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main.cpp
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main.cpp
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#include "DummyTrajectoryGenerator.h"
#include "PathAndMoveBuilder.h"
#include "Robot.h"
#include "gui.h"
#include <iostream>
#include <numeric>
#include <cmath>
void playPath(Robot& robot,
const std::vector<Robot::Reference> trajectory,
const double playbackSpeed = 1.0,
const std::array<bool, 7> activeMove = {true, true, true, true, true, true, true}, std::ostream& outStream = std::cout)
{
if (playbackSpeed > 1.0)
{
throw -1;
}
double dt = 0.001;
RobotParameters::DynamicRobotDynamics dynamics{dt};
bool doneRunning = false;
bool reachedEndOfTrajectory = false;
auto iter = std::cbegin(trajectory);
auto endIter = std::cend(trajectory);
auto outK = iter->trajItem;
++iter;
auto outKp1 = iter->trajItem;
auto pwm = outK.u;
double playbackSpeedT = 0;
SamplingHandler<Robot::Reference > sampler([&]()
{
auto outJ = interpolate(outK, outKp1, playbackSpeedT);
double gripperPosKp1 = iter->gripperPos;
playbackSpeedT += playbackSpeed;
if (playbackSpeedT >= 1.0)
{
playbackSpeedT -= 1.0;
++iter;
if (iter == endIter)
{
reachedEndOfTrajectory = true;
}
else
{
outK = outKp1;
outKp1 = iter->trajItem;
gripperPosKp1 = iter->gripperPos;
}
}
auto outJp1 = interpolate(outK, outKp1, playbackSpeedT);
outJ.v *= playbackSpeed;
outJp1.v *= playbackSpeed;
dynamics.recalculateFreedForward(outJ, outJp1);
outJ.u = EigenVectord6::Zero();
pwm = dynamics.recalcPwm(outJ.u, outJ.v);
return Robot::Reference(outJ, gripperPosKp1);
}, dt);
auto sendCommandHandlerFunction = [&sampler, &activeMove](double dt, Robot& robot)
{
auto& servos = robot.dcServoArray;
auto refObj = sampler.getSample();
sampler.increment(dt);
for (size_t i = 0; i != servos.size(); ++i)
{
if (activeMove[i])
{
servos[i]->setReference(refObj.trajItem.p[i], refObj.trajItem.v[i], refObj.trajItem.u[i]);
}
}
if (activeMove[6])
{
double pos = asin(1.998 * refObj.gripperPos - 0.999);
robot.gripperServo->setReference(pos, 0.0, 0.0);
}
};
double t = 0;
EigenVectord6 lastTempC;
auto readResultHandlerFunction = [&t, &lastTempC, &doneRunning, &reachedEndOfTrajectory, &pwm, &outStream](double dt, Robot& robot)
{
auto& servos = robot.dcServoArray;
bool communicationError = std::any_of(std::begin(servos), std::end(servos), [](auto& d)
{
return !d->isCommunicationOk();
});
EigenVectord6 posJ;
std::transform(std::cbegin(servos), std::cend(servos), std::begin(posJ),
[](const auto& c){return c->getPosition();});
EigenVectord6 velJ;
std::transform(std::cbegin(servos), std::cend(servos), std::begin(velJ),
[](const auto& c){return c->getBacklashCompensation();});
EigenVectord6 erroJ;
std::transform(std::cbegin(servos), std::cend(servos), std::begin(erroJ),
[](const auto& c){return c->getControlError(true);});
EigenVectord6 controlSignal;
std::transform(std::cbegin(servos), std::cend(servos), std::begin(controlSignal),
[](const auto& c){return c->getControlError(false);});
JointSpaceCoordinate tempJ{posJ};
CartesianCoordinate tempC{tempJ};
if (t == 0)
{
lastTempC = tempC.c;
}
EigenVectord6 tempCVel = (tempC.c - lastTempC) / dt;
lastTempC = tempC.c;
const EigenVectord6& viewPos = tempC.c;
const EigenVectord6& viewVel = tempCVel;
std::string printVecName;
auto printVecFunc = [&printVecName, &outStream](int i, const auto& v)
{
outStream << " " << printVecName << i << ":" << v;
return ++i;
};
outStream << "t:" << t;
printVecName = "p";
std::accumulate(std::cbegin(viewPos), std::cend(viewPos), 0, printVecFunc);
printVecName = "pj";
std::accumulate(std::cbegin(posJ), std::cend(posJ), 0, printVecFunc);
printVecName = "v";
std::accumulate(std::cbegin(viewVel), std::cend(viewVel), 0, printVecFunc);
printVecName = "vj";
std::accumulate(std::cbegin(velJ), std::cend(velJ), 0, printVecFunc);
printVecName = "e";
std::accumulate(std::cbegin(erroJ), std::cend(erroJ), 0, printVecFunc);
printVecName = "u";
std::accumulate(std::cbegin(controlSignal), std::cend(controlSignal), 0, printVecFunc);
outStream << "\n";
t += dt;
if (reachedEndOfTrajectory || communicationError)
{
robot.removeHandlerFunctions();
doneRunning = true;
}
};
auto errorHandlerFunction = [&robot](std::exception_ptr e){
try
{
std::rethrow_exception(e);
