[PATCH] adaptation of the component for the new controldev library using vector with names Joystick works as 1D array of named vector using base types. 1D facilitates potential complex maneuver to command with a joystick with multiple sub-joystick/ It avoids sub-indexes with the need of two variables Mouse3d, Remote, SteeringWheel and Sliderbox tasks have been adapted but not tested.
Javier Hidalgo Carrio
javier.hidalgo_carrio at dfki.de
Thu Apr 10 11:49:56 CEST 2014
---
ControlDevTypes.hpp | 20 +++---
controldev.orogen | 1 -
tasks/GenericTask.cpp | 10 +--
tasks/JoystickTask.cpp | 154 ++++++++++++++++++++++++++-----------------
tasks/JoystickTask.hpp | 6 +-
tasks/Mouse3DTask.cpp | 19 +++---
tasks/Remote.cpp | 42 ++++++------
tasks/SliderboxTask.cpp | 7 +-
tasks/SteeringWheelTask.cpp | 21 +++---
9 files changed, 152 insertions(+), 128 deletions(-)
diff --git a/ControlDevTypes.hpp b/ControlDevTypes.hpp
index 8c69347..e73da70 100644
--- a/ControlDevTypes.hpp
+++ b/ControlDevTypes.hpp
@@ -2,6 +2,7 @@
#define CONTROLDEVTYPES_HPP
#include <base/actuators/commands.h>
+#include <base/NamedVector.hpp>
namespace controldev
{
@@ -35,24 +36,21 @@ namespace controldev
std::string deviceIdentifier;
/*
- * The Timesamp
+ * The time stamp
*/
base::Time time;
- /* Index 1: num-of input axis, //index 2: dimensions of this axis
- * If you have an gamepand which has 2 2Dknops you have an [2][2]
- * size'd array for an 3D Mouse you could have [1][6]
- */
- std::vector<std::vector<double> > axisValue;
+ /* Named vector for the axis */
+ base::NamedVector <double> axes;
/*
- * Switch/Key Values
+ * Named vector Switch/Key Values
* Three State switches are handles as two
- * Comment, this has to be handeld as an bool vecotr.
- * Sine bools are buggy in rock currently, workaround it with an uint8_t
- * vecotr. For more details see http://rock.opendfki.de/ticket/187
+ * Comment, this has to be handle as an boolean vector.
+ * Sine boolean are buggy in rock currently, workaround it with an uint8_t
+ * vector. For more details see http://rock.opendfki.de/ticket/187
*/
- std::vector<uint8_t> buttonValue;
+ base::NamedVector <int> buttons;
};
/** Data structure to send separate commands for each motor */
diff --git a/controldev.orogen b/controldev.orogen
index ab83a73..225e8a4 100644
--- a/controldev.orogen
+++ b/controldev.orogen
@@ -50,7 +50,6 @@ task_context "JoystickTask" do
property("device", "/std/string", "/dev/input/js0").
doc("Path to the joystick device")
- property("axisScaling","/std/vector<double>")
end
task_context "Mouse3DTask" do
diff --git a/tasks/GenericTask.cpp b/tasks/GenericTask.cpp
index 6922860..aa4e7fe 100644
--- a/tasks/GenericTask.cpp
+++ b/tasks/GenericTask.cpp
@@ -42,7 +42,7 @@ bool GenericTask::mapFromSliderbox(FourWheelCommand& cmd, RawCommand const& inpu
for (int i = 0; i < 7; i++)
{
// Reads the slider value from MIN to MAX and scales it to 0 to 1
- sliderValues[i] = (( input.axisValue[0][i]- SLIDER_MIN) / (SLIDER_MAX-SLIDER_MIN));
+ sliderValues[i] = (( input.axes.elements[i]- SLIDER_MIN) / (SLIDER_MAX-SLIDER_MIN));
// Rounds the data outside MIN and MAX
if (sliderValues[i] > 1.0)
@@ -52,7 +52,7 @@ bool GenericTask::mapFromSliderbox(FourWheelCommand& cmd, RawCommand const& inpu
}
/* OFF state */
- if (! input.buttonValue[3] )/* Button 4 */
+ if (! input.buttons.elements[3] )/* Button 4 */
{
cmd = FourWheelCommand();
return true;
