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/*
* Copyright 2011,
* Olivier Stasse,
*
* CNRS
*
* This file is part of sot-core.
* sot-core is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-core 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 Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-core. If not, see <http://www.gnu.org/licenses/>.
*/
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#include "sot_loader.hh"
// POSIX.1-2001
#include <dlfcn.h>
using namespace std;
using namespace dynamicgraph::sot;
namespace po = boost::program_options;
SotLoader::SotLoader():
sensorsIn_ (),
controlValues_ (),
angleEncoder_ (),
angleControl_ (),
forces_ (),
torques_ (),
baseAtt_ (),
accelerometer_ (3),
gyrometer_ (3)
{
}
int SotLoader::parseOptions(int argc, char *argv[])
{
po::options_description desc("Allowed options");
desc.add_options()
("help", "produce help message")
("input-file", po::value<string>(), "library to load")
;
po::store(po::parse_command_line(argc, argv, desc), vm_);
po::notify(vm_);
if (vm_.count("help")) {
cout << desc << "\n";
return -1;
}
if (!vm_.count("input-file")) {
cout << "No filename specified\n";
return -1;
}
else
dynamicLibraryName_= vm_["input-file"].as< string >();
Initialization();
return 0;
}
void SotLoader::Initialization()
{
// Load the SotRobotBipedController library.
void * SotRobotControllerLibrary = dlopen( dynamicLibraryName_.c_str(),
RTLD_LAZY | RTLD_LOCAL );
if (!SotRobotControllerLibrary) {
std::cerr << "Cannot load library: " << dlerror() << '\n';
return ;
}
// reset errors
dlerror();
// Load the symbols.
createSotExternalInterface_t * createSot =
(createSotExternalInterface_t *) dlsym(SotRobotControllerLibrary,
"createSotExternalInterface");
const char* dlsym_error = dlerror();
if (dlsym_error) {
std::cerr << "Cannot load symbol create: " << dlsym_error << '\n';
return ;
}
// Create robot-controller
sotController_ = createSot();
// std::string s="libsot-hrp2-14-controller.so";
// sotController_->Initialization(dynamicLibraryName_);
cout <<"Went out from Initialization." << endl;
}
void
SotLoader::fillSensors(map<string,dgs::SensorValues> & sensorsIn)
{
// Update joint values.w
sensorsIn["joints"].setName("angle");
for(unsigned int i=0;i<angleControl_.size();i++)
angleEncoder_[i] = angleControl_[i];
sensorsIn["joints"].setValues(angleEncoder_);
}
void
SotLoader::readControl(map<string,dgs::ControlValues> &controlValues)
{
//static unsigned int nbit=0;
// Update joint values.
angleControl_ = controlValues["joints"].getValues();
/*
if (nbit%100==0)
std::cout << "Size of angles: " << angleControl_.size()
<< " Size of mc->angle: " << mc->angle.length()
<< std::endl;
*/
/*
if (nbit%100==0)
std::cout << std::endl;
nbit++;
*/
}
void SotLoader::setup()
{
fillSensors(sensorsIn_);
sotController_->setupSetSensors(sensorsIn_);
sotController_->getControl(controlValues_);
readControl(controlValues_);
}
void SotLoader::oneIteration()
{
fillSensors(sensorsIn_);
try
{
sotController_->nominalSetSensors(sensorsIn_);
sotController_->getControl(controlValues_);
}
catch(std::exception &e) { throw e;}
readControl(controlValues_);
}