}
catch (CommunicationError& comExc)
{
std::cout << comExc.what() << "\n";
if (comExc.code != CommunicationError::COULD_NOT_SEND)
{
std::cout << "exception triggered: restarting communication...\n";
robot.shutdown();
robot.start();
}
}
};
robot.setHandlerFunctions(sendCommandHandlerFunction, readResultHandlerFunction, errorHandlerFunction);
while(!doneRunning)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}
std::vector<Robot::Reference> moveGripper(double pos, double time, Robot::Reference& startRef)
{
double dt = 0.001;
double t = 0;
double startPos = startRef.gripperPos;
double amp = pos - startPos;
std::vector<Robot::Reference> out;
while (t < 1.0)
{
t = std::min(t + dt / time, 1.0);
double pRef = startPos + amp * (1.0 - cos(pi * t)) / 2.0;
out.push_back(Robot::Reference(startRef.trajItem, pRef));
};
return out;
}
std::vector<Robot::Reference> wait(double time, Robot::Reference& startRef)
{
double dt = 0.001;
double t = 0;
std::vector<Robot::Reference> out;
while (t < time)
{
t = t + dt;
out.push_back(startRef);
};
return out;
}
std::vector<Robot::Reference> renderPath(
DummyTrajectoryGenerator& trajGen,
PathAndMoveBuilder& builder,
Robot::Reference& startRef)
{
const EigenVectord6& startPos = startRef.trajItem.p;
trajGen.clear();
trajGen.setStart(startPos, 0.1);
builder.renderTo(trajGen, startPos);
trajGen.calculateTrajectory();
std::vector<Robot::Reference> out;
auto endIt = std::cend(trajGen);
auto it = std::cbegin(trajGen);
++it;
for (; it != endIt; ++it)
{
out.push_back(Robot::Reference(*it, startRef.gripperPos));
}
return out;
}
void concatenate(std::vector<Robot::Reference>& a, const std::vector<Robot::Reference>& b)
{
a.insert(std::end(a), std::cbegin(b), std::cend(b));
}
std::vector<Robot::Reference> rescaleToTimeMultiple(const std::vector<Robot::Reference>& a, double timeSlot)
{
std::vector<Robot::Reference> out;
double dt = 0.001;
double trajLength = a.size() * dt;
double playbackSpeed = trajLength / (std::ceil(trajLength / timeSlot) * timeSlot);
auto it = std::cbegin(a);
auto endIt = std::cend(a);
double t = 0;
auto outK = *it;
++it;
auto outKp1 = *it;
while (true)
{
auto inter = interpolate(outK, outKp1, t);
inter.trajItem.v *= playbackSpeed;
inter.trajItem.u *= 0;
out.push_back(inter);
t += playbackSpeed;
if (t >= 1.0)
{
t -= 1.0;
++it;
if (it == endIt)
{
break;
}
outK = outKp1;
outKp1 = *it;
}
}
return out;
}
std::vector<Robot::Reference> createTrajectory(Robot::Reference& startRef)
{
double dt{0.001};
RobotParameters::DynamicRobotDynamics dynamics{dt};
DummyTrajectoryGenerator trajGen{&dynamics, 0.012 * 2};
PathAndMoveBuilder pathBuilder;
// velocities
VelocityLimiter jVel(0.1, EigenVectord6{1, 1, 1, 1, 1, 1}, 3.0 / 0.10);
jVel.add(3.0, EigenVectord6{1, 1, 1, 1, 1, 1});
VelocityLimiter jLowVel(0.01, EigenVectord6{1, 1, 1, 1, 1, 1}, 0.3 / 0.25);
jLowVel.add(0.3, EigenVectord6{1, 1, 1, 1, 1, 1});
VelocityLimiter cVel(0.005, EigenVectord6{1, 1, 1, 0, 0, 0}, 0.2 / 0.01);
cVel.add(0.2, EigenVectord6{1, 1, 1, 0, 0, 0});
cVel.add(0.157, EigenVectord6{0, 0, 0, 1, 1, 1}, 15.7 / 1.0);
cVel.add(15.7, EigenVectord6{0, 0, 0, 1, 1, 1});
VelocityLimiter cLowVel(0.001, EigenVectord6{1, 1, 1, 0, 0, 0}, 0.06 / 0.02);
cLowVel.add(0.06, EigenVectord6{1, 1, 1, 0, 0, 0});
cLowVel.add(0.0157, EigenVectord6{0, 0, 0, 1, 1, 1}, 1.57 / 2.0);
cVel.add(1.57, EigenVectord6{0, 0, 0, 1, 1, 1});
VelocityLimiter zVel(0.0);
std::shared_ptr<JointSpaceDeviationLimiter> divLimNo =
std::make_shared<JointSpaceDeviationLimiter>(std::numeric_limits<double>::max());
std::shared_ptr<JointSpaceDeviationLimiter> divLimJ =
std::make_shared<JointSpaceDeviationLimiter>(0.0001);
std::shared_ptr<CartesianSpaceDeviationLimiter> divLimC =
std::make_shared<CartesianSpaceDeviationLimiter>(0.0001);
divLimC->add(0.0001, EigenVectord6{0.0, 0.0, 0.0, 1.0, 1.0, 1.0});
// positions
auto core1Top = CartesianCoordinate{{0.055751, -0.168444, 0.0247518, -0.115982, -0.0510046, 0.0477579}};
auto core2Top = CartesianCoordinate{{0.0285, -0.166948, 0.024749, -0.115985, -0.0328628, 0.043177}};
auto core3Top = CartesianCoordinate{{0.00061186, -0.165291, 0.025019, -0.115985, -0.0100289, 0.04327963}};
auto core4Top = CartesianCoordinate{{-0.0263315, -0.164802, 0.0265809, -0.115985, -0.0126924, 0.0466}};