@@ -64,7 +64,7 @@ bool GenericTask::mapFromSliderbox(FourWheelCommand& cmd, RawCommand const& inpu
for (int i=0;i<4;i++)
{
// Sets the mode based on status of Button 3
- if (input.buttonValue[2]) /* Button 3 */
+ if (input.buttons.elements[2]) /* Button 3 */
{
/* PWM Mode */
cmd.mode[i] = base::actuators::DM_PWM;
@@ -81,7 +81,7 @@ bool GenericTask::mapFromSliderbox(FourWheelCommand& cmd, RawCommand const& inpu
/* Sets the driving mode and calulates the individual velocities*/
/* Individual wheel and Master wheel set drive */
- if (input.buttonValue[1]) /* Button 2 */
+ if (input.buttons.elements[1]) /* Button 2 */
{
cmd.target[3] = 2 * (sliderValues[SLIDER_MASTER_VEL_LEFT] - 0.5)
@@ -137,7 +137,7 @@ bool GenericTask::mapFromSliderbox(FourWheelCommand& cmd, RawCommand const& inpu
}
- if (input.buttonValue[0]) /* Button 1 */
+ if (input.buttons.elements[0]) /* Button 1 */
cmd.sync = true;
else
cmd.sync = false;
diff --git a/tasks/JoystickTask.cpp b/tasks/JoystickTask.cpp
index e955255..b0eedd4 100644
--- a/tasks/JoystickTask.cpp
+++ b/tasks/JoystickTask.cpp
@@ -2,6 +2,7 @@
#include "JoystickTask.hpp"
#include <controldev/Joystick.hpp>
+#include <controldev/EvdevHelper.hpp>
#include <rtt/extras/FileDescriptorActivity.hpp>
using namespace controldev;
@@ -9,12 +10,6 @@ using namespace controldev;
JoystickTask::JoystickTask(std::string const& name)
: JoystickTaskBase(name), joystick(new controldev::Joystick())
{
- std::vector<double> v= _axisScale.get();
- v.resize(4);
- for(int i=0;i<4;i++){
- v[i] = 1.0;
- }
- _axisScale.set(v);
}
JoystickTask::JoystickTask(std::string const& name, RTT::ExecutionEngine* engine)
@@ -35,7 +30,7 @@ bool JoystickTask::configureHook()
{
if (! JoystickTaskBase::configureHook())
return false;
-
+
// Try to connect the Joystick
if (!joystick->init(_device.value()))
{
@@ -44,6 +39,15 @@ bool JoystickTask::configureHook()
return false;
}
+
+ /** Joystick information **/
+ this->axisCount = joystick->getNrAxis();
+ this->buttonCount = joystick->getNrButtons();
+
+ /** Get the configuration information. It requires a proper configuration **/
+ this->axisScale = _axisScale.get();
+ assert(axisScale.size() == static_cast<unsigned int> (this->axisCount));
+
return true;
}
@@ -51,94 +55,120 @@ bool JoystickTask::startHook()
{
if (! JoystickTaskBase::startHook())
return false;
-
+
RTT::extras::FileDescriptorActivity* activity =
getActivity<RTT::extras::FileDescriptorActivity>();
if (activity)
{
activity->watch(joystick->getFileDescriptor());
}
-
+
return true;
}
+void JoystickTask::updateHook()
+{
+ JoystickTaskBase::updateHook();
+
+ RawCommand rcmd;
+
+ if (!updateRawCommand(rcmd)) return;
+
+ sendMotionCommand2D(rcmd);
+}
+
+void JoystickTask::stopHook()
+{
+ RTT::extras::FileDescriptorActivity* activity =
+ getActivity<RTT::extras::FileDescriptorActivity>();
+ if(activity)
+ activity->clearAllWatches();
+
+ JoystickTaskBase::stopHook();
+}
bool JoystickTask::updateRawCommand(RawCommand& rcmd) {
- assert(_axisScale.get().size() == 4);
bool update = false;
- // New data available at the Joystick device
+
+ /** New data available at the Joystick device **/
while(this->joystick->updateState())
{
update = true;
}
-
-// if(!update)
-// return false;
-
+
+ /** Device name **/
rcmd.deviceIdentifier= this->joystick->getName();
-
- std::vector<double> axis;
- axis.push_back(this->joystick->getAxis(Joystick::AXIS_Forward)*_axisScale.get()[0]);
- axis.push_back(this->joystick->getAxis(Joystick::AXIS_Sideward)*_axisScale.get()[1]);
