this.height;
+ }
+
+ if (values.length > 0) {
+ for (i = values.length; i--;) {
+ total += values[i];
+ }
+ }
+ this.total = total;
+ this.initTarget();
+ this.radius = Math.floor(Math.min(this.canvasWidth, this.canvasHeight) / 2);
+ },
+
+ getRegion: function (el, x, y) {
+ var shapeid = this.target.getShapeAt(el, x, y);
+ return (shapeid !== undefined && this.shapes[shapeid] !== undefined) ? this.shapes[shapeid] : undefined;
+ },
+
+ getCurrentRegionFields: function () {
+ var currentRegion = this.currentRegion;
+ return {
+ isNull: this.values[currentRegion] === undefined,
+ value: this.values[currentRegion],
+ percent: this.values[currentRegion] / this.total * 100,
+ color: this.options.get('sliceColors')[currentRegion % this.options.get('sliceColors').length],
+ offset: currentRegion
+ };
+ },
+
+ changeHighlight: function (highlight) {
+ var currentRegion = this.currentRegion,
+ newslice = this.renderSlice(currentRegion, highlight),
+ shapeid = this.valueShapes[currentRegion];
+ delete this.shapes[shapeid];
+ this.target.replaceWithShape(shapeid, newslice);
+ this.valueShapes[currentRegion] = newslice.id;
+ this.shapes[newslice.id] = currentRegion;
+ },
+
+ renderSlice: function (valuenum, highlight) {
+ var target = this.target,
+ options = this.options,
+ radius = this.radius,
+ borderWidth = options.get('borderWidth'),
+ offset = options.get('offset'),
+ circle = 2 * Math.PI,
+ values = this.values,
+ total = this.total,
+ next = offset ? (2*Math.PI)*(offset/360) : 0,
+ start, end, i, vlen, color;
+
+ vlen = values.length;
+ for (i = 0; i < vlen; i++) {
+ start = next;
+ end = next;
+ if (total > 0) { // avoid divide by zero
+ end = next + (circle * (values[i] / total));
+ }
+ if (valuenum === i) {
+ color = options.get('sliceColors')[i % options.get('sliceColors').length];
+ if (highlight) {
+ color = this.calcHighlightColor(color, options);
+ }
+
+ return target.drawPieSlice(radius, radius, radius - borderWidth, start, end, undefined, color);
+ }
+ next = end;
+ }
+ },
+
+ render: function () {
+ var target = this.target,
+ values = this.values,
+ options = this.options,
+ radius = this.radius,
+ borderWidth = options.get('borderWidth'),
+ shape, i;
+
+ if (!pie._super.render.call(this)) {
+ return;
+ }
+ if (borderWidth) {
+ target.drawCircle(radius, radius, Math.floor(radius - (borderWidth / 2)),
+ options.get('borderColor'), undefined, borderWidth).append();
+ }
+ for (i = values.length; i--;) {
+ if (values[i]) { // don't render zero values
+ shape = this.renderSlice(i).append();
+ this.valueShapes[i] = shape.id; // store just the shapeid
+ this.shapes[shape.id] = i;
+ }
+ }
+ target.render();
+ }
+ });
+
+ /**
+ * Box plots
+ */
+ $.fn.sparkline.box = box = createClass($.fn.sparkline._base, {
+ type: 'box',
+
+ init: function (el, values, options, width, height) {
+ box._super.init.call(this, el, values, options, width, height);
+ this.values = $.map(values, Number);
+ this.width = options.get('width') === 'auto' ? '4.0em' : width;
+ this.initTarget();
+ if (!this.values.length) {
+ this.disabled = 1;
+ }
+ },
+
+ /**
+ * Simulate a single region
+ */
+ getRegion: function () {
+ return 1;
+ },
+
+ getCurrentRegionFields: function () {
+ var result = [
+ { field: 'lq', value: this.quartiles[0] },
+ { field: 'med', value: this.quartiles[1] },
+ { field: 'uq', value: this.quartiles[2] }
+ ];
+ if (this.loutlier !== undefined) {
+ result.push({ field: 'lo', value: this.loutlier});
+ }
+ if (this.routlier !== undefined) {
+ result.push({ field: 'ro', value: this.routlier});
+ }
+ if (this.lwhisker !== undefined) {
+ result.push({ field: 'lw', value: this.lwhisker});
+ }
+ if (this.rwhisker !== undefined) {
+ result.push({ field: 'rw', value: this.rwhisker});
+ }
+ return result;
+ },
+
+ render: function () {
+ var target = this.target,
+ values = this.values,
+ vlen = values.length,
+ options = this.options,
+ canvasWidth = this.canvasWidth,
+ canvasHeight = this.canvasHeight,
+ minValue = options.get('chartRangeMin') === undefined ? Math.min.apply(Math, values) : options.get('chartRangeMin'),
+ maxValue = options.get('chartRangeMax') === undefined ? Math.max.apply(Math, values) : options.get('chartRangeMax'),
+ canvasLeft = 0,
+ lwhisker, loutlier, iqr, q1, q2, q3, rwhisker, routlier, i,
+ size, unitSize;
+
+ if (!box._super.render.call(this)) {
+ return;
+ }
+
+ if (options.get('raw')) {
+ if (options.get('showOutliers') && values.length > 5) {
+ loutlier = values[0];
+ lwhisker = values[1];
+ q1 = values[2];
+ q2 = values[3];
+ q3 = values[4];
+ rwhisker = values[5];
+ routlier = values[6];
+ } else {
+ lwhisker = values[0];
+ q1 = values[1];
+ q2 = values[2];
+ q3 = values[3];
+ rwhisker = values[4];
+ }
+ } else {
+ values.sort(function (a, b) { return a - b; });
+ q1 = quartile(values, 1);
+ q2 = quartile(values, 2);
+ q3 = quartile(values, 3);
+ iqr = q3 - q1;
+ if (options.get('showOutliers')) {
+ lwhisker = rwhisker = undefined;
+ for (i = 0; i < vlen; i++) {
+ if (lwhisker === undefined && values[i] > q1 - (iqr * options.get('outlierIQR'))) {
+ lwhisker = values[i];
+ }
+ if (values[i] < q3 + (iqr * options.get('outlierIQR'))) {
+ rwhisker = values[i];
+ }
+ }
+ loutlier = values[0];
+ routlier = values[vlen - 1];
+ } else {
+ lwhisker = values[0];
+ rwhisker = values[vlen - 1];
+ }
+ }
+ this.quartiles = [q1, q2, q3];
+ this.lwhisker = lwhisker;
+ this.rwhisker = rwhisker;
+ this.loutlier = loutlier;
+ this.routlier = routlier;
+
+ unitSize = canvasWidth / (maxValue - minValue + 1);
+ if (options.get('showOutliers')) {
+ canvasLeft = Math.ceil(options.get('spotRadius'));
+ canvasWidth -= 2 * Math.ceil(options.get('spotRadius'));
+ unitSize = canvasWidth / (maxValue - minValue + 1);
+ if (loutlier < lwhisker) {
+ target.drawCircle((loutlier - minValue) * unitSize + canvasLeft,
+ canvasHeight / 2,
+ options.get('spotRadius'),
+ options.get('outlierLineColor'),
+ options.get('outlierFillColor')).append();
+ }
+ if (routlier > rwhisker) {
+ target.drawCircle((routlier - minValue) * unitSize + canvasLeft,
+ canvasHeight / 2,
+ options.get('spotRadius'),
+ options.get('outlierLineColor'),
+ options.get('outlierFillColor')).append();
+ }
+ }
+
+ // box
+ target.drawRect(
+ Math.round((q1 - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight * 0.1),
+ Math.round((q3 - q1) * unitSize),
+ Math.round(canvasHeight * 0.8),
+ options.get('boxLineColor'),
+ options.get('boxFillColor')).append();
+ // left whisker
+ target.drawLine(
+ Math.round((lwhisker - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight / 2),
+ Math.round((q1 - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight / 2),
+ options.get('lineColor')).append();
+ target.drawLine(
+ Math.round((lwhisker - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight / 4),
+ Math.round((lwhisker - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight - canvasHeight / 4),
+ options.get('whiskerColor')).append();
+ // right whisker
+ target.drawLine(Math.round((rwhisker - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight / 2),
+ Math.round((q3 - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight / 2),
+ options.get('lineColor')).append();
+ target.drawLine(
+ Math.round((rwhisker - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight / 4),
+ Math.round((rwhisker - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight - canvasHeight / 4),
+ options.get('whiskerColor')).append();
+ // median line
+ target.drawLine(
+ Math.round((q2 - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight * 0.1),
+ Math.round((q2 - minValue) * unitSize + canvasLeft),
+ Math.round(canvasHeight * 0.9),
+ options.get('medianColor')).append();
+ if (options.get('target')) {
+ size = Math.ceil(options.get('spotRadius'));
+ target.drawLine(
+ Math.round((options.get('target') - minValue) * unitSize + canvasLeft),
+ Math.round((canvasHeight / 2) - size),
+ Math.round((options.get('target') - minValue) * unitSize + canvasLeft),
+ Math.round((canvasHeight / 2) + size),
+ options.get('targetColor')).append();
+ target.drawLine(
+ Math.round((options.get('target') - minValue) * unitSize + canvasLeft - size),
+ Math.round(canvasHeight / 2),
+ Math.round((options.get('target') - minValue) * unitSize + canvasLeft + size),
+ Math.round(canvasHeight / 2),
+ options.get('targetColor')).append();
+ }
+ target.render();
+ }
+ });
+
+ // Setup a very simple "virtual canvas" to make drawing the few shapes we need easier
+ // This is accessible as $(foo).simpledraw()
+
+ VShape = createClass({
+ init: function (target, id, type, args) {
+ this.target = target;
+ this.id = id;
+ this.type = type;
+ this.args = args;
+ },
+ append: function () {
+ this.target.appendShape(this);
+ return this;
+ }
+ });
+
+ VCanvas_base = createClass({
+ _pxregex: /(\d+)(px)?\s*$/i,
+
+ init: function (width, height, target) {
+ if (!width) {
+ return;
+ }
+ this.width = width;
+ this.height = height;
+ this.target = target;
+ this.lastShapeId = null;
+ if (target[0]) {
+ target = target[0];
+ }
+ $.data(target, '_jqs_vcanvas', this);
+ },
+
+ drawLine: function (x1, y1, x2, y2, lineColor, lineWidth) {
+ return this.drawShape([[x1, y1], [x2, y2]], lineColor, lineWidth);
+ },
+
+ drawShape: function (path, lineColor, fillColor, lineWidth) {
+ return this._genShape('Shape', [path, lineColor, fillColor, lineWidth]);
+ },
+
+ drawCircle: function (x, y, radius, lineColor, fillColor, lineWidth) {
+ return this._genShape('Circle', [x, y, radius, lineColor, fillColor, lineWidth]);
+ },
+
+ drawPieSlice: function (x, y, radius, startAngle, endAngle, lineColor, fillColor) {
+ return this._genShape('PieSlice', [x, y, radius, startAngle, endAngle, lineColor, fillColor]);
+ },
+
+ drawRect: function (x, y, width, height, lineColor, fillColor) {
+ return this._genShape('Rect', [x, y, width, height, lineColor, fillColor]);
+ },
+
+ getElement: function () {
+ return this.canvas;
+ },
+
+ /**
+ * Return the most recently inserted shape id
+ */
+ getLastShapeId: function () {
