HandUnit.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * 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 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     Manfred Kroehnert (Manfred dot Kroehnert at kit dot edu)
 * @date       2013
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "HandUnit.h"
 
#include <cstddef>
#include <string>
#include <vector>
 
#include <Ice/Current.h>
 
#include <VirtualRobot/EndEffector/EndEffector.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/XML/RobotIO.h>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/logging/LogSender.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/interface/core/UserException.h>
#include <ArmarXCore/interface/observers/VariantContainers.h>
#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
#include <RobotAPI/interface/core/NameValueMap.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
 
using namespace armarx;
using namespace VirtualRobot;
 
void
HandUnit::onInitComponent()
{
    std::string endeffectorFile = getProperty<std::string>("RobotFileName").getValue();
    std::string endeffectorName = getProperty<std::string>("EndeffectorName").getValue();
 
    if (!ArmarXDataPath::getAbsolutePath(endeffectorFile, endeffectorFile))
    {
        throw UserException("Could not find robot file " + endeffectorFile);
    }
 
    try
    {
        robot =
            VirtualRobot::RobotIO::loadRobot(endeffectorFile, VirtualRobot::RobotIO::eStructure);
    }
    catch (VirtualRobot::VirtualRobotException& e)
    {
        throw UserException(e.what());
    }
 
    if (endeffectorName == "")
    {
        throw UserException("EndeffectorName not defined");
    }
 
    if (!robot->hasEndEffector(endeffectorName))
    {
        throw UserException("Robot does not contain an endeffector with name: " + endeffectorName);
    }
 
    eef = robot->getEndEffector(endeffectorName);
    robotName = robot->getName();
 
    if (eef->getTcp())
    {
        tcpName = robot->getEndEffector(endeffectorName)->getTcp()->getName();
    }
    else
    {
        throw UserException("Endeffector without TCP: " + endeffectorName);
    }
 
    // get all joints
    std::vector<EndEffectorActorPtr> actors;
    eef->getActors(actors);
 
    for (size_t i = 0; i < actors.size(); i++)
    {
        EndEffectorActorPtr a = actors[i];
        std::vector<EndEffectorActor::ActorDefinition> ads; // = a->getDefinition();
 
        for (size_t j = 0; j < ads.size(); j++)
        {
            EndEffectorActor::ActorDefinition ad = ads[j];
 
            if (ad.robotNode)
            {
                handJoints[ad.robotNode->getName()] = ad.directionAndSpeed;
            }
        }
    }
 
    const std::vector<std::string> endeffectorPreshapes =
        robot->getEndEffector(endeffectorName)->getPreshapes();
 
    shapeNames = new SingleTypeVariantList(VariantType::String);
    std::vector<std::string>::const_iterator iter = endeffectorPreshapes.begin();
 
    while (iter != endeffectorPreshapes.end())
    {
        Variant currentPreshape;
        currentPreshape.setString(*iter);
        shapeNames->addVariant(currentPreshape);
        iter++;
    }
 
    // component dependencies
    listenerChannelName = endeffectorName + "State";
    offeringTopic(listenerChannelName);
 
    this->onInitHandUnit();
}
 
void
HandUnit::onConnectComponent()
{
    ARMARX_INFO << "setting report topic to " << listenerChannelName << flush;
    listenerPrx = getTopic<HandUnitListenerPrx>(listenerChannelName);
 
    this->onStartHandUnit();
}
 
void
HandUnit::onExitComponent()
{
    this->onExitHandUnit();
}
 
void
HandUnit::setShape(const std::string& shapeName, const Ice::Current& c)
{
}
 
void
HandUnit::setShapeWithObjectInstance(const std::string& shapeName,
                                     const std::string& objectInstanceName,
                                     const Ice::Current& c)
{
    ARMARX_WARNING << "setShapeWithObjectInstance Function not implemented!";
}
 
SingleTypeVariantListBasePtr
HandUnit::getShapeNames(const Ice::Current& c)
{
    return shapeNames;
}
 
PropertyDefinitionsPtr
HandUnit::createPropertyDefinitions()
{
    return PropertyDefinitionsPtr(new HandUnitPropertyDefinitions(getConfigIdentifier()));
}
 
NameValueMap
HandUnit::getShapeJointValues(const std::string& shapeName, const Ice::Current&)
{
    EndEffectorPtr efp =
        robot->getEndEffector(getProperty<std::string>("EndeffectorName").getValue());
    RobotConfigPtr rc = efp->getPreshape(shapeName);
    return rc->getRobotNodeJointValueMap();
}
 
NameValueMap
HandUnit::getCurrentJointValues(const Ice::Current& c)
{
    NameValueMap result;
 
    for (auto j : handJoints)
    {
        result[j.first] = 0.0f;
    }
 
    return result;
}
 
void
HandUnit::setObjectGrasped(const std::string& objectName, const Ice::Current&)
{
    ARMARX_INFO << "Object grasped " << objectName << flush;
    graspedObject = objectName;
}
 
void
HandUnit::setObjectReleased(const std::string& objectName, const Ice::Current&)
{
    ARMARX_INFO << "Object released " << objectName << flush;
    graspedObject = "";
}
 
std::string
armarx::HandUnit::getHandName(const Ice::Current&)
{
    return eef->getName();
}
 
void
HandUnit::setJointForces(const NameValueMap& targetJointForces, const Ice::Current&)
{
}
 
void
HandUnit::sendJointCommands(const NameCommandMap& targetJointCommands, const Ice::Current&)
{
}
 
void
armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAngles,
                                 const Ice::Current& c)
{
}
 
std::string
HandUnit::describeHandState(const Ice::Current&)
{
    return "not implemented";
}
 
void
armarx::HandUnit::reloadPreshapes(const Ice::Current&)
{
    ARMARX_WARNING << "`reloadPreshapes` not implemented for this hand unit!";
}
 
void
armarx::HandUnit::startTare(const Ice::Current&)
{
    ARMARX_WARNING << "Taring is not supported by this hand.";
}
 
void
armarx::HandUnit::tare(const Ice::Current&)
{
    ARMARX_WARNING << "Taring is not supported by this hand.";
}
 
void
armarx::HandUnit::rebootEmbeddedSystem(const Ice::Current&)
{
    ARMARX_WARNING << "Resetting firmware is not supported by this hand.";
}