- axis.push_back(this->joystick->getAxis(Joystick::AXIS_Turn)*_axisScale.get()[2]);
-
- std::vector<double> axis2;
- axis2.push_back(this->joystick->getAxis(Joystick::AXIS_Slider)*_axisScale.get()[3]);
- rcmd.axisValue.push_back(axis);
- rcmd.axisValue.push_back(axis2);
-
- int buttonCount = this->joystick->getNrButtons();
-
- // Set button bit list
- for (int i = 0; i < buttonCount; i++)
+
+ /** Axis mapping **/
+ rcmd.axes.names = this->joystick->getMapAxis();
+ register size_t l = 0;
+ std::vector<double> axes_value = this->joystick->getAxes();
+ for(std::vector<double>::iterator it=axes_value.begin(); it!=axes_value.end(); ++it)
+ {
+ rcmd.axes.elements.push_back((*it)*axisScale[l]);
+ l++;
+ }
+
+ /** Buttons mapping **/
+ rcmd.buttons.names = this->joystick->getMapButtons();
+ std::vector<bool> buttons_value = this->joystick->getButtons();
+ for(std::vector<bool>::iterator it=buttons_value.begin(); it!=buttons_value.end(); ++it)
{
- rcmd.buttonValue.push_back(this->joystick->getButtonPressed(i));
+ rcmd.buttons.elements.push_back(static_cast<int>(*it));
}
-
+
+ /** Time stamp **/
+ rcmd.time = base::Time::now();
+
+ /** Write in the port **/
_raw_command.write(rcmd);
- return true;
+ return update;
}
-void JoystickTask::sendMotionCommand2D(const RawCommand& rcmd) {
+/** This is a simple/generic 2D command generator each subclass should have its own one **/
+void JoystickTask::sendMotionCommand2D(const RawCommand& rcmd)
+{
base::MotionCommand2D mcmd;
- if(rcmd.axisValue.size() != 2) return;
- if(rcmd.axisValue[0].size() != 3) return;
- if(rcmd.axisValue[1].size() != 1) return;
+ /** At least two axes to command a 2D motion **/
+ if(rcmd.axes.size() < 2) return;
+
+ /** Configuration values **/
float max_speed = _maxSpeed.get();
float min_speed = _minSpeed.get();
- float max_speed_ratio = (rcmd.axisValue[1][0] * min_speed) / (1.0 + min_speed);
float max_rotation_speed = _maxRotationSpeed.get();
- double x = rcmd.axisValue[0][0] * max_speed * max_speed_ratio;
- double y = rcmd.axisValue[0][1];
-
- mcmd.rotation = -fabs(y) * atan2(y, fabs(x)) / M_PI * max_rotation_speed;
- mcmd.translation = x;
-
- // Send motion command
- _motion_command.write(mcmd);
-}
-void JoystickTask::updateHook()
-{
- JoystickTaskBase::updateHook();
-
- RawCommand rcmd;
+ /** Speed ratio only it has a throttle absolute axis (ABS)**/
+ float max_speed_ratio;
+ try
+ {
+ /** In linux/input.h and used by the controldev library defines the ABS_THROTTLE **/
+ double throttle = rcmd.axes[abs2str(6)];
- if (!updateRawCommand(rcmd)) return;
+ /** Throttle between 0 and 1**/
+ max_speed_ratio = 0.5 + (throttle/2.0);
- sendMotionCommand2D(rcmd);
+ //What was max_speed ratio before ??
+ // max_speed_ratio = (rcmd.axes[abs2str(6)] * min_speed) / (1.0 + min_speed);
+ }
+ catch (const std::runtime_error& error)
+ {
+ /** TO-DO: perhaps write in the RTT log that there is not a throttle axis **/
+ max_speed_ratio = 1.0;
+ }
-}
+ /** Get the x-y information. TO-DO: it could also be accessed by name **/
+ double x = rcmd.axes[1] * max_speed * max_speed_ratio;
+ double y = rcmd.axes[0];
-void JoystickTask::stopHook()
-{
- RTT::extras::FileDescriptorActivity* activity =
- getActivity<RTT::extras::FileDescriptorActivity>();
- if(activity)
- activity->clearAllWatches();
+ /** Calculate the 2D command **/
+ mcmd.rotation = -fabs(y) * atan2(y, fabs(x)) / M_PI * max_rotation_speed;
+ mcmd.translation = x;