+ return this.lastShapeId;
+ },
+
+ /**
+ * Clear and reset the canvas
+ */
+ reset: function () {
+ alert('reset not implemented');
+ },
+
+ _insert: function (el, target) {
+ $(target).html(el);
+ },
+
+ /**
+ * Calculate the pixel dimensions of the canvas
+ */
+ _calculatePixelDims: function (width, height, canvas) {
+ // XXX This should probably be a configurable option
+ var match;
+ match = this._pxregex.exec(height);
+ if (match) {
+ this.pixelHeight = match[1];
+ } else {
+ this.pixelHeight = $(canvas).height();
+ }
+ match = this._pxregex.exec(width);
+ if (match) {
+ this.pixelWidth = match[1];
+ } else {
+ this.pixelWidth = $(canvas).width();
+ }
+ },
+
+ /**
+ * Generate a shape object and id for later rendering
+ */
+ _genShape: function (shapetype, shapeargs) {
+ var id = shapeCount++;
+ shapeargs.unshift(id);
+ return new VShape(this, id, shapetype, shapeargs);
+ },
+
+ /**
+ * Add a shape to the end of the render queue
+ */
+ appendShape: function (shape) {
+ alert('appendShape not implemented');
+ },
+
+ /**
+ * Replace one shape with another
+ */
+ replaceWithShape: function (shapeid, shape) {
+ alert('replaceWithShape not implemented');
+ },
+
+ /**
+ * Insert one shape after another in the render queue
+ */
+ insertAfterShape: function (shapeid, shape) {
+ alert('insertAfterShape not implemented');
+ },
+
+ /**
+ * Remove a shape from the queue
+ */
+ removeShapeId: function (shapeid) {
+ alert('removeShapeId not implemented');
+ },
+
+ /**
+ * Find a shape at the specified x/y co-ordinates
+ */
+ getShapeAt: function (el, x, y) {
+ alert('getShapeAt not implemented');
+ },
+
+ /**
+ * Render all queued shapes onto the canvas
+ */
+ render: function () {
+ alert('render not implemented');
+ }
+ });
+
+ VCanvas_canvas = createClass(VCanvas_base, {
+ init: function (width, height, target, interact) {
+ VCanvas_canvas._super.init.call(this, width, height, target);
+ this.canvas = document.createElement('canvas');
+ if (target[0]) {
+ target = target[0];
+ }
+ $.data(target, '_jqs_vcanvas', this);
+ $(this.canvas).css({ display: 'inline-block', width: width, height: height, verticalAlign: 'top' });
+ this._insert(this.canvas, target);
+ this._calculatePixelDims(width, height, this.canvas);
+ this.canvas.width = this.pixelWidth;
+ this.canvas.height = this.pixelHeight;
+ this.interact = interact;
+ this.shapes = {};
+ this.shapeseq = [];
+ this.currentTargetShapeId = undefined;
+ $(this.canvas).css({width: this.pixelWidth, height: this.pixelHeight});
+ },
+
+ _getContext: function (lineColor, fillColor, lineWidth) {
+ var context = this.canvas.getContext('2d');
+ if (lineColor !== undefined) {
+ context.strokeStyle = lineColor;
+ }
+ context.lineWidth = lineWidth === undefined ? 1 : lineWidth;
+ if (fillColor !== undefined) {
+ context.fillStyle = fillColor;
+ }
+ return context;
+ },
+
+ reset: function () {
+ var context = this._getContext();
+ context.clearRect(0, 0, this.pixelWidth, this.pixelHeight);
+ this.shapes = {};
+ this.shapeseq = [];
+ this.currentTargetShapeId = undefined;
+ },
+
+ _drawShape: function (shapeid, path, lineColor, fillColor, lineWidth) {
+ var context = this._getContext(lineColor, fillColor, lineWidth),
+ i, plen;
+ context.beginPath();
+ context.moveTo(path[0][0] + 0.5, path[0][1] + 0.5);
+ for (i = 1, plen = path.length; i < plen; i++) {
+ context.lineTo(path[i][0] + 0.5, path[i][1] + 0.5); // the 0.5 offset gives us crisp pixel-width lines
+ }
+ if (lineColor !== undefined) {
+ context.stroke();
+ }
+ if (fillColor !== undefined) {
+ context.fill();
+ }
+ if (this.targetX !== undefined && this.targetY !== undefined &&
+ context.isPointInPath(this.targetX, this.targetY)) {
+ this.currentTargetShapeId = shapeid;
+ }
+ },
+
+ _drawCircle: function (shapeid, x, y, radius, lineColor, fillColor, lineWidth) {
+ var context = this._getContext(lineColor, fillColor, lineWidth);
+ context.beginPath();
+ context.arc(x, y, radius, 0, 2 * Math.PI, false);
+ if (this.targetX !== undefined && this.targetY !== undefined &&
+ context.isPointInPath(this.targetX, this.targetY)) {
+ this.currentTargetShapeId = shapeid;
+ }
+ if (lineColor !== undefined) {
+ context.stroke();
+ }
+ if (fillColor !== undefined) {
+ context.fill();
+ }
+ },
+
+ _drawPieSlice: function (shapeid, x, y, radius, startAngle, endAngle, lineColor, fillColor) {
+ var context = this._getContext(lineColor, fillColor);
+ context.beginPath();
+ context.moveTo(x, y);
+ context.arc(x, y, radius, startAngle, endAngle, false);
+ context.lineTo(x, y);
+ context.closePath();
+ if (lineColor !== undefined) {
+ context.stroke();
+ }
+ if (fillColor) {
+ context.fill();
+ }
+ if (this.targetX !== undefined && this.targetY !== undefined &&
+ context.isPointInPath(this.targetX, this.targetY)) {
+ this.currentTargetShapeId = shapeid;
+ }
+ },
+
+ _drawRect: function (shapeid, x, y, width, height, lineColor, fillColor) {
+ return this._drawShape(shapeid, [[x, y], [x + width, y], [x + width, y + height], [x, y + height], [x, y]], lineColor, fillColor);
+ },
+
+ appendShape: function (shape) {
+ this.shapes[shape.id] = shape;
+ this.shapeseq.push(shape.id);
+ this.lastShapeId = shape.id;
+ return shape.id;
+ },
+
+ replaceWithShape: function (shapeid, shape) {
+ var shapeseq = this.shapeseq,
+ i;
+ this.shapes[shape.id] = shape;
+ for (i = shapeseq.length; i--;) {
+ if (shapeseq[i] == shapeid) {
+ shapeseq[i] = shape.id;
+ }
+ }
+ delete this.shapes[shapeid];
+ },
+
+ replaceWithShapes: function (shapeids, shapes) {
+ var shapeseq = this.shapeseq,
+ shapemap = {},
+ sid, i, first;
+
+ for (i = shapeids.length; i--;) {
+ shapemap[shapeids[i]] = true;
+ }
+ for (i = shapeseq.length; i--;) {
+ sid = shapeseq[i];
+ if (shapemap[sid]) {
+ shapeseq.splice(i, 1);
+ delete this.shapes[sid];
+ first = i;
+ }
+ }
+ for (i = shapes.length; i--;) {
+ shapeseq.splice(first, 0, shapes[i].id);
+ this.shapes[shapes[i].id] = shapes[i];
+ }
+
+ },
+
+ insertAfterShape: function (shapeid, shape) {
+ var shapeseq = this.shapeseq,
+ i;
+ for (i = shapeseq.length; i--;) {
+ if (shapeseq[i] === shapeid) {
+ shapeseq.splice(i + 1, 0, shape.id);
+ this.shapes[shape.id] = shape;
+ return;
+ }
+ }
+ },
+
+ removeShapeId: function (shapeid) {
+ var shapeseq = this.shapeseq,
+ i;
+ for (i = shapeseq.length; i--;) {
+ if (shapeseq[i] === shapeid) {
+ shapeseq.splice(i, 1);
+ break;
+ }
+ }
+ delete this.shapes[shapeid];
+ },
+
+ getShapeAt: function (el, x, y) {
+ this.targetX = x;
+ this.targetY = y;
+ this.render();
+ return this.currentTargetShapeId;
+ },
+
+ render: function () {
+ var shapeseq = this.shapeseq,
+ shapes = this.shapes,
+ shapeCount = shapeseq.length,
+ context = this._getContext(),
+ shapeid, shape, i;
+ context.clearRect(0, 0, this.pixelWidth, this.pixelHeight);
+ for (i = 0; i < shapeCount; i++) {
+ shapeid = shapeseq[i];
+ shape = shapes[shapeid];
+ this['_draw' + shape.type].apply(this, shape.args);
+ }
+ if (!this.interact) {
+ // not interactive so no need to keep the shapes array
+ this.shapes = {};
+ this.shapeseq = [];
+ }
+ }
+
+ });
+
+ VCanvas_vml = createClass(VCanvas_base, {
+ init: function (width, height, target) {
+ var groupel;
+ VCanvas_vml._super.init.call(this, width, height, target);
+ if (target[0]) {
+ target = target[0];
+ }
+ $.data(target, '_jqs_vcanvas', this);
+ this.canvas = document.createElement('span');
+ $(this.canvas).css({ display: 'inline-block', position: 'relative', overflow: 'hidden', width: width, height: height, margin: '0px', padding: '0px', verticalAlign: 'top'});
+ this._insert(this.canvas, target);
+ this._calculatePixelDims(width, height, this.canvas);
+ this.canvas.width = this.pixelWidth;
+ this.canvas.height = this.pixelHeight;
+ groupel = '<v:group coordorigin="0 0" coordsize="' + this.pixelWidth + ' ' + this.pixelHeight + '"' +
+ ' style="position:absolute;top:0;left:0;width:' + this.pixelWidth + 'px;height=' + this.pixelHeight + 'px;"></v:group>';
+ this.canvas.insertAdjacentHTML('beforeEnd', groupel);
+ this.group = $(this.canvas).children()[0];
+ this.rendered = false;
+ this.prerender = '';
+ },
+
+ _drawShape: function (shapeid, path, lineColor, fillColor, lineWidth) {
+ var vpath = [],
+ initial, stroke, fill, closed, vel, plen, i;
+ for (i = 0, plen = path.length; i < plen; i++) {
+ vpath[i] = '' + (path[i][0]) + ',' + (path[i][1]);
+ }
+ initial = vpath.splice(0, 1);
+ lineWidth = lineWidth === undefined ? 1 : lineWidth;
+ stroke = lineColor === undefined ? ' stroked="false" ' : ' strokeWeight="' + lineWidth + 'px" strokeColor="' + lineColor + '" ';
+ fill = fillColor === undefined ? ' filled="false"' : ' fillColor="' + fillColor + '" filled="true" ';
+ closed = vpath[0] === vpath[vpath.length - 1] ? 'x ' : '';
+ vel = '<v:shape coordorigin="0 0" coordsize="' + this.pixelWidth + ' ' + this.pixelHeight + '" ' +
+ ' id="jqsshape' + shapeid + '" ' +
+ stroke +
+ fill +
+ ' style="position:absolute;left:0px;top:0px;height:' + this.pixelHeight + 'px;width:' + this.pixelWidth + 'px;padding:0px;margin:0px;" ' +
+ ' path="m ' + initial + ' l ' + vpath.join(', ') + ' ' + closed + 'e">' +
+ ' </v:shape>';
+ return vel;
+ },
+
+ _drawCircle: function (shapeid, x, y, radius, lineColor, fillColor, lineWidth) {
+ var stroke, fill, vel;
+ x -= radius;
+ y -= radius;
+ stroke = lineColor === undefined ? ' stroked="false" ' : ' strokeWeight="' + lineWidth + 'px" strokeColor="' + lineColor + '" ';
+ fill = fillColor === undefined ? ' filled="false"' : ' fillColor="' + fillColor + '" filled="true" ';
+ vel = '<v:oval ' +
+ ' id="jqsshape' + shapeid + '" ' +
+ stroke +
+ fill +
+ ' style="position:absolute;top:' + y + 'px; left:' + x + 'px; width:' + (radius * 2) + 'px; height:' + (radius * 2) + 'px"></v:oval>';
+ return vel;
+
+ },
+
+ _drawPieSlice: function (shapeid, x, y, radius, startAngle, endAngle, lineColor, fillColor) {
+ var vpath, startx, starty, endx, endy, stroke, fill, vel;
+ if (startAngle === endAngle) {
+ return ''; // VML seems to have problem when start angle equals end angle.
