HeeroYui-deprecated/nao_dcm
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[DEV] update new ETK

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This commit is contained in:
Edouard DUPIN 2017-10-09 10:25:41 +02:00
parent be2137f13c
commit ec8f53cfcc
5 changed files with 34 additions and 34 deletions
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4
nao_dcm_apps/nao_dcm_camera/include/nao_dcm_camera/nao_camera.h
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@ -49,7 +49,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
#include <dynamic_reconfigure/server.h>
#include <nao_dcm_camera/NaoDCMCameraConfig.h>
using std::string;
using etk::String;
using std::cerr;
using std::endl;
@ -92,7 +92,7 @@ private:
AL::ALVideoDeviceProxy video_proxy_;
public:
// Constructor/Destructor
NaoCamera(boost::shared_ptr<AL::ALBroker> broker, const std::string& name);
NaoCamera(boost::shared_ptr<AL::ALBroker> broker, const etk::String& name);
~NaoCamera();
bool initialize();

2
nao_dcm_apps/nao_dcm_camera/src/nao_camera.cpp
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@ -23,7 +23,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
#include <iostream>
#include "nao_dcm_camera/nao_camera.h"
using std::vector;
using etk::Vector;
NaoCamera::NaoCamera(boost::shared_ptr<AL::ALBroker> broker, const string &name)
: AL::ALModule(broker,name),is_connected_(false),reconfiguring_(false)

34
nao_dcm_robot/nao_dcm_driver/include/nao_dcm_driver/nao.h
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@ -61,8 +61,8 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
#include <diagnostic_updater/diagnostic_updater.h>
using std::string;
using std::vector;
using etk::String;
using etk::Vector;
namespace AL
{
@ -131,36 +131,36 @@ private:
AL::DCMProxy dcm_proxy_;
// IMU
vector<string> imu_names_;
vector<etk/String.hpp> imu_names_;
// Sonars
vector<string> sonar_names_;
vector<etk/String.hpp> sonar_names_;
// FSRs
vector<string> fsr_names_;
vector<etk/String.hpp> fsr_names_;
// Tactile
vector<string> tactile_names_;
vector<etk/String.hpp> tactile_names_;
// Bumper
vector<string> bumper_names_;
vector<etk/String.hpp> bumper_names_;
// Joints
vector<string> joints_names_;
vector<string> joint_temperature_names_;
vector<etk/String.hpp> joints_names_;
vector<etk/String.hpp> joint_temperature_names_;
// Battery
vector<string> battery_names_;
vector<etk/String.hpp> battery_names_;
// LEDs
vector<string> led_names_;
vector<etk/String.hpp> led_names_;
// Joint States
hardware_interface::JointStateInterface jnt_state_interface_;
hardware_interface::PositionJointInterface jnt_pos_interface_;
int number_of_joints_;
vector<string> joint_names_;
vector<etk/String.hpp> joint_names_;
vector<double> joint_commands_;
vector<double> joint_angles_;
vector<double> joint_velocities_;
vector<double> joint_efforts_;
public:
// Constructor/Destructor
Nao(boost::shared_ptr<AL::ALBroker> broker, const std::string& name);
Nao(boost::shared_ptr<AL::ALBroker> broker, const etk::String& name);
~Nao();
bool initialize();
@ -188,10 +188,10 @@ public:
// ALMemoryProxy Wrapper Methods
void insertDataToMemory(const string& key, const AL::ALValue& value);
AL::ALValue getDataFromMemory(const string& key);
void subscribeToEvent(const std::string& name, const std::string& callback_module,
const std::string& callback_method);
void subscribeToMicroEvent(const std::string& name, const std::string& callback_module,
const std::string& callback_method, const string& callback_message="");
void subscribeToEvent(const etk::String& name, const etk::String& callback_module,
const etk::String& callback_method);
void subscribeToMicroEvent(const etk::String& name, const etk::String& callback_module,
const etk::String& callback_method, const string& callback_message="");
void unsubscribeFromEvent(const string& name, const string& callback_module);
void unsubscribeFromMicroEvent(const string& name, const string& callback_module);
void raiseEvent(const string& name, const AL::ALValue& value);