auto core1Buttom = CartesianCoordinate{{0.053802, -0.167856, -0.012256, -0.115982, -0.0510046, 0.0477579}};
auto core2Buttom = CartesianCoordinate{{0.02667, -0.167064, -0.0118657, -0.115985, -0.0328628, 0.043177}};
auto core3Buttom = CartesianCoordinate{{-0.000185868, -0.16577, -0.0118581, -0.115985, -0.0100289, 0.0432796}};
auto core4Buttom = CartesianCoordinate{{-0.0269217, -0.164659, -0.0117051, -0.115985, -0.0126924, 0.0466}};
auto core1Above = CartesianCoordinate{core1Top.c + EigenVectord6{0, 0, 0.03, 0, 0, 0}};
auto core1Up = CartesianCoordinate{0.7 * core1Top.c + 0.3 * core1Buttom.c};
auto core2Up = CartesianCoordinate{0.7 * core2Top.c + 0.3 * core2Buttom.c};
auto core3Up = CartesianCoordinate{0.7 * core3Top.c + 0.3 * core3Buttom.c};
auto core1UpSide = CartesianCoordinate{core1Up.c + EigenVectord6{-0.006, 0, 0.004, 0, 0, 0}};
auto core2UpSide = CartesianCoordinate{core2Up.c + EigenVectord6{-0.006, 0, 0.004, 0, 0, 0}};
auto core3UpSide = CartesianCoordinate{core3Up.c + EigenVectord6{-0.006, 0, 0.004, 0, 0, 0}};
auto core2Angled = CartesianCoordinate{core2Top.c + EigenVectord6{0, 0, 0, 0, 0, 0.5}};
auto core3Angled = CartesianCoordinate{core3Top.c + EigenVectord6{0, 0, 0, 0, 0, 0.5}};
auto core4Angled = CartesianCoordinate{core4Top.c + EigenVectord6{0, 0, 0, 0, 0, 0.5}};
auto core1Down = CartesianCoordinate{core1Buttom.c + EigenVectord6{-0.006, 0, -0.003, 0, 0, 0}};
auto core2Down = CartesianCoordinate{core2Buttom.c + EigenVectord6{-0.006, 0, -0.003, 0, 0, 0}};
auto core3Down = CartesianCoordinate{core3Buttom.c + EigenVectord6{-0.006, 0, -0.003, 0, 0, 0}};
auto core1ToCore4Half = CartesianCoordinate{(core1Top.c + core4Top.c) / 2};
auto core4Half = CartesianCoordinate{(core4Top.c + core4Buttom.c) / 2};
auto core4HalfAngled = CartesianCoordinate{core4Half.c + EigenVectord6{0, 0, 0, 0, 0, -0.8}};
auto what1Position = JointSpaceCoordinate{{-0.314849, 1.67089, 2.23175, -0.00517668, 0.392985, -0.0108841}};
auto what2Position = JointSpaceCoordinate{{-0.311014, 1.67013, 2.2339, 0.0164429, 0.394759, 0.355737}};
auto yes1Position = JointSpaceCoordinate{{-0.311014, 1.67013, 2.2339, 0.0164429, 0.294653, 0.355737}};
auto yes2Position = what2Position;
auto pencilAbove = CartesianCoordinate{{0.111542, 0.00123832, 0.0343832, 1.55741, -0.542409, -0.0473626}};
auto pencilUp = CartesianCoordinate{{0.117947, 0.00189401, -0.00601399, 1.55416, -0.832172, -0.0170461}};
auto pencilDown = CartesianCoordinate{{0.095577, 2.61736e-05, -0.0282569, 1.4828, -0.808071, 0.0287696}};
auto robotStartEnd = JointSpaceCoordinate{{0.508515, 1.82928, 2.81677, -0.209915, 0.198936, 0.137097}};
#define SYNC(timeSlot) concatenate(out, rescaleToTimeMultiple(renderPath(trajGen, pathBuilder, out.back()), (timeSlot))); pathBuilder.clear();
// path
std::vector<Robot::Reference> out;
out.push_back(startRef);
concatenate(out, moveGripper(0.8, 2 * 60.0 / 100, out.back()));
pathBuilder.append(JointSpaceLinearPath::create(
robotStartEnd, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
pencilAbove, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
pencilUp, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
pencilDown, cVel, cVel, divLimC));
SYNC(60.0 / 100)
concatenate(out, moveGripper(0.22, 2 * 60.0 / 100, out.back()));
pathBuilder.append(CartesianSpaceLinearPath::create(
pencilUp, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
pencilAbove, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
core1Above, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Above, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Above, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Above, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2Angled, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3Angled, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Angled, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Angled, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3Buttom, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3Up, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3UpSide, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3Down, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core3Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1ToCore4Half, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2Buttom, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2Up, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2UpSide, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2Down, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core2Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Above, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Above, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Above, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Above, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Buttom, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Up, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1UpSide, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Down, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core1ToCore4Half, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Half, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Top, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
what1Position, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
what2Position, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
concatenate(out, wait(3 * 60.0 / 100, out.back()));
pathBuilder.append(JointSpaceLinearPath::create(
yes1Position, jVel, jVel, divLimJ));
pathBuilder.append(JointSpaceLinearPath::create(
yes2Position, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
yes1Position, jVel, jVel, divLimJ));
pathBuilder.append(JointSpaceLinearPath::create(
yes2Position, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Half, cLowVel, cLowVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4HalfAngled, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
core4Top, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
pencilAbove, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
pencilUp, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(CartesianSpaceLinearPath::create(
pencilDown, cVel, cVel, divLimC));
SYNC(60.0 / 100)
concatenate(out, moveGripper(0.8, 2 * 60.0 / 100, out.back()));
pathBuilder.append(CartesianSpaceLinearPath::create(
pencilUp, cVel, cVel, divLimC));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
pencilAbove, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
pathBuilder.append(JointSpaceLinearPath::create(
robotStartEnd, jVel, jVel, divLimJ));
SYNC(60.0 / 100)
return out;
}
#include <fstream>
#include <boost/program_options.hpp>
namespace po = boost::program_options;
int main(int argc, char* argv[])
{
// Declare the supported options.
po::options_description options("Allowed options");
options.add_options()
("playPath", "play the path defined in createTrajectory()")
("gui", "jogging gui")
("output", po::value<std::string>(), "data output file")
("simulate", "simulate servos");
po::variables_map vm;
po::store(po::parse_command_line(argc, argv, options), vm);
po::notify(vm);
int numberOfArgs = std::accumulate(std::cbegin(vm), std::cend(vm), 0,
[](int i, const auto& v){return ++i;});
if (numberOfArgs == 0)
{
std::cout << options;
return 0;
}
std::unique_ptr<std::ofstream> outFileStream{nullptr};
std::ostream* outStream = &std::cout;
if (vm.count("output"))
{
std::string fileName = vm["output"].as<std::string>();
outFileStream = std::make_unique<std::ofstream>(fileName);
outStream = outFileStream.get();
}
std::unique_ptr<Communication> communication{nullptr};
if (vm.count("simulate"))
{
communication = std::make_unique<SimulateCommunication>();
}
else
{
try
{
communication = std::make_unique<SerialCommunication>("/dev/ttyACM0");
}
catch (std::exception& e)
{
std::cout << "could not connect to robot serial port\n";
std::cout << e.what();
return 0;
}
}
double comCycleTime = 0.018;
std::array<bool, 7> servoSimulated{{false, false, false, false, false, false, false}};
Robot robot(communication.get(), servoSimulated, comCycleTime);
if (vm.count("gui"))
{
auto app = Gtk::Application::create("org.gtkmm.example");
RobotJogging win(robot);
app->run(win);
}
else if (vm.count("playPath"))
{
try
{
Robot::Reference startRef(robot.getPosition(), 1.0);
playPath(robot, createTrajectory(startRef), 1.0, {true, true, true, true, true, true, true}, *outStream);
}
catch (std::exception& e)
{
std::cout << e.what();
}
}
else
{
std::cout << options;
}
robot.shutdown();
return 0;
}