+ }
+ if ((endAngle - startAngle) === (2 * Math.PI)) {
+ startAngle = 0.0; // VML seems to have a problem when drawing a full circle that doesn't start 0
+ endAngle = (2 * Math.PI);
+ }
+
+ startx = x + Math.round(Math.cos(startAngle) * radius);
+ starty = y + Math.round(Math.sin(startAngle) * radius);
+ endx = x + Math.round(Math.cos(endAngle) * radius);
+ endy = y + Math.round(Math.sin(endAngle) * radius);
+
+ if (startx === endx && starty === endy) {
+ if ((endAngle - startAngle) < Math.PI) {
+ // Prevent very small slices from being mistaken as a whole pie
+ return '';
+ }
+ // essentially going to be the entire circle, so ignore startAngle
+ startx = endx = x + radius;
+ starty = endy = y;
+ }
+
+ if (startx === endx && starty === endy && (endAngle - startAngle) < Math.PI) {
+ return '';
+ }
+
+ vpath = [x - radius, y - radius, x + radius, y + radius, startx, starty, endx, endy];
+ stroke = lineColor === undefined ? ' stroked="false" ' : ' strokeWeight="1px" strokeColor="' + lineColor + '" ';
+ fill = fillColor === undefined ? ' filled="false"' : ' fillColor="' + fillColor + '" filled="true" ';
+ vel = '<v:shape coordorigin="0 0" coordsize="' + this.pixelWidth + ' ' + this.pixelHeight + '" ' +
+ ' id="jqsshape' + shapeid + '" ' +
+ stroke +
+ fill +
+ ' style="position:absolute;left:0px;top:0px;height:' + this.pixelHeight + 'px;width:' + this.pixelWidth + 'px;padding:0px;margin:0px;" ' +
+ ' path="m ' + x + ',' + y + ' wa ' + vpath.join(', ') + ' x e">' +
+ ' </v:shape>';
+ return vel;
+ },
+
+ _drawRect: function (shapeid, x, y, width, height, lineColor, fillColor) {
+ return this._drawShape(shapeid, [[x, y], [x, y + height], [x + width, y + height], [x + width, y], [x, y]], lineColor, fillColor);
+ },
+
+ reset: function () {
+ this.group.innerHTML = '';
+ },
+
+ appendShape: function (shape) {
+ var vel = this['_draw' + shape.type].apply(this, shape.args);
+ if (this.rendered) {
+ this.group.insertAdjacentHTML('beforeEnd', vel);
+ } else {
+ this.prerender += vel;
+ }
+ this.lastShapeId = shape.id;
+ return shape.id;
+ },
+
+ replaceWithShape: function (shapeid, shape) {
+ var existing = $('#jqsshape' + shapeid),
+ vel = this['_draw' + shape.type].apply(this, shape.args);
+ existing[0].outerHTML = vel;
+ },
+
+ replaceWithShapes: function (shapeids, shapes) {
+ // replace the first shapeid with all the new shapes then toast the remaining old shapes
+ var existing = $('#jqsshape' + shapeids[0]),
+ replace = '',
+ slen = shapes.length,
+ i;
+ for (i = 0; i < slen; i++) {
+ replace += this['_draw' + shapes[i].type].apply(this, shapes[i].args);
+ }
+ existing[0].outerHTML = replace;
+ for (i = 1; i < shapeids.length; i++) {
+ $('#jqsshape' + shapeids[i]).remove();
+ }
+ },
+
+ insertAfterShape: function (shapeid, shape) {
+ var existing = $('#jqsshape' + shapeid),
+ vel = this['_draw' + shape.type].apply(this, shape.args);
+ existing[0].insertAdjacentHTML('afterEnd', vel);
+ },
+
+ removeShapeId: function (shapeid) {
+ var existing = $('#jqsshape' + shapeid);
+ this.group.removeChild(existing[0]);
+ },
+
+ getShapeAt: function (el, x, y) {
+ var shapeid = el.id.substr(8);
+ return shapeid;
+ },
+
+ render: function () {
+ if (!this.rendered) {
+ // batch the intial render into a single repaint
+ this.group.innerHTML = this.prerender;
+ this.rendered = true;
+ }
+ }
+ });
+
+}))}(document, Math));
diff --git a/scenarios/WeissHapticSensorsUnitTest/startGui.sh b/scenarios/WeissHapticSensorsUnitTest/startGui.sh
new file mode 100755
index 0000000000000000000000000000000000000000..e2f4b07c6fc3db3a101c1ccfee1d6576e35b8b69
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/startGui.sh
@@ -0,0 +1,8 @@
+export CORE_PATH=../../../Core
+export GUI_PATH=../../../Gui
+
+export SCRIPT_PATH=$CORE_PATH/build/bin
+export GUI_BIN_PATH=$GUI_PATH/build/bin
+
+# Gui
+$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun &
diff --git a/scenarios/WeissHapticSensorsUnitTest/tactile.html b/scenarios/WeissHapticSensorsUnitTest/tactile.html
new file mode 100755
index 0000000000000000000000000000000000000000..a0a5d1a8775ddc377e8c0f07f52f3aa7f0dcf9cb
--- /dev/null
+++ b/scenarios/WeissHapticSensorsUnitTest/tactile.html
@@ -0,0 +1,189 @@
+<!DOCTYPE html>
+<html xmlns="http://www.w3.org/1999/xhtml" dir="ltr" lang="de-DE">
+<head>
+<meta charset="utf-8">
+<title>Tactile Sensor Data Explorer</title>
+<script type="text/javascript" src="http://ajax.googleapis.com/ajax/libs/jquery/1.10.2/jquery.min.js"></script>
+<script type="text/javascript" src="jquery.sparkline.js"></script>
+<script>
+sensors = [];
+</script>
+<script src="ttyACM0.js"></script>
+<script src="ttyACM1.js"></script>
+<style type="text/css">
+#out {
+ font-size: 10px;
+ font-family: Verdana, sans;
+}
+div.sensor {
+ float: left;
+ padding: 10px;
+}
+body {
+ font-family: Verdana, sans;
+}
+</style>
+</head>
+<body>
+<div id="test"></div>
+<div id="buttons"></div>
+<div id="out"></div>
+<div id="graphs" style="clear:both; position:relative;"></div>
+<script>
+
+var getColor = function(x) {
+ var colors = ['000000', '0000ff', '00ffff', '00ff00', 'ffff00', 'ff0000'];
+ var f = x * (colors.length - 1);
+ if(f < 0) return '#' + colors[0];
+ if(f > colors.length - 1) return '#' + colors[colors.length - 1];
+ var i = Math.floor(f);
+ f = f - i;
+ var r1 = parseInt(colors[i].substr(0, 2), 16);
+ var g1 = parseInt(colors[i].substr(2, 2), 16);
+ var b1 = parseInt(colors[i].substr(4, 2), 16);
+ var r2 = parseInt(colors[i + 1].substr(0, 2), 16);
+ var g2 = parseInt(colors[i + 1].substr(2, 2), 16);
+ var b2 = parseInt(colors[i + 1].substr(4, 2), 16);
+ var r = Math.round(r1 * (1 - f) + r2 * f);
+ var g = Math.round(g1 * (1 - f) + g2 * f);
+ var b = Math.round(b1 * (1 - f) + b2 * f);
+ return '#' + ("000000" + (r * 256 * 256 + g * 256 + b).toString(16)).slice(-6);
+};
+/*for(var n = 0; n <= 1; n+=0.01) {
+ $("#test").append(n.toFixed(2) + " " + getColor(n)+"<br />");
+}*/
+
+var binarySearch = function(sensorData, timestamp)
+{
+ var low = 0, high = sensorData.length - 1, i, comparison;
+ while (low <= high) {
+ i = Math.floor((low + high) / 2);
+ if (sensorData[i][0] < timestamp) { low = i + 1; continue; };
+ if (sensorData[i][0] > timestamp) { high = i - 1; continue; };
+ return i;
+ }
+ return ~i;
+};
+
+var displayData = function(data) {
+ var s = 40;
+ var str = '<div style="position: relative; width:' + (data[0].length * s) + 'px; height:' + (data.length * s) + 'px;">';
+ for(var y = 0; y < data.length; y++) {
+ var row = data[y];
+
+ for(var x = 0; x < row.length; x++) {
+ str += '<div style="top:' + (y * s) + 'px; left:' + (x * s) + 'px; width: '+s+'px; height: '+s+'px; position: absolute; text-align:center; line-height:'+s+'px; background:' + getColor(row[x] / 4096) + '; color: #777;">' + row[x] + '</div>';
+ }
+ }
+ str += '</div>';
+ return str;
+};
+
+var formatDate = function(date) {
+ return (date.getYear() + 1900) + "-" + ("00" + (date.getMonth() + 1)).slice(-2) + "-" + ("00" + date.getDate()).slice(-2) + " " + ("00" + date.getHours()).slice(-2) + ":" + ("00" + date.getMinutes()).slice(-2) + ":" + ("00" + date.getSeconds()).slice(-2) + "." + ("000" + date.getMilliseconds()).slice(-3);
+};
+var update = function(timestamp) {
+ for(var n = 0; n < sensors.length; n++) {
+ var html = "";
+ var sensor = sensors[n];
+ var pos = binarySearch(sensor.data, timestamp);
+ if (pos < 0) pos = ~pos;
+ sensor.pos = pos;
+ //html += '<div class="sensor">' + sensor.device + ", tag=" + sensor.tag;
+ html += sensor.device + ", tag=" + sensor.tag;
+ if (sensor == primarySensor) {
+ html += " (Primary)";
+ }
+ html += "<br />Frame " + pos + "/" + (sensor.data.length - 1) + " t=" + formatDate(new Date(sensor.data[pos][0]/1000)) + displayData(sensor.data[pos][1]);// + '</div>';
+ //html += '<div class="sensor">' + sensor.device + ", tag=" + sensor.tag + "<br />Frame " + pos + "/" + (sensor.data.length - 1) + " t= " + (new Date(sensor.data[pos][0]/1000)) + displayData(sensor.data[pos][1]) + '</div>';
+ sensor.div.html(html);
+ }
+ updatePositionDiv();
+}
+for (var n = 0; n < sensors.length; n++) {
+ var sensor = sensors[n];
+ sensor.pos = 0;
+ sensor.div = $('<div class="sensor"></div>');
+ $("#out").append(sensor.div);
+ sensor.div.data('sensor', sensor);
+ sensor.div.click(function() { primarySensor = $(this).data('sensor'); update(primarySensor.data[primarySensor.pos][0]); });
+}
+var primarySensor = sensors[0];
+
+var getPosByTimestamp = function(timestamp) { var pos = binarySearch(primarySensor.data, timestamp); if (pos < 0) pos = ~pos; return pos; };
+var selectFrameByTimestamp = function(timestamp) { primarySensor.pos = getPosByTimestamp(timestamp); changeFrame(0); };
+var changeFrame = function(delta) { primarySensor.pos = Math.max(0, Math.min(primarySensor.data.length - 1, primarySensor.pos + delta)); update(primarySensor.data[primarySensor.pos][0]); };
+var changeFrameGen = function(delta) { return function() { changeFrame(delta) }; };
+var buttonGen = function(text, delta) { return $("<button>"+text+"</button>").click(changeFrameGen(delta)); };
+$("#buttons").append("navigate: ").append(buttonGen("-100", -100)).append(buttonGen("-10", -10)).append(buttonGen("-1", -1)).append(buttonGen("+1", +1)).append(buttonGen("+10", +10)).append(buttonGen("+100", +100));
+
+
+$(document).keydown(function(e) {
+ switch(e.which) {
+ case 37: // left
+ changeFrame(e.ctrlKey ? -10 : -1);
+ break;
+
+ case 38: // up
+ break;
+
+ case 39: // right
+ changeFrame(e.ctrlKey ? 10 : 1);
+ break;
+
+ case 40: // down
+ break;
+
+ default: return; // exit this handler for other keys
+ }
+ e.preventDefault(); // prevent the default action (scroll / move caret)
+});
+
+var matrixMax = function(data) {
+ var max = data[0][0];
+ for(var y = 0; y < data.length; y++) {
+ var row = data[y];
+ for(var x = 0; x < row.length; x++) {
+ max = Math.max(max, row[x]);
+ }
+ }
+ return max;
+}
+
+//var $positionDiv = $('<div style="width:500px; height:20px;"></div>');
+var $positionDivInner = $('<div style="border-right: 1px solid #00A000; height: ' + (sensors.length * 50) + 'px; position: absolute; left: 0px; top: 0px; z-index:-10;"></div>');
+var updatePositionDiv = function() {
+ $positionDivInner.css('width', (primarySensor.pos / primarySensor.data.length * 500) + "px");
+};
+$("#graphs").append($positionDivInner);
+
+for(var n = 0; n < sensors.length; n++) {
+ var sensor = sensors[n];
+ var $div = $('<div style="line-height: 50px;"></div>');
+ $("#graphs").append($div);
+ var xvalues = [];
+ var yvalues = [];
+ for(var i = 0; i < sensor.data.length; i++) {
+ xvalues.push(sensor.data[i][0]);
+ yvalues.push(matrixMax(sensor.data[i][1]));
+ }
+
+ $div.sparkline(yvalues, {"width":"500px", "height":"50px", "xvalues":xvalues, "spotColor":false, "minSpotColor":false, "maxSpotColor":false, 'fillColor': 'rgba(0,0,255,0.2)'});
+ $div.data('sensor', sensor);
+ $div.bind('sparklineClick', function(ev) {
+ var sparkline = ev.sparklines[0];
+ var sensor = $(this).data('sensor');
+ var region = sparkline.getCurrentRegionFields();
+ //alert("Clicked on x="+region.x+" y="+region.y);
+ primarySensor = sensor;
+ selectFrameByTimestamp(region.x);
+ });
+ $div.append(sensor.tag);
+}
+
+
+update(primarySensor.data[primarySensor.pos][0]);
+
+</script>
+</body>
+</html>
\ No newline at end of file
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..712ae22258ea34af1d8e82845c7d763fb61de97e 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -5,3 +5,7 @@ add_subdirectory(MotionControlTest)