- JoystickTaskBase::stopHook();
+ /** Send motion command **/
+ _motion_command.write(mcmd);
}
+
+
diff --git a/tasks/JoystickTask.hpp b/tasks/JoystickTask.hpp
index 3602f0b..6ef9eca 100644
--- a/tasks/JoystickTask.hpp
+++ b/tasks/JoystickTask.hpp
@@ -7,12 +7,16 @@
namespace controldev {
class Joystick;
-
+
class JoystickTask : public JoystickTaskBase
{
friend class JoystickTaskBase;
protected:
Joystick *joystick;
+ int buttonCount, axisCount;
+
+ /** Configuration values **/
+ std::vector<double>axisScale;
virtual bool updateRawCommand(RawCommand& rcmd);
void sendMotionCommand2D(const RawCommand& rcmd);
diff --git a/tasks/Mouse3DTask.cpp b/tasks/Mouse3DTask.cpp
index f3e76bd..e535575 100644
--- a/tasks/Mouse3DTask.cpp
+++ b/tasks/Mouse3DTask.cpp
@@ -93,21 +93,20 @@ void Mouse3DTask::updateHook()
RawCommand rcmd;
rcmd.deviceIdentifier= "3DMouse";
- rcmd.axisValue.resize(1);
- rcmd.axisValue[0].resize(6);
+ rcmd.axes.elements.resize(6);
connexionValues values;
connexionValues rawValues;
interface->getValue(values,rawValues);
- rcmd.axisValue[0][0] = values.tx;
- rcmd.axisValue[0][1] = values.ty;
- rcmd.axisValue[0][2] = values.tz;
- rcmd.axisValue[0][3] = values.rx;
- rcmd.axisValue[0][4] = values.ry;
- rcmd.axisValue[0][5] = values.rz;
- rcmd.buttonValue.push_back(values.button1);
- rcmd.buttonValue.push_back(values.button2);
+ rcmd.axes.elements[0] = values.tx;
+ rcmd.axes.elements[1] = values.ty;
+ rcmd.axes.elements[2] = values.tz;
+ rcmd.axes.elements[3] = values.rx;
+ rcmd.axes.elements[4] = values.ry;
+ rcmd.axes.elements[5] = values.rz;
+ rcmd.buttons.elements.push_back(values.button1);
+ rcmd.buttons.elements.push_back(values.button2);
_raw_command.write(rcmd);
}
diff --git a/tasks/Remote.cpp b/tasks/Remote.cpp
index deaa387..79b9022 100644
--- a/tasks/Remote.cpp
+++ b/tasks/Remote.cpp
@@ -38,29 +38,26 @@ void Remote::updateHook()
rcmd.deviceIdentifier = "CAN-Joystick";
- rcmd.axisValue.resize(3);
- rcmd.axisValue[0].resize(3);
- rcmd.axisValue[1].resize(1);
- rcmd.axisValue[2].resize(2);
-
- rcmd.axisValue[0][1] = ((char)msg.data[0]) / 127.0;
- rcmd.axisValue[0][0] = ((char)msg.data[1]) / 127.0;
- rcmd.axisValue[0][2] = ((char)msg.data[2]) / 127.0;
- rcmd.axisValue[1][0] = -((char)msg.data[3]) / 127.0;
- rcmd.axisValue[2][0] = ((char)msg.data[4]) / 127.0;
- rcmd.axisValue[2][1] = ((char)msg.data[5]) / 127.0;
+ rcmd.axes.elements.resize(6);
+
+ rcmd.axes.elements[0] = ((char)msg.data[0]) / 127.0;
+ rcmd.axes.elements[1] = ((char)msg.data[1]) / 127.0;
+ rcmd.axes.elements[2] = ((char)msg.data[2]) / 127.0;
+ rcmd.axes.elements[3] = -((char)msg.data[3]) / 127.0;
+ rcmd.axes.elements[4] = ((char)msg.data[4]) / 127.0;
+ rcmd.axes.elements[5] = ((char)msg.data[5]) / 127.0;
for(int i=0;i<8;i++){
- rcmd.buttonValue.push_back(msg.data[6] &(1<<i));
+ rcmd.buttons.elements.push_back(msg.data[6] &(1<<i));
}
// [ticks/ms]
float max_speed = _maxSpeed.get();
float min_speed = _minSpeed.get();
- float max_speed_ratio = (rcmd.axisValue[1][0] + min_speed) / (1.0 + min_speed);
+ float max_speed_ratio = (rcmd.axes.elements[3] + min_speed) / (1.0 + min_speed);
float max_rotation_speed = _maxRotationSpeed.get();
- double x = rcmd.axisValue[0][0] * max_speed * max_speed_ratio;
- double y = rcmd.axisValue[0][1];
-
+ double x = rcmd.axes.elements[1] * max_speed * max_speed_ratio;
+ double y = rcmd.axes.elements[0];
+
mcmd.rotation = -fabs(y) * atan2(y, fabs(x)) / M_PI * max_rotation_speed;
