iCub-main
fakeMotorDeviceClient.cpp
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1 /*
2  * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
3  * Author: Ugo Pattacini
4  * email: ugo.pattacini@iit.it
5  * Permission is granted to copy, distribute, and/or modify this program
6  * under the terms of the GNU General Public License, version 2 or any
7  * later version published by the Free Software Foundation.
8  *
9  * A copy of the license can be found at
10  * http://www.robotcub.org/icub/license/gpl.txt
11  *
12  * This program is distributed in the hope that it will be useful, but
13  * WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
15  * Public License for more details
16 */
17 
19 
20 #include <string>
21 #include <stdio.h>
22 
23 using namespace std;
24 using namespace yarp::os;
25 using namespace yarp::dev;
26 using namespace yarp::sig;
27 
28 /**********************************************************/
30 {
31  configured=false;
32  statePort.setOwner(this);
33 }
34 
35 /**********************************************************/
36 bool fakeMotorDeviceClient::open(Searchable &config)
37 {
38  printf("Opening Fake Motor Device Client ...\n");
39 
40  string remote=config.check("remote",Value("/fakeyServer")).asString();
41  string local=config.check("local",Value("/fakeyClient")).asString();
42 
43  statePort.open(local+"/state:i");
44  cmdPort.open(local+"/cmd:o");
45  rpcPort.open(local+"/rpc");
46 
47  bool ok=true;
48  ok&=Network::connect(remote+"/state:o",statePort.getName(),"udp");
49  ok&=Network::connect(cmdPort.getName(),remote+"/cmd:i","udp");
50  ok&=Network::connect(rpcPort.getName(),remote+"/rpc","tcp");
51 
52  if (ok)
53  {
54  configured=true;
55 
56  printf("Fake Motor Device Client successfully open\n");
57  return true;
58  }
59  else
60  {
61  statePort.close();
62  cmdPort.close();
63  rpcPort.close();
64 
65  printf("Fake Motor Device Client failed to open\n");
66  return false;
67  }
68 }
69 
70 /**********************************************************/
72 {
73  printf("Closing Fake Motor Device Client ...\n");
74 
75  statePort.interrupt();
76  cmdPort.interrupt();
77  rpcPort.interrupt();
78 
79  statePort.close();
80  cmdPort.close();
81  rpcPort.close();
82 
83  configured=false;
84 
85  printf("Fake Motor Device Client successfully closed\n");
86  return true;
87 }
88 
89 /**********************************************************/
90 bool fakeMotorDeviceClient::getLimits(int axis, double *min, double *max)
91 {
92  if (!configured || (min==NULL) || (max==NULL))
93  return false;
94 
95  Bottle cmd,reply;
96  cmd.addVocab32("lim");
97  cmd.addVocab32("get");
98  cmd.addInt32(axis);
99  if (rpcPort.write(cmd,reply))
100  {
101  *min=reply.get(1).asFloat64();
102  *max=reply.get(2).asFloat64();
103 
104  return true;
105  }
106  else
107  return false;
108 }
109 
110 /**********************************************************/
112 {
113  if (!configured || (ax==NULL))
114  return false;
115 
116  Bottle cmd,reply;
117  cmd.addVocab32("enc");
118  cmd.addVocab32("axes");
119  if (rpcPort.write(cmd,reply))
120  {
121  *ax=reply.get(1).asInt32();
122  return true;
123  }
124  else
125  return false;
126 }
127 
128 /**********************************************************/
130 {
131  if (!configured || (encs==NULL))
132  return false;
133 
134  lock_guard<mutex> lg(mtx);
135  for (size_t i=0; i<this->encs.length(); i++)
136  encs[i]=this->encs[i];
137 
138  return true;
139 }
140 
141 /**********************************************************/
143 {
144  if (!configured)
145  return false;
146 
147  Bottle cmd,reply;
148  cmd.addVocab32("vel");
149  cmd.addVocab32("move");
150  cmd.addInt32(j);
151  cmd.addFloat64(sp);
152  if (rpcPort.write(cmd,reply))
153  return true;
154  else
155  return false;
156 }
157 
158 /**********************************************************/
160 {
161  if (!configured)
162  return false;
163 
164  Bottle cmd,reply;
165  cmd.addVocab32("vel");
166  cmd.addVocab32("acc");
167  cmd.addInt32(j);
168  cmd.addFloat64(acc);
169  if (rpcPort.write(cmd,reply))
170  return true;
171  else
172  return false;
173 }
174 
175 /**********************************************************/
177 {
178  if (!configured)
179  return false;
180 
181  Bottle cmd,reply;
182  cmd.addVocab32("vel");
183  cmd.addVocab32("stop");
184  cmd.addInt32(j);
185  if (rpcPort.write(cmd,reply))
186  return true;
187  else
188  return false;
189 }
190 
191 
192 
fakeMotorDeviceClient::setRefAcceleration
bool setRefAcceleration(int j, double acc)
Definition: fakeMotorDeviceClient.cpp:159
cmd
cmd
Definition: dataTypes.h:30
fakeMotorDeviceClient::getEncoders
bool getEncoders(double *encs)
Definition: fakeMotorDeviceClient.cpp:129
strain::dsp::fsc::min
const FSC min
Definition: strain.h:49
yarp::dev
Definition: DebugInterfaces.h:52
strain::dsp::fsc::max
const FSC max
Definition: strain.h:48
fakeMotorDeviceClient::open
bool open(yarp::os::Searchable &config)
Definition: fakeMotorDeviceClient.cpp:36
fakeMotorDeviceClient::getAxes
bool getAxes(int *ax)
Definition: fakeMotorDeviceClient.cpp:111
state::ok
@ ok
fakeMotorDeviceClient::getLimits
bool getLimits(int axis, double *min, double *max)
Definition: fakeMotorDeviceClient.cpp:90
fakeMotorDeviceClient::velocityMove
bool velocityMove(int j, double sp)
Definition: fakeMotorDeviceClient.cpp:142
fakeMotorDeviceClient::stop
bool stop()
Definition: fakeMotorDeviceComponents.h:212
fakeMotorDeviceClient::close
bool close()
Definition: fakeMotorDeviceClient.cpp:71
fakeMotorDeviceComponents.h
python-motor-control.encs
encs
Definition: python-motor-control.py:36
acc
_3f_vect_t acc
Definition: dataTypes.h:3
fakeMotorDeviceClient::fakeMotorDeviceClient
fakeMotorDeviceClient()
Definition: fakeMotorDeviceClient.cpp:29