add_subdirectory(TCPControlUnit)
add_subdirectory(MovePlatform)
add_subdirectory(MovePlatformToLandmark)
+
+add_subdirectory(WeissHapticSensorsUnit)
+add_subdirectory(WeissHapticSensor)
+add_subdirectory(HapticObserver)
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h b/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
index cab40777f7e5607e02dd0df0e5974c4f44d8af5f..6822374bf4916a29f5c3e304731053c680c22ad0 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
+++ b/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/HapticObserver/CMakeLists.txt b/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a596db9e72df4d6193ead5c8ca2934320ccc1b4
--- /dev/null
+++ b/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
@@ -0,0 +1,15 @@
+armarx_component_set_name("HapticObserverApp")
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensorListener RobotAPIUnits)
+
+set(EXE_SOURCE main.cpp HapticObserverApp.h)
+
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h b/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
new file mode 100644
index 0000000000000000000000000000000000000000..672914e186d68059de11a0b7621902b4d3a0ef5c
--- /dev/null
+++ b/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
@@ -0,0 +1,52 @@
+/*
+ * 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::HapticObserver
+ * @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_HapticObserver_H
+#define _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
+
+#include <Core/core/application/Application.h>
+#include <RobotAPI/units/HapticObserver.h>
+
+namespace armarx
+{
+ /**
+ * @class HapticObserverApp
+ * @brief A brief description
+ *
+ * Detailed Description
+ */
+ class HapticObserverApp :
+ virtual public armarx::Application
+ {
+ /**
+ * @see armarx::Application::setup()
+ */
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+ Ice::PropertiesPtr properties)
+ {
+ registry->addObject( Component::create<HapticObserver>(properties) );
+ }
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/applications/HapticObserver/main.cpp b/source/RobotAPI/applications/HapticObserver/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e0b4270b484237e71355600dde6e595589435535
--- /dev/null
+++ b/source/RobotAPI/applications/HapticObserver/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::HapticObserver
+ * @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 "HapticObserverApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HapticObserverApp > ();
+ app->setName("HapticObserver");
+
+ return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
index e48a5ac0ee71e66ee2aaf882ec64bee5640342d5..697a651cb2ef46630ecaca754241fbcd86a75806 100644
--- a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
+++ b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/HeadIKUnit/main.cpp b/source/RobotAPI/applications/HeadIKUnit/main.cpp
index c6ae3869fa082742259527466c6c4f18c16ab4ec..f88f74f1241453d86785372e181101ebe2567e6e 100644
--- a/source/RobotAPI/applications/HeadIKUnit/main.cpp
+++ b/source/RobotAPI/applications/HeadIKUnit/main.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MotionControl/MotionControlApp.h b/source/RobotAPI/applications/MotionControl/MotionControlApp.h
index 62045985b2efc3df6a18e8216bfa0e2a2139d9eb..72f1483b622bbf0d99f6975e3bba804cc073f8a5 100644
--- a/source/RobotAPI/applications/MotionControl/MotionControlApp.h
+++ b/source/RobotAPI/applications/MotionControl/MotionControlApp.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MotionControl/main.cpp b/source/RobotAPI/applications/MotionControl/main.cpp
index 4e68781696f2a7efbe8d1c3780281625df93d2af..b12d363adb53ba4b5c4e4eb835e7e93f49d35e13 100644
--- a/source/RobotAPI/applications/MotionControl/main.cpp
+++ b/source/RobotAPI/applications/MotionControl/main.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
index b6f7a128c0e1f5b6e423905c2cbd55dad7b46756..f53f50ca6e02e19899f193b0ce7728cbd63acd7f 100644
--- a/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
+++ b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MotionControlTest/main.cpp b/source/RobotAPI/applications/MotionControlTest/main.cpp
index 630ae96d899591c77ae2eb9326e2cbb21f7e5e1a..dd6c501553c97e8f7c8e41d6655dc79fcaed61cf 100644
--- a/source/RobotAPI/applications/MotionControlTest/main.cpp
+++ b/source/RobotAPI/applications/MotionControlTest/main.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MovePlatform/MovePlatformApp.h b/source/RobotAPI/applications/MovePlatform/MovePlatformApp.h
index a2ab3498da2695b08b25d70501b7f48308bafbd4..ac02948a56f3242ee93e338753a47ee852b2eaea 100644
--- a/source/RobotAPI/applications/MovePlatform/MovePlatformApp.h
+++ b/source/RobotAPI/applications/MovePlatform/MovePlatformApp.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MovePlatform/main.cpp b/source/RobotAPI/applications/MovePlatform/main.cpp
index 435aeb57b48acaf36c6d8aa8362348f7aaa36fe8..cb829dda7f8d3c05931738959dc5c6c4f960db13 100644
--- a/source/RobotAPI/applications/MovePlatform/main.cpp
+++ b/source/RobotAPI/applications/MovePlatform/main.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h b/source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h
index c1b3bb43de2d22fa9e3ef35a3365e3e191e2e730..67a3bbaf475768b7a14d6d67b030f2cd28c0e6f8 100644
--- a/source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h
+++ b/source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/MovePlatformToLandmark/main.cpp b/source/RobotAPI/applications/MovePlatformToLandmark/main.cpp
index a73e3d2957973db8f59d620089a7b14cec03f6c6..bdab85115fa1faf64133542a921b418bb938fcf5 100644
--- a/source/RobotAPI/applications/MovePlatformToLandmark/main.cpp
+++ b/source/RobotAPI/applications/MovePlatformToLandmark/main.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h b/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
index 4ab7d2dee5cd1843c729a4ea0f3ab2571b6cf801..b0efe903c989a118b0975c718627861341a4d0b6 100644
--- a/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
+++ b/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/TCPControlUnit/main.cpp b/source/RobotAPI/applications/TCPControlUnit/main.cpp
index 07873e9ab1c32dad9e3057c79d25ef2a5a59da3c..ca23f217c9b253ded6218ca10954c78e8f2c0edb 100644
--- a/source/RobotAPI/applications/TCPControlUnit/main.cpp
+++ b/source/RobotAPI/applications/TCPControlUnit/main.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..378475a1c7b43d082822a9fc398709dfdaff1482
--- /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(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensorListener RobotAPIUnits RobotAPIInterfaces)
+
+set(EXE_SOURCE main.cpp WeissHapticSensorApp.h)
+
+armarx_add_component_executable("${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..3f7af3cd59fbdac4735e98129332367b788ef8d1
--- /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(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensor RobotAPIUnits RobotAPIInterfaces)
+
+set(EXE_SOURCE main.cpp WeissHapticSensorsUnitApp.h)
+
+armarx_add_component_executable("${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..5e2ddaeb4920ebc0175c3a451f28f11b7f5ee5e2
--- /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& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
+{
+ ARMARX_LOG << deactivateSpam(1) << "WeissHapticSensorListener::reportSensorValues" << MatrixFloatPtr::dynamicCast(values)->toEigen();
+
+}
+
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h
new file mode 100644
index 0000000000000000000000000000000000000000..11b773cb28684d48825035af867ec7feeca92b53
--- /dev/null
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h
@@ -0,0 +1,102 @@
+/**
+ * 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& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, 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/core/RobotStatechartContext.cpp b/source/RobotAPI/core/RobotStatechartContext.cpp
index 5b85b23d6dcd2f4c5e6c0e0fc1ae59c408d28f18..5570d7d0663c8b5f6d13d35cb3539683a187d79c 100644
--- a/source/RobotAPI/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/core/RobotStatechartContext.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -47,6 +47,18 @@ namespace armarx
usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
usingProxy("RobotStateComponent");
usingProxy(kinematicUnitObserverName);
+
+ if( getProperty<std::string>("HandUnits").isSet())
+ {
+ std::string handUnitsProp = getProperty<std::string>("HandUnits").getValue();
+ std::vector<std::string> handUnitList;
+ boost::split(handUnitList, handUnitsProp, boost::is_any_of(","));
+ for(size_t i = 0; i < handUnitList.size(); i++)
+ {
+ boost::algorithm::trim(handUnitList.at(i));
+ usingProxy(handUnitList.at(i));
+ }
+ }
}
@@ -61,6 +73,17 @@ namespace armarx
kinematicUnitObserverPrx = getProxy<KinematicUnitObserverInterfacePrx>(kinematicUnitObserverName);
ARMARX_LOG << eINFO << "Fetched proxies" << kinematicUnitPrx << " " << robotStateComponent << flush;
+ if( getProperty<std::string>("HandUnits").isSet())
+ {
+ std::string handUnitsProp = getProperty<std::string>("HandUnits").getValue();
+ std::vector<std::string> handUnitList;
+ boost::split(handUnitList, handUnitsProp, boost::is_any_of(","));
+ for(size_t i = 0; i < handUnitList.size(); i++)
+ {
+ boost::algorithm::trim(handUnitList.at(i));
+ handUnits[handUnitList.at(i)] = getProxy<HandUnitInterfacePrx>(handUnitList.at(i));
+ }
+ }
// initialize remote robot
remoteRobot.reset(new RemoteRobot(robotStateComponent->getSynchronizedRobot()));
ARMARX_LOG << eINFO << "Created remote robot" << flush;
diff --git a/source/RobotAPI/core/RobotStatechartContext.h b/source/RobotAPI/core/RobotStatechartContext.h
index 47ba13f6e7f68509cf185176b1600ae491649023..1596eb373724ebc2e62e2fcc981b900edfa2d450 100644
--- a/source/RobotAPI/core/RobotStatechartContext.h
+++ b/source/RobotAPI/core/RobotStatechartContext.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -30,6 +30,7 @@
#include <Core/statechart/StatechartContext.h>
#include <Core/robotstate/remote/RemoteRobot.h>
#include <Core/interface/units/KinematicUnitInterface.h>
+#include <Core/interface/units/HandUnitInterface.h>
#include <RobotAPI/interface/units/TCPControlUnit.h>
@@ -51,6 +52,7 @@ namespace armarx
{
defineRequiredProperty<std::string>("KinematicUnitName", "Name of the kinematic unit that should be used");
defineRequiredProperty<std::string>("KinematicUnitObserverName", "Name of the kinematic unit observer that should be used");
+ defineOptionalProperty<std::string>("HandUnits", "", "Name of the comma-seperated hand units that should be used. Unitname for left hand should be LeftHandUnit, and for right hand RightHandUnit");
}
};
@@ -86,6 +88,7 @@ namespace armarx
KinematicUnitObserverInterfacePrx kinematicUnitObserverPrx;
TCPControlUnitInterfacePrx tcpControlPrx;
VirtualRobot::RobotPtr remoteRobot;
+ std::map<std::string, HandUnitInterfacePrx> handUnits;
private:
std::string kinematicUnitObserverName;
};
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/WeissHapticSensor/AbstractInterface.cpp b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b450fb668f81c4bc9bc73986211bb46d92ef2733
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp
@@ -0,0 +1,293 @@
+#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()
+{
+}
+
+int AbstractInterface::read(unsigned char *buf, unsigned int len)
+{
+ int res = readInternal(buf, len);
+
+ if(log != NULL)
+ {
+ log->logRead(buf, res);
+ }
+
+ return res;
+}
+
+int AbstractInterface::write(unsigned char *buf, unsigned int len)
