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anglesplot.cpp
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Created
Tue, Aug 20, 08:07
Size
4 KB
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text/x-c
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Thu, Aug 22, 08:07 (2 d)
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blob
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Handle
20032467
Attached To
R6622 liboncilla
anglesplot.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 <rci/dto/JointAngles.h>
#include <rci/dto/converter/JointAnglesConverter.h>
using
namespace
std
;
using
namespace
boost
;
namespace
po
=
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
;
static
std
::
string
lfhipscope
=
"/oncilla/status/nodes/angles/lfhip/"
;
static
std
::
string
rfhipscope
=
"/oncilla/status/nodes/angles/rfhip/"
;
static
std
::
string
lhhipscope
=
"/oncilla/status/nodes/angles/lhhip/"
;
static
std
::
string
rhhipscope
=
"/oncilla/status/nodes/angles/rhhip/"
;
static
std
::
string
lfkneescope
=
"/oncilla/status/nodes/angles/lfknee/"
;
static
std
::
string
rfkneescope
=
"/oncilla/status/nodes/angles/rfknee/"
;
static
std
::
string
lhkneescope
=
"/oncilla/status/nodes/angles/lhknee/"
;
static
std
::
string
rhkneescope
=
"/oncilla/status/nodes/angles/rhknee/"
;
static
JointAnglesPtr
lfhip
=
JointAngles
::
fromValue
(
0.0
);
static
JointAnglesPtr
rfhip
=
JointAngles
::
fromValue
(
0.0
);
static
JointAnglesPtr
lhhip
=
JointAngles
::
fromValue
(
0.0
);
static
JointAnglesPtr
rhhip
=
JointAngles
::
fromValue
(
0.0
);
static
JointAnglesPtr
lfknee
=
JointAngles
::
fromValue
(
0.0
);
static
JointAnglesPtr
rfknee
=
JointAngles
::
fromValue
(
0.0
);
static
JointAnglesPtr
lhknee
=
JointAngles
::
fromValue
(
0.0
);
static
JointAnglesPtr
rhknee
=
JointAngles
::
fromValue
(
0.0
);
static
unsigned
int
ecount
=
0
;
void
inputCallback
(
EventPtr
event
)
{
// ++ecount;
// if (ecount > 20) {
JointAnglesPtr
input
=
boost
::
static_pointer_cast
<
JointAngles
>
(
event
->
getData
());
std
::
string
eventstr
=
event
->
getScopePtr
()
->
toString
();
if
(
eventstr
.
compare
(
lfhipscope
)
==
0
)
{
lfhip
=
input
;
}
else
if
(
eventstr
.
compare
(
rfhipscope
)
==
0
)
{
rfhip
=
input
;
}
else
if
(
eventstr
.
compare
(
lhhipscope
)
==
0
)
{
lhhip
=
input
;
}
else
if
(
eventstr
.
compare
(
rhhipscope
)
==
0
)
{
rhhip
=
input
;
}
else
if
(
eventstr
.
compare
(
lfkneescope
)
==
0
)
{
lfknee
=
input
;
}
else
if
(
eventstr
.
compare
(
rfkneescope
)
==
0
)
{
rfknee
=
input
;
}
else
if
(
eventstr
.
compare
(
lhkneescope
)
==
0
)
{
lhknee
=
input
;
}
else
if
(
eventstr
.
compare
(
rhkneescope
)
==
0
)
{
rhknee
=
input
;
}
std
::
cout
<<
"Angles<"
;
std
::
cout
.
precision
(
3
);
std
::
cout
<<
lfhip
->
asDouble
(
0
)
<<
", "
;
std
::
cout
<<
rfhip
->
asDouble
(
0
)
<<
", "
;
std
::
cout
<<
lhhip
->
asDouble
(
0
)
<<
", "
;
std
::
cout
<<
rhhip
->
asDouble
(
0
)
<<
"><"
;
std
::
cout
<<
lfknee
->
asDouble
(
0
)
<<
", "
;
std
::
cout
<<
rfknee
->
asDouble
(
0
)
<<
", "
;
std
::
cout
<<
lhknee
->
asDouble
(
0
)
<<
", "
;
std
::
cout
<<
rhknee
->
asDouble
(
0
)
<<
">"
;
std
::
cout
<<
std
::
endl
;
// ecount = 0;
// }
}
int
main
()
{
/**
* Register converters for Joint Angles
*/
boost
::
shared_ptr
<
JointAnglesConverter
>
converter
(
new
JointAnglesConverter
());
stringConverterRepository
()
->
registerConverter
(
converter
);
// Participant configuration
rsb
::
ParticipantConfig
config
=
Factory
::
getInstance
().
getDefaultParticipantConfig
();
ParticipantConfig
::
Transport
inprocess
=
config
.
getTransport
(
"inprocess"
);
inprocess
.
setEnabled
(
false
);
config
.
addTransport
(
inprocess
);
ParticipantConfig
::
Transport
spread
=
config
.
getTransport
(
"spread"
);
spread
.
setEnabled
(
true
);
config
.
addTransport
(
spread
);
LoggerFactory
::
getInstance
().
reconfigure
(
Logger
::
LEVEL_ERROR
);
/**
* Listening to JointAngles
*/
ListenerPtr
listener
=
Factory
::
getInstance
().
createListener
(
Scope
(
"/oncilla/status/nodes/angles"
),
config
);
listener
->
addHandler
(
HandlerPtr
(
new
EventFunctionHandler
(
bind
(
&
inputCallback
,
_1
))));
std
::
cout
<<
"Now listening to joint angles ..."
<<
std
::
endl
;
while
(
true
)
{
sleep
(
1
);
}
return
EXIT_SUCCESS
;
}
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