26
nao_dcm_robot/nao_dcm_driver/src/nao.cpp
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@ -53,7 +53,7 @@ bool Nao::initialize()
"Device/SubDeviceList/InertialSensor/AccelerometerX/Sensor/Value",
"Device/SubDeviceList/InertialSensor/AccelerometerY/Sensor/Value",
"Device/SubDeviceList/InertialSensor/AccelerometerZ/Sensor/Value"};
imu_names_ = vector<string>(imu, end(imu));
imu_names_ = vector<etk/String.hpp>(imu, end(imu));
// Sonar Memory Keys
const char* sonar[] = {"Device/SubDeviceList/US/Left/Sensor/Value",
@ -76,7 +76,7 @@ bool Nao::initialize()
"Device/SubDeviceList/US/Right/Sensor/Value7",
"Device/SubDeviceList/US/Right/Sensor/Value8",
"Device/SubDeviceList/US/Right/Sensor/Value9"};
sonar_names_ = vector<string>(sonar, end(sonar));
sonar_names_ = vector<etk/String.hpp>(sonar, end(sonar));
// Foot Contact Memory Keys
const char* fsr[] = {"Device/SubDeviceList/LFoot/FSR/FrontLeft/Sensor/Value",
@ -93,7 +93,7 @@ bool Nao::initialize()
"Device/SubDeviceList/LFoot/FSR/CenterOfPressure/Y/Sensor/Value",
"Device/SubDeviceList/RFoot/FSR/CenterOfPressure/X/Sensor/Value",
"Device/SubDeviceList/RFoot/FSR/CenterOfPressure/Y/Sensor/Value"};
fsr_names_ = vector<string>(fsr, end(fsr));
fsr_names_ = vector<etk/String.hpp>(fsr, end(fsr));
// Tactile Memory Keys
const char* tactile[] = {"Device/SubDeviceList/Head/Touch/Front/Sensor/Value",
@ -105,19 +105,19 @@ bool Nao::initialize()
"Device/SubDeviceList/RHand/Touch/Back/Sensor/Value",
"Device/SubDeviceList/RHand/Touch/Left/Sensor/Value",
"Device/SubDeviceList/RHand/Touch/Right/Sensor/Value"};
tactile_names_ = vector<string>(tactile, end(tactile));
tactile_names_ = vector<etk/String.hpp>(tactile, end(tactile));
// Bumper Memory Keys
const char* bumper[] = {"Device/SubDeviceList/LFoot/Bumper/Left/Sensor/Value",
"Device/SubDeviceList/LFoot/Bumper/Right/Sensor/Value",
"Device/SubDeviceList/RFoot/Bumper/Left/Sensor/Value",
"Device/SubDeviceList/RFoot/Bumper/Right/Sensor/Value"};
bumper_names_ = vector<string>(bumper, end(bumper));
bumper_names_ = vector<etk/String.hpp>(bumper, end(bumper));
// Battery Memory Keys
const char* battery[] = {"Device/SubDeviceList/Battery/Charge/Sensor/Value",
"Device/SubDeviceList/Battery/Temperature/Sensor/Value"};
battery_names_ = vector<string>(battery, end(battery));
battery_names_ = vector<etk/String.hpp>(battery, end(battery));
// LED Memory Keys
const char* led[] = {"Device/SubDeviceList/ChestBoard/Led/Blue/Actuator/Value",
@ -209,7 +209,7 @@ bool Nao::initialize()
"Device/SubDeviceList/RFoot/Led/Blue/Actuator/Value",
"Device/SubDeviceList/RFoot/Led/Green/Actuator/Value",
"Device/SubDeviceList/RFoot/Led/Red/Actuator/Value"};
led_names_ = vector<string>(led, end(led));
led_names_ = vector<etk/String.hpp>(led, end(led));
// Joints Initialization
const char* joint[] = {"HeadYaw",
@ -238,9 +238,9 @@ bool Nao::initialize()
"RKneePitch",
"RAnklePitch",
"RAnkleRoll"};
joint_names_ = vector<string>(joint, end(joint));
joint_names_ = vector<etk/String.hpp>(joint, end(joint));
for(vector<string>::iterator it=joint_names_.begin();it!=joint_names_.end();it++)
for(vector<etk/String.hpp>::iterator it=joint_names_.begin();it!=joint_names_.end();it++)
{
if((*it=="RHand" || *it=="LHand" || *it == "RWristYaw" || *it == "LWristYaw") && (body_type_ == "H21"))
{
@ -248,10 +248,10 @@ bool Nao::initialize()
it--;
continue;
}
joints_names_.push_back("Device/SubDeviceList/"+(*it)+"/Position/Sensor/Value");
joints_names_.pushBack("Device/SubDeviceList/"+(*it)+"/Position/Sensor/Value");
if(*it!="RHipYawPitch")
{
joint_temperature_names_.push_back("Device/SubDeviceList/"+(*it)+"/Temperature/Sensor/Value");
joint_temperature_names_.pushBack("Device/SubDeviceList/"+(*it)+"/Temperature/Sensor/Value");
}
}
number_of_joints_ = joint_names_.size();
@ -847,7 +847,7 @@ void Nao::publishBaseFootprint(const ros::Time &ts)
}
tf::Vector3 new_origin = (tf_odom_to_right_foot.getOrigin() + tf_odom_to_left_foot.getOrigin())/2.0;
double height = std::min(tf_odom_to_left_foot.getOrigin().getZ(), tf_odom_to_right_foot.getOrigin().getZ());
double height = etk::min(tf_odom_to_left_foot.getOrigin().getZ(), tf_odom_to_right_foot.getOrigin().getZ());
new_origin.setZ(height);
double roll, pitch, yaw;
@ -1115,7 +1115,7 @@ void Nao::checkBattery(diagnostic_updater::DiagnosticStatusWrapper &stat)
return;
}
int status = 0;
string message = "Battery: "+boost::lexical_cast<string>(float(batt[0])*100.0f)+"\% charged! ";
string message = "Battery: "+boost::lexical_cast<etk/String.hpp>(float(batt[0])*100.0f)+"\% charged! ";
if(float(batt[0])*100.0f<50.0f)
status = 1;
else if(float(batt[0])*100.0f<20.0f)

2
nao_dcm_robot/nao_dcm_driver/src/nao_driver.cpp
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@ -25,7 +25,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
#include <alcommon/albroker.h>
#include <alcommon/albrokermanager.h>
using std::string;
using etk::String;
using std::cerr;
using std::endl;