+{
+ if(log != NULL)
+ {
+ log->logWrite(buf, len);
+ }
+
+ return writeInternal(buf, len);
+}
+
+
+Response AbstractInterface::submitCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending )
+{
+ 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");
+ }
+}
+
+void AbstractInterface::startLogging(std::string file)
+{
+ log.reset(new BinaryLogger(file));
+}
+
+void AbstractInterface::logText(std::string message)
+{
+ if(log != NULL)
+ {
+ log->logText(message);
+ }
+}
+
+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;
+
+ logText("read preamble");
+ // 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;
+ //boost::shared_ptr<unsigned char[]> data(new unsigned char[ msg->len + 2u ]);
+
+ unsigned char* data = new unsigned char[ msg->len + 2u ];
+
+
+ // Read payload and checksum
+ /*int maxReads = 10;
+ int remaining = msg->len + 2;
+ int dataOffset = 0;
+ while ( maxReads > 0 && remaining > 0)
+ {
+ int read = this->read( 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));
+ }*/
+
+ // Read payload and checksum:
+ // payload: msg->len
+ // checksum: 2 byte
+ int read = this->read( data, msg->len + 2 );
+ if (read != (int)msg->len + 2)
+ {
+ delete[] data;
+ 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( data, msg->len + 2, checksum );
+ if ( checksum != 0 )
+ {
+ delete[] data;
+ logText("CHECKSUM ERROR");
+ throw ChecksumErrorException("Checksum error");
+ }
+
+ msg->data = std::vector<unsigned char>(data, data + msg->len + 2);
+ delete[] data;
+ logText("receive done.");
+ 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;
+
+ logText("write preamble");
+
+ // 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 )
+ {
+ delete[] buf;
+ close();
+ throw TransmissionException("Failed to submit message checksum");
+ //cerr << "Failed to submit message checksum" << endl;
+ }
+
+ delete[] buf;
+
+ logText("send done.");
+
+ return len + 8;
+}
+
+
+
+
+std::ostream& operator<<(std::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..19e45a9cc1821573cd222cd4f1c53b2894c640af
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
@@ -0,0 +1,65 @@
+#ifndef ABSTRACTINTERFACE_H
+#define ABSTRACTINTERFACE_H
+
+#include <string>
+#include "Types.h"
+#include "BinaryLogger.h"
+#include <boost/shared_ptr.hpp>
+
+
+#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;
+ int read( unsigned char *buf, unsigned int len);
+ int write( unsigned char *buf, unsigned int len);
+
+ 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 );
+
+ void startLogging(std::string file);
+ void logText(std::string message);
+
+protected:
+ bool connected;
+
+ virtual int readInternal( unsigned char *buf, unsigned int len) = 0;
+ virtual int writeInternal( unsigned char *buf, unsigned int len) = 0;
+
+private:
+ friend std::ostream& operator<<(std::ostream&, const AbstractInterface&);
+ boost::shared_ptr<BinaryLogger> log;
+};
+
+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..40c39409735c5b9fefd71983e83294bc19d6c9ca
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.cpp
@@ -0,0 +1,40 @@
+#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();
+}
+
+void BinaryLogger::logText(std::string message)
+{
+ log << message << 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..535786e85c1b1f02e3fd12dc3fda398cdd239654
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
@@ -0,0 +1,20 @@
+#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);
+ void logText(std::string message);
+
+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..950b6e9c3e81eb53b6e3faaf965281b954c7a5ac
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
@@ -0,0 +1,47 @@
+armarx_set_target("WeissHapticSensor Library: WeissHapticSensor")
+
+
+find_package(Eigen3 QUIET)
+
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
+endif()
+
+set(LIB_NAME WeissHapticSensor)
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+
+set(LIBS RobotAPIUnits RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants)
+
+set(LIB_FILES
+ WeissHapticSensorsUnit.cpp
+ WeissHapticSensor.cpp
+ AbstractInterface.cpp
+ BinaryLogger.cpp
+ TextWriter.cpp
+ Checksum.cpp
+ SerialInterface.cpp
+ TactileSensor.cpp
+ CalibrationInfo.cpp
+ CalibrationHelper.cpp
+)
+set(LIB_HEADERS
+ WeissHapticSensorsUnit.h
+ WeissHapticSensor.h
+ AbstractInterface.h
+ BinaryLogger.h
+ TextWriter.h
+ Checksum.h
+ Response.h
+ SerialInterface.h
+ TactileSensor.h
+ TransmissionException.h
+ Types.h
+ CalibrationInfo.h
+ CalibrationHelper.h
+)
+
+armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..244edebedae87da6a36d37eff64a6bd955d0c682
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.cpp
@@ -0,0 +1,64 @@
+#include "CalibrationHelper.h"
+
+#include <stdexcept>
+
+using namespace armarx;
+
+CalibrationHelper::CalibrationHelper(int rows, int cols, float noiseThreshold)
+{
+ this->maximumValues = Eigen::MatrixXf::Zero(rows, cols);
+ this->noiseThreshold = noiseThreshold;
+}
+
+void CalibrationHelper::addNoiseSample(Eigen::MatrixXf data)
+{
+ this->noiseSamples.push_back(data);
+}
+
+bool CalibrationHelper::addMaxValueSample(Eigen::MatrixXf data)
+{
+ if(data.maxCoeff() <= noiseThreshold)
+ {
+ this->maximumValues = this->maximumValues.cwiseMax(data);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+}
+
+CalibrationInfo CalibrationHelper::getCalibrationInfo(float calibratedMinimum, float calibratedMaximum)
+{
+ return CalibrationInfo(getMatrixAverage(noiseSamples), maximumValues, calibratedMinimum, calibratedMaximum);
+}
+
+bool CalibrationHelper::checkMaximumValueThreshold(float threshold)
+{
+ return this->maximumValues.minCoeff() >= threshold;
+}
+
+Eigen::MatrixXf CalibrationHelper::getMaximumValues()
+{
+ return this->maximumValues;
+}
+
+int CalibrationHelper::getNoiseSampleCount()
+{
+ return this->noiseSamples.size();
+}
+
+Eigen::MatrixXf CalibrationHelper::getMatrixAverage(std::vector<Eigen::MatrixXf> samples)
+{
+ if(samples.size() == 0)
+ {
+ throw std::runtime_error("Average of zero samples not possible");
+ }
+
+ Eigen::MatrixXf sum = samples.at(0);
+ for(std::vector<Eigen::MatrixXf>::iterator it = samples.begin() + 1; it != samples.end(); ++it)
+ {
+ sum += *it;
+ }
+ return sum / (float)samples.size();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
new file mode 100644
index 0000000000000000000000000000000000000000..243d79ff5b068191f1134c1a4301f4bd94e1083a
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
@@ -0,0 +1,36 @@
+#ifndef CALIBRATIONHELPER_H
+#define CALIBRATIONHELPER_H
+
+#include <vector>
+#include <Eigen/Core>
+
+#include "CalibrationInfo.h"
+
+namespace armarx
+{
+ class CalibrationHelper
+ {
+ public:
+ CalibrationHelper(int rows, int cols, float noiseThreshold);
+
+ void addNoiseSample(Eigen::MatrixXf data);
+ bool addMaxValueSample(Eigen::MatrixXf data);
+
+ CalibrationInfo getCalibrationInfo(float calibratedMinimum, float calibratedMaximum);
+
+ bool checkMaximumValueThreshold(float threshold);
+
+ Eigen::MatrixXf getMaximumValues();
+
+ int getNoiseSampleCount();
+
+ private:
+ std::vector<Eigen::MatrixXf> noiseSamples;
+ Eigen::MatrixXf maximumValues;
+ float noiseThreshold;
+
+ Eigen::MatrixXf getMatrixAverage(std::vector<Eigen::MatrixXf> samples);
+ };
+}
+
+#endif // CALIBRATIONHELPER_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..caad13edcd6b065b499876a0cf81c51d9976eedf
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.cpp
@@ -0,0 +1,16 @@
+#include "CalibrationInfo.h"
+
+using namespace armarx;
+
+CalibrationInfo::CalibrationInfo(Eigen::MatrixXf averageNoiseValues, Eigen::MatrixXf maximumValues, float minValue, float maxValue)
+{
+ this->calibratedMinimum = minValue;
+ this->calibratedMaximum = maxValue;
+ this->averageNoiseValues = averageNoiseValues;
+ this->maximumValues = maximumValues;
+}
+
+Eigen::MatrixXf CalibrationInfo::applyCalibration(Eigen::MatrixXf rawData)
+{
+ return ((rawData - averageNoiseValues).cwiseQuotient(maximumValues - averageNoiseValues).array() * (calibratedMaximum - calibratedMinimum) + calibratedMinimum).matrix();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
new file mode 100644
index 0000000000000000000000000000000000000000..d1ca58a0ca742c2ca317f16470824f9b506c458b
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
@@ -0,0 +1,23 @@
+#ifndef CALIBRATIONINFO_H
+#define CALIBRATIONINFO_H
+
+#include <Eigen/Core>
+namespace armarx
+{
+ class CalibrationInfo
+ {
+ public:
+ CalibrationInfo(Eigen::MatrixXf averageNoiseValues, Eigen::MatrixXf maximumValues, float calibratedMinimum, float calibratedMaximum);
+
+ Eigen::MatrixXf applyCalibration(Eigen::MatrixXf rawData);
+
+ private:
+ Eigen::MatrixXf averageNoiseValues;
+ Eigen::MatrixXf maximumValues;
+
+ float calibratedMaximum;
+ float calibratedMinimum;
+ };
+}
+
+#endif // CALIBRATIONINFO_H
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..933f45af0cc5372578274f6a21316fddd13c7691
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
@@ -0,0 +1,104 @@
+#ifndef RESPONSE_H
+#define RESPONSE_H
+
+#include "Types.h"
+#include "TransmissionException.h"
+//#include <strstream>
+#include <stdexcept>
+#include <boost/format.hpp>
+#include <vector>
+#include <Core/core/logging/Logging.h>
+
+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());
+ std::stringstream ss;
+ ss << " status != E_SUCCESS";
+ for(int i=0; i<(int)len; i++){
+ ss << boost::format("%02X ") % (int)data[i];
+ }
+ ARMARX_ERROR_S << ss.str();
+ 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..387d2f5236177c7f4583460325209259bad95993
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp
@@ -0,0 +1,170 @@
+#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)
+{
+ this->device = device;
+ this->bitrate = bitrate;
+ this->fd = -1;
+}
+
+SerialInterface::~SerialInterface() {
+
+}
+
+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::readInternal( unsigned char *buf, unsigned int len)
+{
+ int res;
+
+ res = blockingReadAll( buf, len );
+ if ( res < 0 )
+ {
+ std::cerr << "Failed to read from serial device" << std::endl;
+ }
+
+ return res;
+
+}
+
+int SerialInterface::blockingReadAll(unsigned char *buf, unsigned int len)
+{
+ int dataToRead = len;
+ while (1)
+ {
+ int res = ::read( fd, buf, dataToRead );
+ if (res < 0)
+ {
+ return res;
+ }
+ dataToRead -= res;
+ buf += res;
+ if (dataToRead == 0)
+ {
+ return len;
+ }
+ if (dataToRead < 0)
+ {
+ throw new std::runtime_error("Internal error: dataToRead < 0");
+ }
+ usleep(1);
+ }
+}
+
+int SerialInterface::writeInternal( unsigned char *buf, unsigned int 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);
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..c64e501d085f0e752ec1ea8bd3f1e7bd018d3d01
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
@@ -0,0 +1,30 @@
+#ifndef SERIALINTERFACE_H
+#define SERIALINTERFACE_H
+
+#include "AbstractInterface.h"
+#include <iostream>
+
+
+class SerialInterface : public AbstractInterface {
+public:
+ SerialInterface(const char *device, const unsigned int bitrate);
+ virtual ~SerialInterface();
+
+ virtual int open();
+ virtual void close();
+
+ virtual std::string toString() const;
+
+protected:
+ virtual int readInternal( unsigned char *, unsigned int );
+ virtual int writeInternal( unsigned char *, unsigned int );
+
+private:
+ const char *device;
+ unsigned int bitrate;
+ int fd;
+
+ int blockingReadAll(unsigned char *buf, unsigned int len);
+};
+
+#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..b12d1163fbdccfca028d9b085e1a6194e0f6c78e
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
