WaitForForce.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, 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    RobotSkillTemplates::ForceControlGroup
 * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "WaitForForce.h"
 
#include <ArmarXCore/core/time/TimeUtil.h>
 
#include <RobotSkillTemplates/statecharts/ForceControlGroup/ForceControlGroupStatechartContext.generated.h>
 
using namespace armarx;
using namespace ForceControlGroup;
 
// DO NOT EDIT NEXT LINE
WaitForForce::SubClassRegistry WaitForForce::Registry(WaitForForce::GetName(),
                                                      &WaitForForce::CreateInstance);
 
WaitForForce::WaitForForce(XMLStateConstructorParams stateData) :
    XMLStateTemplate<WaitForForce>(stateData), WaitForForceGeneratedBase<WaitForForce>(stateData)
{
}
 
void
WaitForForce::onEnter()
{
    // put your user code for the enter-point here
    // execution time should be short (<100ms)
 
    TimeUtil::MSSleep(in.getDelay());
 
    ForceControlGroupStatechartContext* c = getContext<ForceControlGroupStatechartContext>();
    DatafieldRefBasePtr rawforce;
    DatafieldRefBasePtr rawtorque;
    DatafieldRefBasePtr force;
    DatafieldRefBasePtr torque;
    if (in.isObserverSensorChannelNameSet())
    {
        rawforce = c->getForceTorqueObserver()->getDataFieldRef(
            new DataFieldIdentifier(c->getForceTorqueObserver()->getObserverName(),
                                    in.getObserverSensorChannelName(),
                                    "forces"));
        rawtorque = c->getForceTorqueObserver()->getDataFieldRef(
            new DataFieldIdentifier(c->getForceTorqueObserver()->getObserverName(),
                                    in.getObserverSensorChannelName(),
                                    "torques"));
    }
    else if (in.isSensorNameSet())
    {
        std::string sensor = in.getSensorName();
 
        rawforce = c->getForceTorqueObserver()->getForceDatafield(sensor);
        rawtorque = c->getForceTorqueObserver()->getTorqueDatafield(sensor);
    }
 
    else
    {
        throw LocalException() << "Either SensorName or ObserverSensorChannelName must be set!";
    }
    force = c->getForceTorqueObserver()->createNulledDatafield(rawforce);
    torque = c->getForceTorqueObserver()->createNulledDatafield(rawtorque);
 
    local.setforceRef(DatafieldRefPtr::dynamicCast(force));
    local.settorqueRef(DatafieldRefPtr::dynamicCast(torque));
    ARMARX_IMPORTANT << "Installing force torque condition: force threshold: "
                     << in.getForceMagnitudeThreshold()
                     << " torque threshold: " << in.getTorqueMagnitudeThreshold();
    Literal literalForce(
        force, "magnitudelarger", Literal::createParameterList(in.getForceMagnitudeThreshold()));
    Literal literalTorque(
        torque, "magnitudelarger", Literal::createParameterList(in.getTorqueMagnitudeThreshold()));
    installConditionForForceTorqueThresholdReached(literalForce || literalTorque);
}
 
void
WaitForForce::run()
{
    while (!isRunningTaskStopped())
    {
        ARMARX_INFO << deactivateSpam(0.5) << "Current force value: "
                    << local.getforceRef()->getDataField()->get<FramedDirection>()->toEigen().norm()
                    << " threshold: " << in.getForceMagnitudeThreshold();
        TimeUtil::MSSleep(100);
    }
}
 
void
WaitForForce::onExit()
{
    // put your user code for the exit point here
    // execution time should be short (<100ms)
    ForceControlGroupStatechartContext* c = getContext<ForceControlGroupStatechartContext>();
    ARMARX_INFO << deactivateSpam(0.5) << "Final force value: "
                << local.getforceRef()->getDataField()->get<FramedDirection>()->toEigen().norm()
                << " threshold: " << in.getForceMagnitudeThreshold();
 
    c->getForceTorqueObserver()->removeFilteredDatafield(local.getforceRef());
    c->getForceTorqueObserver()->removeFilteredDatafield(local.gettorqueRef());
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
WaitForForce::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new WaitForForce(stateData));
}