mcmd.translation = x;
@@ -70,27 +67,26 @@ void Remote::updateHook()
{
// Send motion command
_motion_command.write(mcmd);
-
+
// Send raw command
_raw_command.write(rcmd);
}
while (_canSliderBox.read(msg) == RTT::NewData)
{
- rcmd.axisValue.clear();
- rcmd.buttonValue.clear();
+ rcmd.axes.elements.clear();
+ rcmd.buttons.elements.clear();
- rcmd.axisValue.push_back(std::vector<double>());
- rcmd.axisValue[0].resize(6);
+ rcmd.axes.elements.resize(6);
rcmd.deviceIdentifier = "CAN-Sliderbox";
for (int i = 0; i < 7; i++)
{
- rcmd.axisValue[0][i] = msg.data[i];
+ rcmd.axes.elements[i] = msg.data[i];
}
for(int i=0;i<8;i++){
- rcmd.buttonValue.push_back(msg.data[7] &(1<<i));
+ rcmd.buttons.elements.push_back(msg.data[7] &(1<<i));
}
FourWheelCommand wheel_command;
diff --git a/tasks/SliderboxTask.cpp b/tasks/SliderboxTask.cpp
index 4e4a3b7..502a2f7 100644
--- a/tasks/SliderboxTask.cpp
+++ b/tasks/SliderboxTask.cpp
@@ -76,17 +76,16 @@ void SliderboxTask::updateHook()
rcmd.deviceIdentifier = "Sliderbox";
- rcmd.axisValue.resize(1);
- rcmd.axisValue[0].resize(6);
+ rcmd.axes.elements.resize(6);
for (int i = 0; i < 7; i++)
{
- rcmd.axisValue[0][i] = this->sliderBox->getValue(i);
+ rcmd.axes.elements[i] = this->sliderBox->getValue(i);
}
for (int i = 0; i < 4; i++)
{
- rcmd.buttonValue.push_back(this->sliderBox->getButtonOn(i));
+ rcmd.buttons.elements.push_back(this->sliderBox->getButtonOn(i));
}
_raw_command.write(rcmd);
diff --git a/tasks/SteeringWheelTask.cpp b/tasks/SteeringWheelTask.cpp
index 0bf5087..20ab853 100644
--- a/tasks/SteeringWheelTask.cpp
+++ b/tasks/SteeringWheelTask.cpp
@@ -78,21 +78,20 @@ void SteeringWheelTask::updateHook()
rcmd.deviceIdentifier = steerControl->getName();
- rcmd.axisValue.resize(1);
- rcmd.axisValue[0].resize(5);
+ rcmd.axes.elements.resize(5);
- rcmd.axisValue[0][1] = steerControl->getAxis(LogitechG27::AXIS_Wheel);
- rcmd.axisValue[0][0] = steerControl->getAxis(LogitechG27::AXIS_Clutchdirupdown);
- rcmd.axisValue[0][2] = steerControl->getAxis(LogitechG27::AXIS_Clutchdirleftright);
- rcmd.axisValue[0][3] = steerControl->getAxis(LogitechG27::AXIS_Throttle);
- rcmd.axisValue[0][4] = steerControl->getAxis(LogitechG27::AXIS_Brake);
+ rcmd.axes.elements[1] = steerControl->getAxis(LogitechG27::AXIS_Wheel);
+ rcmd.axes.elements[0] = steerControl->getAxis(LogitechG27::AXIS_Clutchdirupdown);
+ rcmd.axes.elements[2] = steerControl->getAxis(LogitechG27::AXIS_Clutchdirleftright);
+ rcmd.axes.elements[3] = steerControl->getAxis(LogitechG27::AXIS_Throttle);
+ rcmd.axes.elements[4] = steerControl->getAxis(LogitechG27::AXIS_Brake);
float max_speed = _maxSpeed.get();
float min_speed = _minSpeed.get();
- float max_speed_ratio = (rcmd.axisValue[0][3] + min_speed) / (1.0 + min_speed);
+ float max_speed_ratio = (rcmd.axes.elements[3] + min_speed) / (1.0 + min_speed);
float max_rotation_speed = _maxRotationSpeed.get();
- double x = rcmd.axisValue[0][3] * max_speed;
- double y = rcmd.axisValue[0][1];
+ double x = rcmd.axes.elements[3] * max_speed;
+ double y = rcmd.axes.elements[1];
mcmd.rotation = y;
mcmd.translation = x;
@@ -105,7 +104,7 @@ void SteeringWheelTask::updateHook()
// Set button bit list
for (int i = 0; i < buttonCount; i++)
{
- rcmd.buttonValue.push_back(steerControl->getButtonPressed(i));
+ rcmd.buttons.elements.push_back(steerControl->getButtonPressed(i));
}
// Send raw command
--
1.7.9.5
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