@@ -0,0 +1,280 @@
+#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;
+ boost::shared_ptr<std::vector<short> > data;
+ data.reset(new std::vector<short>(count, 0));
+ //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;
+ boost::shared_ptr<std::vector<short> > data;
+ data.reset(new std::vector<short>(count, 0));
+ 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..393e4cf74d3004336f56e95d4e993eb59d27e3b3
--- /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(boost::shared_ptr<std::vector<short> > data, int count)
+ : data(data), count(count)
+ {}
+ boost::shared_ptr<std::vector<short> > data;
+ int count;
+};
+struct PeriodicFrameData
+{
+public:
+ PeriodicFrameData(boost::shared_ptr<std::vector<short> > data, int count, unsigned int timestamp)
+ : data(data), count(count), timestamp(timestamp)
+ {}
+ boost::shared_ptr<std::vector<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/TextWriter.cpp b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..021bcc12ce7d98f9ef594a90d01bff701a4d152e
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.cpp
@@ -0,0 +1,20 @@
+#include "TextWriter.h"
+
+using namespace armarx;
+
+TextWriter::TextWriter(std::string filename)
+{
+ this->file.open(filename.c_str());
+}
+
+TextWriter::~TextWriter()
+{
+ file.close();
+}
+
+void TextWriter::writeLine(std::string message)
+{
+ file << message;
+ file << std::endl;
+ file.flush();
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
new file mode 100644
index 0000000000000000000000000000000000000000..d0a87537ba549d958082b0849380b1863261ea74
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
@@ -0,0 +1,21 @@
+#ifndef TEXTWRITER_H
+#define TEXTWRITER_H
+
+#include <fstream>
+
+namespace armarx
+{
+ class TextWriter
+ {
+ public:
+ TextWriter(std::string filename);
+ ~TextWriter();
+
+ void writeLine(std::string message);
+
+ private:
+ std::ofstream file;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
new file mode 100644
index 0000000000000000000000000000000000000000..93710f7ec2476bb1be56dfafc5757ab8277f4051
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
@@ -0,0 +1,20 @@
+#ifndef TRANSMISSIONEXCEPTION_H
+#define TRANSMISSIONEXCEPTION_H
+
+#include <stdexcept>
+
+class TransmissionException : public std::runtime_error {
+public:
+ TransmissionException(std::string message)
+ : runtime_error(message)
+ { }
+};
+
+class ChecksumErrorException : public TransmissionException {
+public:
+ ChecksumErrorException(std::string message)
+ : TransmissionException(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..f71bf414b5f4cac1bd917e57440aa2d7ab70db64
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -0,0 +1,137 @@
+#include "WeissHapticSensor.h"
+#include "TransmissionException.h"
+#include <boost/regex.hpp>
+#include <boost/format.hpp>
+
+using namespace armarx;
+
+WeissHapticSensor::WeissHapticSensor(std::string device)
+ : device(device), connected(false)
+{
+ sensorTask = new RunningTask<WeissHapticSensor>(this, &WeissHapticSensor::frameAcquisitionTaskLoop);
+ boost::smatch match;
+ boost::regex_search( device, match, boost::regex("\\w+$") );
+ this->deviceFileName = match[0];
+}
+
+void WeissHapticSensor::connect()
+{
+
+ //cout << "Open Serial" << endl;
+ this->interface.reset(new SerialInterface(device.c_str(), 115200));
+ interface->startLogging(deviceFileName + ".transmission.log");
+ interface->open();
+ //cout << *interface << endl;
+ this->sensor.reset(new TactileSensor(interface));
+
+ jsWriter.reset(new TextWriter(deviceFileName + ".js"));
+
+ //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;
+
+ jsWriter->writeLine(str(boost::format("%s = {};") % deviceFileName));
+ jsWriter->writeLine(str(boost::format("sensors.push(%s);") % deviceFileName));
+ jsWriter->writeLine(str(boost::format("%s.device = \"%s\";") % deviceFileName % device));
+ jsWriter->writeLine(str(boost::format("%s.tag = \"%s\";") % deviceFileName % tag));
+ jsWriter->writeLine(str(boost::format("%s.data = [];") % deviceFileName));
+
+ //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);
+
+ sensor->setFrontEndGain(255);
+
+ ARMARX_LOG << "Front end gain set to " << (int)sensor->getFrontEndGain();
+
+ 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::frameAcquisitionTaskLoop()
+{
+ 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";
+
+ try
+ {
+ //long start = TimestampVariant::nowLong();
+ PeriodicFrameData data = sensor->receicePeriodicFrame();
+ //long end = TimestampVariant::nowLong();
+ //cout << end - start << endl;
+
+ 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;
+ }
+ }
+
+ TimestampVariantPtr now = TimestampVariant::nowPtr();
+ writeMatrixToJs(matrix, now);
+ listenerPrx->reportSensorValues(device, tag, matrix, now);
+ }
+ catch(ChecksumErrorException)
+ {
+ ARMARX_WARNING << "Caught ChecksumErrorException on " << device << ", skipping frame";
+ }
+ //usleep(3000);
+
+ //usleep(3000);
+ //usleep(1000000);
+ }
+
+ cout << this << ": stopPeriodicFrameAcquisition" << endl;
+ sensor->stopPeriodicFrameAcquisition();
+}
+
+void WeissHapticSensor::writeMatrixToJs(MatrixFloatPtr matrix, TimestampVariantPtr timestamp)
+{
+ //std::cout << "writeMatrixToJs" << std::endl;
+ if(jsWriter != NULL)
+ {
+ jsWriter->writeLine(str(boost::format("%s.data.push([%i, %s]);") % deviceFileName % timestamp->getTimestamp() % matrix->toJsonRowMajor()));
+ }
+}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
new file mode 100644
index 0000000000000000000000000000000000000000..acfaad733b767ab7242f0135761854145ae017c4
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -0,0 +1,43 @@
+#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>
+#include "TextWriter.h"
+#include <Core/observers/variant/TimestampVariant.h>
+#include <Core/util/variants/eigen3/MatrixVariant.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;
+ boost::shared_ptr<TextWriter> jsWriter;
+ void frameAcquisitionTaskLoop();
+ std::string device;
+ std::string deviceFileName;
+ boost::shared_ptr<SerialInterface> interface;
+ boost::shared_ptr<TactileSensor> sensor;
+ bool connected;
+ string tag;
+ tac_matrix_info_t mi;
+ HapticUnitListenerPrx listenerPrx;
+ void writeMatrixToJs(MatrixFloatPtr matrix, TimestampVariantPtr timestamp);
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..f71224bfed1f9e0b4bf6452eabe25f7cd3b55cd1
--- /dev/null
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
@@ -0,0 +1,154 @@
+/**
+ * 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 <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/motioncontrol/MotionControl.cpp b/source/RobotAPI/motioncontrol/MotionControl.cpp
index 4ef098ce9237ee53e5cd600967c2c2f636623f52..00de7039927261b0fda1950b738581ea1497e8ae 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/motioncontrol/MotionControl.cpp
@@ -698,65 +698,219 @@ void MotionControl::StopRobot::onEnter()
sendEvent<EvSuccess>();
}
+void DoPreshapeSet::defineParameters()
+{
+ addToInput("useLeftHand", VariantType::Bool, false);
+ addToInput("preshapes", VariantType::List(VariantType::String), false);
+ addToLocal("counterRef", VariantType::ChannelRef);
+}
-void CloseHand::defineParameters()
+void DoPreshapeSet::defineSubstates()
+{
+ StatePtr preshape = addState<SelectAndDoPreshape>("SelectAndDoPreshape");
+ setInitState(preshape, PM::createMapping()->mapFromParent("*"));
+ StatePtr success = addState<SuccessState>("SuccessState");
+ StatePtr counter = addState<CounterStateTemplate<EvReachedIntermediatePreshape, EvReachedFinalPreshape> >("EvReachedIntermediatePreshape");
+
+ addTransition<EvSuccess>(preshape, counter, PM::createMapping()->mapFromParent("*"));
+ addTransition<EvReachedIntermediatePreshape>(counter, preshape, PM::createMapping()->mapFromParent("*"));
+ addTransition<EvReachedFinalPreshape>(counter, success, PM::createMapping()->mapFromParent("*"));
+
+}
+
+
+
+void DoPreshapeSet::onEnter()
+{
+
+ ChannelRefPtr counterRef = ChannelRefPtr::dynamicCast(getContext()->systemObserverPrx->startCounter(0,"preshapeCounter"));
+ setLocal("counterRef", counterRef);
+}
+
+void DoPreshapeSet::onExit()
+{
+ getContext()->systemObserverPrx->removeCounter(getLocal<ChannelRef>("counterRef"));
+}
+
+
+
+
+
+
+
+void SelectAndDoPreshape::defineParameters()
{
addToInput("useLeftHand", VariantType::Bool, false);
+ addToInput("preshapes", VariantType::List(VariantType::String), false);
+ addToInput("counterRef", VariantType::ChannelRef, false);
+
+ addToLocal("selectedPreshapeName", VariantType::String);
+
}
+void SelectAndDoPreshape::defineSubstates()
+{
+ StatePtr doPreshape = addState<DoPreshape>("DoPreshape");
+ PMPtr mapping = PM::createMapping()->
+ mapFromParent("*")
+ ->mapFromParent("selectedPreshapeName", "preshapeName");
+ setInitState(doPreshape, mapping);
+ StatePtr success = addState<SuccessState >("SuccessState");
+ addTransition<EvSuccess>(doPreshape, success);
-void CloseHand::onEnter()
+}
+
+
+
+void SelectAndDoPreshape::onEnter()
+{
+ int index = getInput<ChannelRef>("counterRef")->getDataField("value")->getInt();
+ std::string preshapeName = getInput<SingleTypeVariantList>("preshapes")->getVariant(index)->getString();
+ setLocal("selectedPreshapeName", preshapeName);
+}
+
+void DoPreshape::defineParameters()
+{
+ addToInput("useLeftHand", VariantType::Bool, false);
+ addToInput("preshapeName", VariantType::String, false);
+}
+
+void DoPreshape::onEnter()
{
RobotStatechartContext* context = getContext<RobotStatechartContext>();
bool useLeftHand = getInput<bool>("useLeftHand");
- NameValueMap handConfig;
+ std::string handUnitName;
if (useLeftHand)
{
- handConfig["left_hand_configuration_actual_float"] = 4;
+ handUnitName = "LeftHandUnit";
}
else
{
- handConfig["right_hand_configuration_actual_float"] = 4;
+ handUnitName = "RightHandUnit";
}
- context->kinematicUnitPrx->setJointAngles(handConfig);
+ std::map<std::string, HandUnitInterfacePrx>::iterator it = context->handUnits.find(handUnitName);
+ if(it != context->handUnits.end())
+ {
+// NameValueMap jointValues =it->second->getPreshapeJointValues(getInput<std::string>("PreshapeName"));
+ it->second->preshape(getInput<std::string>("preshapeName"));
+ setTimeoutEvent(2000, createEvent<EvSuccess>());
+
+ }
+ else
+ {
+ ARMARX_ERROR << "No Proxy for HandUnit with Name " << handUnitName << " known";
+ }
- sendEvent<EvSuccess>();
}
+SingleTypeVariantList DoPreshape::GetPreshapeSet(const SingleTypeVariantListPtr preshapes, const std::string &preshapePrefix)
+{
+ SingleTypeVariantList result(VariantType::String);
+ for(int i=0; i < preshapes->getSize(); i++)
+ {
+ const std::string & preshapeName = preshapes->getVariant(i)->getString();
+ if(preshapeName.find(preshapePrefix) != std::string::npos)
+ {
+ result.addVariant(preshapeName);
+ }
+ }
+ return result;
+}
+void DoPrefixPreshapeSet::defineSubstates()
+{
+ StatePtr doPreshape = addState<DoPreshapeSet>("DoPreshapeSet");
+ PMPtr mapping = PM::createMapping()->
+ mapFromParent("*");
+ setInitState(doPreshape, mapping);
+ StatePtr success = addState<SuccessState>("SuccessState");
+ addTransition<EvSuccess>(doPreshape, success);
+}
-void OpenHand::defineParameters()
+void DoPrefixPreshapeSet::defineParameters()
{
addToInput("useLeftHand", VariantType::Bool, false);
+ addToInput("preshapePrefix", VariantType::String, false);
}
-void OpenHand::onEnter()
+void DoPrefixPreshapeSet::onEnter()
{
RobotStatechartContext* context = getContext<RobotStatechartContext>();
+
bool useLeftHand = getInput<bool>("useLeftHand");
- NameValueMap handConfig;
