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walkFourLegs2.cpp
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R6622 liboncilla
walkFourLegs2.cpp
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#include <iostream>
#include <fstream>
#include <stdlib.h>
#include <math.h>
#include <ctime>
#include <rsc/logging/LoggerFactory.h>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread/condition.hpp>
#include <boost/timer.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/program_options.hpp>
#include <rsb/Informer.h>
#include <rsb/Handler.h>
#include <rsb/Factory.h>
#include <rsb/converter/Repository.h>
#include <rsb/converter/ProtocolBufferConverter.h>
#include <cca/Beat.h>
#include <cca/nodes/Junction.h>
#include <cca/nodes/Collector.h>
#include <cca/processing/RestlessProcessing.h>
#include <cca/processing/ModerateProcessing.h>
#include <rci/nodes/SimpleOscillator.h>
#include <rci/dto/JointAngles.h>
#include <rci/dto/converter/JointAnglesConverter.h>
using
namespace
std
;
using
namespace
boost
;
using
namespace
boost
::
program_options
;
using
namespace
rsc
;
using
namespace
rsc
::
logging
;
using
namespace
rsb
;
using
namespace
rsb
::
converter
;
using
namespace
rst
::
converter
::
rci
;
using
namespace
cca
;
using
namespace
cca
::
rci
;
using
namespace
cca
::
rci
::
driver
;
/**
* This example needs AMARSi controller "cca2"
*/
int
main
(
int
ac
,
char
**
av
)
{
double
cycletime
=
10
;
double
amplitude
=
0.5
;
double
offset
=
0.0
;
double
frequency
=
1
;
LoggerFactory
::
getInstance
().
reconfigure
(
Logger
::
LEVEL_ERROR
);
/**
* Command line handling
*/
options_description
desc
(
"Allowed options"
);
desc
.
add_options
()(
"help"
,
"Produce help message"
)(
"frequency"
,
value
<
double
>
(),
"Frequency of oscillation in Hertz"
)(
"amplitude"
,
value
<
double
>
(),
"Amplitude of the sine"
)(
"offset"
,
value
<
double
>
(),
"Offset to the output value"
);
variables_map
vm
;
store
(
parse_command_line
(
ac
,
av
,
desc
),
vm
);
notify
(
vm
);
if
(
vm
.
count
(
"help"
))
{
cout
<<
desc
<<
"
\n
"
;
return
1
;
}
if
(
vm
.
count
(
"frequency"
))
{
frequency
=
vm
[
"frequency"
].
as
<
double
>
();
}
cout
<<
"Frequency set to "
<<
frequency
<<
" Hertz.
\n
"
;
if
(
vm
.
count
(
"amplitude"
))
{
amplitude
=
vm
[
"amplitude"
].
as
<
double
>
();
}
cout
<<
"Amplitude set to "
<<
amplitude
<<
".
\n
"
;
if
(
vm
.
count
(
"offset"
))
{
offset
=
vm
[
"offset"
].
as
<
double
>
();
}
cout
<<
"Offset set to "
<<
offset
<<
".
\n
"
;
/**
* Setup main beat
*/
GlobalBeatPtr
heartbeat
;
heartbeat
=
GlobalBeat
::
create
(
cycletime
);
/**
* Setup the two oscillators
*/
CCANodePtr
oscillator1
=
SimpleOscillator
<
JointAngles
>::
create
(
"Oscillator 1"
,
2
*
frequency
,
amplitude
,
offset
);
oscillator1
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/1"
));
oscillator1
->
setProcessingStrategy
(
TimedProcessing
::
create
(
1
));
heartbeat
->
registerReceiver
(
oscillator1
);
CCANodePtr
oscillator2
=
SimpleOscillator
<
JointAngles
>::
create
(
"Oscillator 2"
,
frequency
,
amplitude
,
offset
,
0.5
);
oscillator2
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/2"
));
oscillator2
->
setProcessingStrategy
(
TimedProcessing
::
create
(
1
));
heartbeat
->
registerReceiver
(
oscillator2
);
/**
* Set up two junctions
*/
CCANodePtr
junction1
=
Junction
<
JointAngles
>::
create
(
4
);
junction1
->
setProcessingStrategy
(
RestlessProcessing
::
create
());
CCANodePtr
junction2
=
Junction
<
JointAngles
>::
create
(
4
);
junction2
->
setProcessingStrategy
(
RestlessProcessing
::
create
());
/**
* Register converters for Joint Angles
*/
boost
::
shared_ptr
<
JointAnglesConverter
>
converter
(
new
JointAnglesConverter
());
stringConverterRepository
()
->
registerConverter
(
converter
);
/**
* Connect oscillators to junction
*/
junction1
->
configureInputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/1"
));
junction1
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfhip"
));
junction1
->
configureOutputPort
(
1
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhhip"
));
junction1
->
configureOutputPort
(
2
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfknee"
));
junction1
->
configureOutputPort
(
3
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhknee"
));
junction2
->
configureInputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/2"
));
junction2
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfhip"
));
junction2
->
configureOutputPort
(
1
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhhip"
));
junction2
->
configureOutputPort
(
2
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfknee"
));
junction2
->
configureOutputPort
(
3
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhknee"
));
/**
* Collect all joint angles to send them at once
*/
CCANodePtr
collector
=
Collector
<
JointAngles
>::
create
(
8
);
collector
->
setProcessingStrategy
(
ModerateProcessing
::
create
());
collector
->
configureInputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfhip"
));
collector
->
configureInputPort
(
1
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfhip"
));
collector
->
configureInputPort
(
2
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhhip"
));
collector
->
configureInputPort
(
3
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhhip"
));
collector
->
configureInputPort
(
4
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfknee"
));
collector
->
configureInputPort
(
5
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfknee"
));
collector
->
configureInputPort
(
6
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhknee"
));
collector
->
configureInputPort
(
7
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhknee"
));
collector
->
configureOutputPort
(
0
,
PortConfiguration
::
REMOTE
(
"/oncilla/command/nodes/angles/all"
));
std
::
cout
<<
std
::
endl
<<
"Two oscillators oscillating between "
<<
(
offset
-
amplitude
)
<<
" and "
<<
(
offset
+
amplitude
)
<<
" with "
<<
frequency
<<
" Hertz ..."
<<
std
::
endl
;
heartbeat
->
run
();
return
EXIT_SUCCESS
;
}
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