+ std::string handUnitName;
if (useLeftHand)
{
- handConfig["left_hand_configuration_actual_float"] = 1;
+ handUnitName = "LeftHandUnit";
}
else
{
- handConfig["right_hand_configuration_actual_float"] = 1;
+ handUnitName = "RightHandUnit";
}
- context->kinematicUnitPrx->setJointAngles(handConfig);
+ std::map<std::string, HandUnitInterfacePrx>::iterator it = context->handUnits.find(handUnitName);
+ if(it != context->handUnits.end())
+ {
+ setLocal("preshapes", DoPreshape::GetPreshapeSet(SingleTypeVariantListPtr::dynamicCast(it->second->getPreshapeNames()), getInput<std::string>("preshapePrefix")));
+ }
+ else
+ {
+ ARMARX_ERROR << "No Proxy for HandUnit with Name " << handUnitName << " known";
+ }
+}
- sendEvent<EvSuccess>();
+
+
+
+
+void OpenHand::defineSubstates()
+{
+ StatePtr doPreshape = addState<DoPrefixPreshapeSet>("DoPreshapeSet");
+ PMPtr mapping = PM::createMapping()->
+ mapFromParent("*");
+ setInitState(doPreshape, mapping);
+ StatePtr success = addState<SuccessState>("SuccessState");
+ addTransition<EvSuccess>(doPreshape, success);
}
+void OpenHand::defineParameters()
+{
+ addToInput("useLeftHand", VariantType::Bool, false);
+ addToLocal("preshapePrefix", VariantType::String);
+}
+
+void OpenHand::onEnter()
+{
+ setLocal("preshapePrefix", "Open");
+
+}
+
+void CloseHand::defineSubstates()
+{
+ StatePtr doPreshape = addState<DoPrefixPreshapeSet>("DoPreshapeSet");
+ PMPtr mapping = PM::createMapping()->
+ mapFromParent("*");
+ setInitState(doPreshape, mapping);
+ StatePtr success = addState<SuccessState>("SuccessState");
+ addTransition<EvSuccess>(doPreshape, success);
+}
+void CloseHand::defineParameters()
+{
+ addToInput("useLeftHand", VariantType::Bool, false);
+ addToLocal("preshapePrefix", VariantType::String);
+}
+void CloseHand::onEnter()
+{
+ setLocal("preshapePrefix", "Close");
+}
void HeadLookAtTarget::defineParameters()
{
@@ -866,3 +1020,6 @@ void CalculateHeadIK::run()
}
+
+
+
diff --git a/source/RobotAPI/motioncontrol/MotionControl.h b/source/RobotAPI/motioncontrol/MotionControl.h
index 8132c75e7549a5c8421eff5e0760415df8937ef2..33e35cc5a1c688c89ff9903c32043ba073c0b1f7 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.h
+++ b/source/RobotAPI/motioncontrol/MotionControl.h
@@ -224,15 +224,43 @@ namespace MotionControl
};
-
-
/**
* \ingroup MotionControl
* Closes the given hand of the robot
* \param useLeftHand True if left hand should be closed, false for the right hand
*/
- struct CloseHand : StateTemplate<CloseHand>
+ struct DoPreshape : StateTemplate<DoPreshape>
+ {
+ void defineParameters();
+ void onEnter();
+ static SingleTypeVariantList GetPreshapeSet(const SingleTypeVariantListPtr preshapes, const std::string& preshapePrefix);
+ };
+
+ DEFINEEVENT(EvReachedIntermediatePreshape)
+ DEFINEEVENT(EvReachedFinalPreshape)
+ struct SelectAndDoPreshape : StateTemplate<SelectAndDoPreshape>
+ {
+ void defineSubstates();
+ void defineParameters();
+ void onEnter();
+ };
+
+ struct DoPreshapeSet : StateTemplate<DoPreshapeSet>
+ {
+ void defineSubstates();
+ void defineParameters();
+ void onEnter();
+ void onExit();
+
+ };
+
+
+
+
+
+ struct DoPrefixPreshapeSet : StateTemplate<DoPrefixPreshapeSet>
{
+ void defineSubstates();
void defineParameters();
void onEnter();
};
@@ -240,6 +268,7 @@ namespace MotionControl
+
/**
* \ingroup MotionControl
* Opens the given hand of the robot
@@ -247,6 +276,20 @@ namespace MotionControl
*/
struct OpenHand : StateTemplate<OpenHand>
{
+ void defineSubstates();
+ void defineParameters();
+ void onEnter();
+ };
+
+
+ /**
+ * \ingroup MotionControl
+ * Closes the given hand of the robot
+ * \param useLeftHand True if left hand should be closed, false for the right hand
+ */
+ struct CloseHand : StateTemplate<CloseHand>
+ {
+ void defineSubstates();
void defineParameters();
void onEnter();
};
diff --git a/source/RobotAPI/motioncontrol/ZeroForceControl.cpp b/source/RobotAPI/motioncontrol/ZeroForceControl.cpp
index f300daa87dc5631051d93c2f4a493b9754d9a946..2730d8056bca6899edc9dd9bc8b15a6b6ab97871 100644
--- a/source/RobotAPI/motioncontrol/ZeroForceControl.cpp
+++ b/source/RobotAPI/motioncontrol/ZeroForceControl.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/motioncontrol/ZeroForceControl.h b/source/RobotAPI/motioncontrol/ZeroForceControl.h
index c135c4d8bed284d148fb1d0740958f98420f1e91..ea9fd1414cbd178b415c25cd278e35322c9dd127 100644
--- a/source/RobotAPI/motioncontrol/ZeroForceControl.h
+++ b/source/RobotAPI/motioncontrol/ZeroForceControl.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
index 02ffd83b67625df55a4a7e03e4c5c61b62523642..bf645b464b934a1649d8659b22b6c3be45acdd96 100644
--- a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
+++ b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.h b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.h
index 984ca7781276a1a32bc3d09768188eab85122696..6d03db50ed60b5873931bfc4a1355585f028c6ad 100644
--- a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.h
+++ b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
index 970cf7f292e44a57cc0def318aaa6877077a04c7..51548f09b6f27dc4f66859b6b593049124f64b67 100644
--- a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
+++ b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -57,6 +57,7 @@ namespace armarx
addToInput("positionalAccuracy", VariantType::Float, false);
addToInput("orientationalAccuracy", VariantType::Float, false);
addToInput("timeoutMoveTo", VariantType::Int, false);
+ addToInput("waitAfterLast", VariantType::Int, false);
addToLocal("positionCounter", VariantType::ChannelRef);
}
@@ -104,6 +105,7 @@ namespace armarx
addToInput("positionalAccuracy", VariantType::Float, false);
addToInput("orientationalAccuracy", VariantType::Float, false);
addToInput("timeoutMoveTo", VariantType::Int, false);
+ addToInput("waitAfterLast", VariantType::Int, false);
addToInput("positionCounter", VariantType::ChannelRef, false);
}
@@ -128,7 +130,8 @@ namespace armarx
condTargetReached = installCondition<EvTargetReached>(checkX && checkY && checkAngle);
timeoutMoveToNext = setTimeoutEvent(getInput<int>("timeoutMoveTo"), createEvent<EvTimeoutTargetUnreachable>());
} else {
- sendEvent<EvNoTargets>();
+// sendEvent<EvNoTargets>();
+ timeoutWaitAfterLast = setTimeoutEvent(getInput<int>("waitAfterLast"), createEvent<EvNoTargets>());
}
context->systemObserverPrx->incrementCounter(counter);
diff --git a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.h b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.h
index b3bb67b012e9514f7ee5c6d165e16a9cf27ba6c4..a8b104ece29790dead7da3c8b943175c3df456d1 100644
--- a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.h
+++ b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -75,6 +75,7 @@ namespace armarx
ConditionIdentifier condTargetReached;
StateUtility::ActionEventIdentifier timeoutMoveToNext;
+ StateUtility::ActionEventIdentifier timeoutWaitAfterLast;
};
}
diff --git a/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h b/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
index f966ae28646e38dfc32293e0003cd60eab6ce61c..c1321c03e8c28177015bf3df4071373241d2c03e 100644
--- a/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
+++ b/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
index ddcd9e2a7c8040392c8ef5e6120e0e79a1b44897..9533b6d0f957e464b1ca0b1bbf1287ce7364219e 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -107,7 +107,7 @@ namespace armarx
void StateCalculatePath::onEnter()
{
- ARMARX_LOG << eVERBOSE << "Entering StateCalculatePath";
+ ARMARX_LOG << eVERBOSE << "Entering StateCalculatePath" << flush;
//read the nodes into a tag to node map
SingleTypeVariantListPtr landmarkNodes = getInput<SingleTypeVariantList>("landmarkNodes");
@@ -120,6 +120,7 @@ namespace armarx
nameToNodeMap[fv->frame] = n;
}
+ ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Retrieving edges" << flush;
//process the edges by adding the nodes to each other's successors
SingleTypeVariantListPtr landmarkEdges = getInput<SingleTypeVariantList>("landmarkEdges");
for (int i = 0; i < landmarkEdges->getSize(); i++) {
@@ -132,6 +133,7 @@ namespace armarx
right->successors.push_back(left);
}
+ ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Getting current pose from PlatformContext" << flush;
PlatformContext* context = getContext<PlatformContext>();
ChannelRefPtr poseRef = context->getChannelRef(context->getPlatformUnitObserverName(), "platformPose");
const float platformPositionX = context->getDatafieldRef(poseRef, "positionX")->getDataField()->getFloat();
@@ -147,6 +149,7 @@ namespace armarx
sendEvent<EvNoPathFound>();
return;
}
+ ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Finding closest point in graph" << flush;
NodePtr closest = it->second;
float minDist = getDist(platformPositionX, platformPositionY, closest->framedPos->x, closest->framedPos->y);
it++;
@@ -158,7 +161,7 @@ namespace armarx
}
}
- ARMARX_LOG << eVERBOSE << "Starting point: " << closest->name << flush;
+ ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Starting point: " << closest->name << flush;
std::string landmark = getInput<std::string>("targetLandmark");
NodePtr goal = nameToNodeMap[landmark];
@@ -167,6 +170,7 @@ namespace armarx
sendEvent<EvNoPathFound>();
return;
}
+ ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Looking for path" << flush;
std::list<NodePtr> path = aStar(closest, goal);
if (path.empty()) {
ARMARX_LOG << eWARN << "No path found" << flush;
@@ -207,10 +211,6 @@ namespace armarx
cameFrom[goal] = start; //in case start==goal
while (!openSet.empty()) {
- for (size_t i = 0; i < openSet.size(); i++) {
- std::cout << openSet[i] << ";";
- }
- std::cout << std::endl;
float lowestScore = fScore[openSet[0]];
std::vector<NodePtr>::iterator currentIT = openSet.begin();
for (std::vector<NodePtr>::iterator it = openSet.begin() + 1; it != openSet.end(); it++) {
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h
index 4d0cae21270c6e552dcaee58d3c78d2c09cb4079..85b4a5d0d3fc4d4f67c74863f668919c8d5ddd6f 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp b/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
index 1baf286ef48decad27ad31f9499b5b58ac11faa7..74b3bdb8507ad92d5025a9721ba7aae8ae93f935 100644
--- a/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
+++ b/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/statecharts/OpenHand/OpenHand.h b/source/RobotAPI/statecharts/OpenHand/OpenHand.h
index 84af193269191fbad0d93fe75793c8139dd732d7..617c07165598c951f03025191739e022b6ea1e19 100644
--- a/source/RobotAPI/statecharts/OpenHand/OpenHand.h
+++ b/source/RobotAPI/statecharts/OpenHand/OpenHand.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 1ba7f2aa47fa199475e95e696017c9881baeffa3..0bc0993563f552e2dd27def2a175066064346bfe 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -13,16 +13,20 @@ if (Eigen3_FOUND AND Simox_FOUND)
${Simox_INCLUDE_DIRS})
endif()
+message(status ${Eigen3_INCLUDE_DIR})
+
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
)
@@ -31,6 +35,8 @@ set(LIB_FILES
ForceTorqueObserver.cpp
ForceTorqueUnit.cpp
HeadIKUnit.cpp
+ HapticUnit.cpp
+ HapticObserver.cpp
TCPControlUnit.cpp
TCPControlUnitObserver.cpp
)
diff --git a/source/RobotAPI/units/ForceTorqueUnit.cpp b/source/RobotAPI/units/ForceTorqueUnit.cpp
index 021422634841857884b4063ec5cb61572c03f401..6f6c4fb808c4ee3269bb70ce322dc7a385331168 100644
--- a/source/RobotAPI/units/ForceTorqueUnit.cpp
+++ b/source/RobotAPI/units/ForceTorqueUnit.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/units/ForceTorqueUnit.h b/source/RobotAPI/units/ForceTorqueUnit.h
index 1b75f5e18310b3506875084aad2bfbdfc95ef985..ca4f4a83f0031775b4982639f8276d287f92cb5b 100644
--- a/source/RobotAPI/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/units/ForceTorqueUnit.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/units/HapticObserver.cpp b/source/RobotAPI/units/HapticObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..033532980dbb7f79334d1196ebf2edf4d503bb24
--- /dev/null
+++ b/source/RobotAPI/units/HapticObserver.cpp
@@ -0,0 +1,111 @@
+#include "HapticObserver.h"
+
+#include <Core/observers/checks/ConditionCheckUpdated.h>
+#include <Core/observers/checks/ConditionCheckEquals.h>
+#include <Core/observers/checks/ConditionCheckInRange.h>
+#include <Core/observers/checks/ConditionCheckLarger.h>
+#include <Core/observers/checks/ConditionCheckSmaller.h>
+#include <Core/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
+
+#include <Core/robotstate/remote/RobotStateObjectFactories.h>
+#include <Eigen/Dense>
+#include <Core/observers/variant/TimestampVariant.h>
+
+using namespace armarx;
+
+HapticObserver::HapticObserver()
+{
+ statisticsTask = new PeriodicTask<HapticObserver>(this, &HapticObserver::updateStatistics, 10, false);
+}
+
+void HapticObserver::setTopicName(std::string topicName)
+{
+ this->topicName = topicName;
+}
+
+void HapticObserver::onInitObserver()
+{
+ if(topicName.empty())
+ usingTopic(getProperty<std::string>("HapticTopicName").getValue());
+ else
+ usingTopic(topicName);
+
+ // register all checks
+ offerConditionCheck("updated", new ConditionCheckUpdated());
+ offerConditionCheck("larger", new ConditionCheckLarger());
+ offerConditionCheck("equals", new ConditionCheckEquals());
+ offerConditionCheck("smaller", new ConditionCheckSmaller());
+
+}
+
+void HapticObserver::onConnectObserver()
+{
+ statisticsTask->start();
+}
+
+void HapticObserver::onExitObserver()
+{
+ statisticsTask->stop();
+}
+
+void HapticObserver::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
+{
+ ScopedLock lock(dataMutex);
+ MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(values);
+ TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
+ Eigen::MatrixXf eigenMatrix = matrix->toEigen();
+ float max = eigenMatrix.maxCoeff();
+ float mean = eigenMatrix.mean();
+ if(!existsChannel(device))
+ {
+ offerChannel(device, "Haptic data");
+ offerDataFieldWithDefault(device, "name", Variant(name), "Name of the tactile sensor");
+ offerDataFieldWithDefault(device, "matrix", matrix, "Raw tactile matrix data");
+ offerDataFieldWithDefault(device, "max", Variant(max), "Maximum value");
+ offerDataFieldWithDefault(device, "mean", Variant(mean), "Mean value");
+ offerDataFieldWithDefault(device, "timestamp", timestampPtr, "Timestamp");
+ offerDataFieldWithDefault(device, "rate", Variant(0.0f), "Sample rate");
+ }
+ else
+ {
+ setDataField(device, "matrix", matrix);
+ setDataField(device, "max", Variant(max));
+ setDataField(device, "mean", Variant(mean));
+ setDataField(device, "timestamp", timestampPtr);
+ }
+ /*if(statistics.count(device) > 0)
+ {
+ statistics.at(device).add(timestamp->timestamp);
+ HapticSampleStatistics stats = statistics.at(device);
+ long avg = stats.average();
+ float rate = avg == 0 ? 0 : 1000000.0f / (float)avg;
+ setDataField(device, "rate", Variant(rate));
+ }
+ else
+ {
+ statistics.insert(std::map<std::string,HapticSampleStatistics>::value_type(device, HapticSampleStatistics(100, timestamp->timestamp)));
+ }*/
+
+ updateChannel(device);
+}
+
+PropertyDefinitionsPtr HapticObserver::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new HapticObserverPropertyDefinitions(getConfigIdentifier()));
+}
+
+void HapticObserver::updateStatistics()
+{
+ /*ScopedLock lock(dataMutex);
+ //ARMARX_LOG << "updateStatistics";
+ long now = TimestampVariant::nowLong();
+ for (std::map<std::string, HapticSampleStatistics>::iterator it = statistics.begin(); it != statistics.end(); ++it)
+ {
+ HapticSampleStatistics stats = it->second;
+ std::string device = it->first;
+ long avg = stats.average(now);
+ float rate = avg == 0 ? 0 : 1000000.0f / (float)avg;
+ setDataField(device, "rate", Variant(rate));
+ updateChannel(device);
+ }*/
+}
diff --git a/source/RobotAPI/units/HapticObserver.h b/source/RobotAPI/units/HapticObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..0ef0de0142ec4a8f2cfa35231d83ebde9e75a99d
--- /dev/null
+++ b/source/RobotAPI/units/HapticObserver.h
@@ -0,0 +1,136 @@
+/*
+ * 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 <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
+#define _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
+
+#include <RobotAPI/interface/units/HapticUnit.h>
+#include <Core/observers/Observer.h>
+#include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+#include <Core/core/services/tasks/PeriodicTask.h>
+
+namespace armarx
+{
+
+ class HapticObserverPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ HapticObserverPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineRequiredProperty<std::string>("HapticTopicName", "Name of the HapticUnit Topic");
+ }
+ };
+
+ class HapticSampleStatistics
+ {
+ public:
+ HapticSampleStatistics(unsigned int count, long timestamp)
+ {
+ this->lastTimestamp = timestamp;
+ this->count = count;
+ this->pos = 0;
+ }
+
+ void add(long timestamp)
+ {
+ long delta = timestamp - lastTimestamp;
+ if(deltas.size() < count)
+ {
+ deltas.push_back(delta);
+ }
+ else
+ {
+ deltas.at(pos) = delta;
+ pos = (pos + 1) % count;
+ }
+ lastTimestamp = timestamp;
+ }
+
+ /*long average(long timestamp)
+ {
+ long sum = timestamp - lastTimestamp;
+ for(std::vector<long>::iterator it = deltas.begin(); it != deltas.end(); ++it)
+ {
+ sum += *it;
+ }
+ return sum / (deltas.size() + 1);
+ }*/
+
+ long average()
+ {
+ if(deltas.size() == 0)
+ {
+ return 0;
+ }
+ long sum = 0;
+ for(std::vector<long>::iterator it = deltas.begin(); it != deltas.end(); ++it)
+ {
+ sum += *it;
+ }
+ return sum / deltas.size();
+ }
+
+ private:
+ long lastTimestamp;
+ unsigned int count;
+ int pos;
+ std::vector<long> deltas;
+ };
+
+ class HapticObserver :
+ virtual public Observer,
+ virtual public HapticUnitObserverInterface
+ {
+ public:
+ HapticObserver();
+
+ void setTopicName(std::string topicName);
+
+ // framework hooks
+ virtual std::string getDefaultName() const { return "HapticUnitObserver"; }
+ void onInitObserver();
+ void onConnectObserver();
+ void onExitObserver();
+
+ void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current());
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+ private:
+ armarx::Mutex dataMutex;
+ std::string topicName;
+ PeriodicTask<HapticObserver>::pointer_type statisticsTask;
+
+ void updateStatistics();
+
+ std::map<std::string, HapticSampleStatistics> statistics;
+
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/units/HapticUnit.cpp b/source/RobotAPI/units/HapticUnit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cea65e6336bcf02052273894137db21c4e6df7c8
--- /dev/null
+++ b/source/RobotAPI/units/HapticUnit.cpp
@@ -0,0 +1,49 @@
+/*
+ * 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 <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "HapticUnit.h"
+
+using namespace armarx;
+
+void HapticUnit::onInitComponent()
+{
+ listenerName = "HapticValues";
+ offeringTopic(listenerName);
+ onInitHapticUnit();
+}
+
+void HapticUnit::onConnectComponent()
+{
+ listenerPrx = getTopic<HapticUnitListenerPrx>(listenerName);
+ onStartHapticUnit();
+}
+
+void HapticUnit::onExitComponent()
+{
+ onExitHapticUnit();
+}
+
+PropertyDefinitionsPtr HapticUnit::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new HapticUnitPropertyDefinitions(getConfigIdentifier()));
+}
diff --git a/source/RobotAPI/units/HapticUnit.h b/source/RobotAPI/units/HapticUnit.h
new file mode 100644
index 0000000000000000000000000000000000000000..1d8c58283f066eb54a42673b6a90a1586b720d70
--- /dev/null
+++ b/source/RobotAPI/units/HapticUnit.h
@@ -0,0 +1,71 @@
+/*
+ * 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 <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_COMPONENT_HAPTIC_UNIT_H
+#define _ARMARX_COMPONENT_HAPTIC_UNIT_H
+
+#include <Core/core/Component.h>
+#include <Core/core/application/properties/Properties.h>
+#include <Core/core/system/ImportExportComponent.h>
+#include "Core/units/SensorActorUnit.h"
+
+#include <RobotAPI/interface/units/HapticUnit.h>
+
+#include <string>
+
+namespace armarx
+{
+ class HapticUnitPropertyDefinitions : public ComponentPropertyDefinitions
+ {
+ public:
+ HapticUnitPropertyDefinitions(std::string prefix) :
+ ComponentPropertyDefinitions(prefix)
+ {
+ // No required properties
+ }
+ };
+
+ class HapticUnit :
+ virtual public HapticUnitInterface,
+ virtual public SensorActorUnit
+ {
+ public:
+ virtual std::string getDefaultName() const { return "HapticUnit"; }
+
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ virtual void onInitHapticUnit() = 0;
+ virtual void onStartHapticUnit() = 0;
+ virtual void onExitHapticUnit() = 0;
+
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ HapticUnitListenerPrx listenerPrx;
+ std::string listenerName;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/units/HeadIKUnit.h b/source/RobotAPI/units/HeadIKUnit.h
index 3fff2ba7cb8ede33c93c9bf5e3d67d09c045d7a6..b9365e1e15b17aa0f289f2931e9826c9b71cb4fe 100644
--- a/source/RobotAPI/units/HeadIKUnit.h
+++ b/source/RobotAPI/units/HeadIKUnit.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/units/TCPControlUnit.cpp b/source/RobotAPI/units/TCPControlUnit.cpp
index 491ac01623e42682d1c5e3453e0e08bd91d20c28..7c49c31783e36d54fd4baeb8a5927601dcc21360 100644
--- a/source/RobotAPI/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/units/TCPControlUnit.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -347,7 +347,7 @@ namespace armarx
DIKMap::iterator itDIK = localDIKMap.find(data.nodeSetName);
if(itDIK == localDIKMap.end())
localDIKMap[data.nodeSetName].reset(new EDifferentialIK(nodeSet, localRobot->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
- EDifferentialIKPtr dIk = boost::shared_dynamic_cast<EDifferentialIK>(localDIKMap[data.nodeSetName]);
+ EDifferentialIKPtr dIk = boost::dynamic_pointer_cast<EDifferentialIK>(localDIKMap[data.nodeSetName]);
dIk->clearGoals();
}
@@ -433,7 +433,7 @@ namespace armarx
for(; itDIK != localDIKMap.end(); itDIK++)
{
RobotNodeSetPtr robotNodeSet = localRobot->getRobotNodeSet(itDIK->first);
- EDifferentialIKPtr dIK = boost::shared_dynamic_cast<EDifferentialIK>(itDIK->second);
+ EDifferentialIKPtr dIK = boost::dynamic_pointer_cast<EDifferentialIK>(itDIK->second);
// ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << robotNodeSet->getTCP()->getGlobalPose();
// dIK->setVerbose(true);
Eigen::VectorXf jointDelta;
diff --git a/source/RobotAPI/units/TCPControlUnit.h b/source/RobotAPI/units/TCPControlUnit.h
index d586d1354005362930f329251de1e5d65bb5eb31..be466c92686f8f0933a8c3906b9f46026d2d6fe7 100644
--- a/source/RobotAPI/units/TCPControlUnit.h
+++ b/source/RobotAPI/units/TCPControlUnit.h
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
diff --git a/source/RobotAPI/units/TCPControlUnitObserver.cpp b/source/RobotAPI/units/TCPControlUnitObserver.cpp
index 61e3edc04486a70195cbe943ae1280af3b4f5fbf..3514c6b9b0528b73e7cac2497810a60abe7c0e4b 100644
--- a/source/RobotAPI/units/TCPControlUnitObserver.cpp
+++ b/source/RobotAPI/units/TCPControlUnitObserver.cpp
@@ -1,4 +1,4 @@
-/**
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify