kni_test.cpp

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/**********************************************************************************
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005-2009 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *   This program is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation; either version 2 of the License, or
 *   (at your option) any later version.
 *   This program 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, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 **********************************************************************************/

// test.cpp
// test program for KNI libraries

#include "kniBase.h"
#include <iostream>
#include <cstdio>
#include <memory>
#include <vector>
#include <fstream>
#define LEFT false
#define RIGHT true

const double PI = 3.14159265358979323846;

struct TPoint {
        double X, Y, Z;
        double phi, theta, psi;
};

struct TCurrentMot {
        int idx;
        bool running;
        bool dir;
};

struct Tpos{
        static std::vector<int> x,y,z,u,v,w;
        static const int xArr[], yArr[], zArr[], uArr[], vArr[], wArr[];
};

//Katana obj.
std::unique_ptr<CLMBase> katana;

int main(int argc, char *argv[]) {

        if (argc != 3) {
                std::cout << "---------------------------------\n";
                std::cout << "usage for socket connection: kni_test CONFIGFILE IP_ADDR\n";
                std::cout << "---------------------------------\n";
                return 0;
        }

        std::cout << "-----------------\n";
        std::cout << "KNI_TEST DEMO STARTED\n";
        std::cout << "-----------------\n";

        //----------------------------------------------------------------//
        //open device:
        //----------------------------------------------------------------//

                
        std::unique_ptr<CCdlSocket> device;
        std::unique_ptr<CCplSerialCRC> protocol;

        try {

                int port = 5566;
                device.reset(new CCdlSocket(argv[2], port));

                std::cout << "-------------------------------------------\n";
                std::cout << "success:  port " << port << " open\n";
                std::cout << "-------------------------------------------\n";

                //--------------------------------------------------------//
                //init protocol:
                //--------------------------------------------------------//

                protocol.reset(new CCplSerialCRC());
                std::cout << "-------------------------------------------\n";
                std::cout << "success: protocol class instantiated\n";
                std::cout << "-------------------------------------------\n";
                protocol->init(device.get()); //fails if no response from Katana
                std::cout << "-------------------------------------------\n";
                std::cout << "success: communication with Katana initialized\n";
                std::cout << "-------------------------------------------\n";


                //--------------------------------------------------------//
                //init robot:
                //--------------------------------------------------------//
                katana.reset(new CLMBase());
                katana->create(argv[1], protocol.get());


        } catch(Exception &e) {
                std::cout << "ERROR: " << e.message() << std::endl;
                return -1;
        }
        std::cout << "-------------------------------------------\n";
        std::cout << "success: katana initialized\n";
        std::cout << "-------------------------------------------\n";

        //set linear velocity to 60
        katana->setMaximumLinearVelocity(60);
        
        // declare information variables
        int nOfMot = katana->getNumberOfMotors(); // number of motors
        int controller; // controller type: 0 for position, 1 for current
        const char* model; // katana model name
        std::vector<TPoint> points(0); // list of points used for motion
        
        // declare temporary variables
        std::vector<int> encoders(nOfMot, 0);
        std::vector<double> pose(6, 0.0);
        TCurrentMot mot[6];
        for (int i = 0; i< 6; i++){
                mot[i].running = false;
                mot[i].idx = i;
                mot[i].dir = RIGHT;
        }
        int tmp_int;
        
        // calibration
        std::cout << "- Calibrating Katana, please wait for termination..." << std::endl;
        katana->calibrate();
        std::cout << "   ...done." << std::endl;
        
        // get controller information
        std::cout << "- Check if Katana has position or current controllers..." << std::endl;
        controller = katana->getCurrentControllerType(1);
        for(short motorNumber = 1; motorNumber < nOfMot; ++motorNumber) {
                tmp_int = katana->getCurrentControllerType(motorNumber+1);
                if (tmp_int != controller) {
                        std::cout << "*** ERROR: Katana has mixed controller types on its axes! ***" << std::endl;
                        return 1;
                }
        }
        std::cout << "   Katana has all ";
        controller == 0 ? std::cout << "position" : std::cout << "current";
        std::cout << " controllers." << std::endl;
        std::cout << "   ...done." << std::endl;
        
        // read current force if current controller installed
        if (controller == 1) {
                std::cout << "- Read forces..." << std::endl;
                for (short motorNumber = 0; motorNumber < nOfMot; ++motorNumber) {
                        std::cout << "   Motor " << (motorNumber+1) << ": " << katana->getForce(motorNumber+1) << std::endl;
                }
                std::cout << "   ...done." << std::endl;
        }
        
        // get Katana model name
        std::cout << "- Get Katana model name..." << std ::endl;
        model = katana->GetBase()->GetGNL()->modelName;
        std::cout << "   " << model << std::endl;
        std::cout << "   ...done." << std::endl;
        
        // switch motors off
        std::cout << "- Switch robot off..." << std ::endl;
        katana->switchRobotOff();
        std::cout << "   Robot off" << std::endl;
        std::cout << "   ...done." << std::endl;
        
        // get robot encoders
        std::cout << "- Read robot encoders..." << std ::endl;
        std::cout << "   Encoder values:";
        katana->getRobotEncoders(encoders.begin(), encoders.end());
        for (std::vector<int>::iterator i= encoders.begin(); i != encoders.end(); ++i) {
                std::cout << " " << *i;
        }
        std::cout << std::endl;
        std::cout << "   ...done." << std::endl;
        
        // switch motors on
        std::cout << "- Switch motors on..." << std ::endl;
        for (short motorNumber = 0; motorNumber < nOfMot; ++motorNumber) {
                katana->switchMotorOn((short)motorNumber);
                std::cout << "   Motor " << (motorNumber+1) << " on" << std::endl;
        }
        std::cout << "   ...done." << std::endl;

        // move single axes (inc, dec, mov, incDegrees, decDegrees, movDegrees, moveMotorByEnc, moveMotorBy, moveMotorToEnc, moveMotorTo)
        std::cout << "- Move single axes..." << std ::endl;
        katana->dec(0, 10000, true);
        std::cout << "   Motor 1 decreased by 10000 encoders" << std::endl;
        katana->inc(1, 10000, true);
        std::cout << "   Motor 2 increased by 10000 encoders" << std::endl;
        katana->decDegrees(2, 70, true);
        std::cout << "   Motor 3 decreased by 70 degrees" << std::endl;
        katana->mov(3, 20000, true);
        std::cout << "   " << "Motor 4 moved to encoder position 20000" << std::endl;
        katana->movDegrees(4, 90, true);
        std::cout << "   Motor 5 moved to position 90 degrees" << std::endl;
        katana->incDegrees(5, -35, true);
        std::cout << "   Motor 6 increased by -35 degrees" << std::endl;
        katana->moveMotorBy(0, 0.2, true);
        std::cout << "   Motor 1 moved by 0.2 rad" << std::endl;
        katana->moveMotorByEnc(1, -5000, true);
        std::cout << "   Motor 2 moved by -5000 encoders" << std::endl;
        katana->moveMotorTo(2, 3.1, true);
        std::cout << "   Motor 3 moved to 3.1 rad" << std::endl;
        katana->moveMotorToEnc(3, 10000, true);
        std::cout << "   Motor 4 moved to 10000 encoders" << std::endl;
        std::cout << "   ...done." << std::endl;
        
        // move all axes (moveRobotToEnc)
        std::cout << "- Move all axes..." << std ::endl;
        for (short motorNumber = 0; motorNumber < nOfMot; ++motorNumber) {
                encoders[motorNumber] = 30500;
                if (motorNumber == 1 || motorNumber == 2)
                        encoders[motorNumber] = -30500;
        }
        katana->moveRobotToEnc(encoders, true);
        std::cout << "   Robot moved to encoder position 30500 -30500 -30500 30500 30500 30500" << std::endl;
        std::cout << "   ...done." << std::endl;
        
        // get coordinates
        std::cout << "- Get coordinates..." << std ::endl;
        {
                double x, y, z, phi, theta, psi;
                katana->getCoordinates(x, y, z, phi, theta, psi);
                std::cout << "   Current coordinates: " << x << " " << y << " " << z << " " << phi << " " << theta << " " << psi << std::endl;
        }
        std::cout << "   ...done." << std::endl;
        
        // get coordinates from given encoders
        std::cout << "- Get coordinates from given encoders..." << std ::endl;
        {
                encoders[0] = encoders[3] = encoders[4] = encoders[5] = 25000;
                encoders[1] = encoders[2] = -25000;
                katana->getCoordinatesFromEncoders(pose, encoders);
                std::cout << "   Encoders: 25000 -25000 -25000 25000 25000 25000" << std::endl;
                std::cout << "   Coordinates: " << pose[0] << " " << pose[1] << " " << pose[2] << " " << pose[3] << " " << pose[4] << " " << pose[5] << std::endl;
        }
        std::cout << "   ...done." << std::endl;
        
        // calculate inverse kinematics
        std::cout << "- Calculate inverse kinematics..." << std ::endl;
        {
                katana->IKCalculate(pose[0], pose[1], pose[2], pose[3], pose[4], pose[5], encoders.begin());
                std::cout << "   encoders.size(): " << encoders.size() << std::endl;
                std::cout << "   Possible encoders: " << encoders[0] << " " << encoders[1] << " " << encoders[2] << " " << encoders[3] << " " << encoders[4] << " " << encoders[5] << std::endl;
        }
        std::cout << "   ...done." << std::endl;
        
        // move robot to pose
        std::cout << "- Move robot to pose..." << std ::endl;
        katana->moveRobotTo(pose, true);
        std::cout << "   Coordinates: " << pose[0] << " " << pose[1] << " " << pose[2] << " " << pose[3] << " " << pose[4] << " " << pose[5] << std::endl;
        std::cout << "   ...done." << std::endl;
        
        // load points file
        {
                using namespace std;
                cout << "- Load points file..." << endl;
                ifstream listfile(model);
                if(!listfile) {
                        cout << "*** ERROR: File '" << model << "' not found or access denied! ***" << endl;
                        return 1;
                }
                string line;
                vector<string> tokens;
                const string delimiter = ",";
                int lines = 0;
                while(!listfile.eof()) {
                        listfile >> line;
                        string::size_type lastPos = line.find_first_not_of(delimiter, 0);
                        string::size_type pos     = line.find_first_of(delimiter, lastPos);
                        while (string::npos != pos || string::npos != lastPos) {
                                // Found a token, add it to the vector.
                                tokens.push_back(line.substr(lastPos, pos - lastPos));
                                // Skip delimiters.  Note the "not_of"
                                lastPos = line.find_first_not_of(delimiter, pos);
                                // Find next "non-delimiter"
                                pos = line.find_first_of(delimiter, lastPos);
                        }
                        TPoint point;
                        point.X = atof((tokens.at(0)).data());
                        point.Y = atof((tokens.at(1)).data());
                        point.Z = atof((tokens.at(2)).data());
                        point.phi = atof((tokens.at(3)).data());
                        point.theta = atof((tokens.at(4)).data());
                        point.psi = atof((tokens.at(5)).data());
                        points.push_back( point );
                        ++lines;
                        tokens.clear();
                }
                cout << "   " << lines << " points loaded." << endl;
                cout << "   ...done." << endl;
        }
        
        // move to point in list
        std::cout << "- Move in point list..." << std ::endl;
        {
                int i, j;
                bool wait;
                std::cout << "   Single p2p movements..." << std::flush;
                for (i = 0; i < (int)points.size(); ++i) {
                        katana->moveRobotTo(points[i].X, points[i].Y, points[i].Z, points[i].phi, points[i].theta, points[i].psi);
                }
                std::cout << " ...done." << std::endl;
                std::cout << "   Single linear movements..." << std::flush;
                for (i = 0; i < (int)points.size(); ++i) {
                        katana->moveRobotLinearTo(points[i].X, points[i].Y, points[i].Z, points[i].phi, points[i].theta, points[i].psi);
                }
                std::cout << " ...done." << std::endl;
                std::cout << "   Concatenated p2p movements..." << std::flush;
                for (i = 0; i < (int)points.size(); ++i) {
                        j = (i + points.size() - 1) % points.size();
                        wait = false;
                        if (i == ((int)points.size()-1)) wait = true;
                        katana->movP2P(points[j].X, points[j].Y, points[j].Z, points[j].phi, points[j].theta, points[j].psi, points[i].X, points[i].Y, points[i].Z, points[i].phi, points[i].theta, points[i].psi, true, 70.0, wait);
                }
                std::cout << " ...done." << std::endl;
                std::cout << "   Concatenated linear movements..." << std::flush;
                for (i = 0; i < (int)points.size(); ++i) {
                        j = (i + points.size() - 1) % points.size();
                        wait = false;
                        if (i == ((int)points.size()-1)) wait = true;
                        katana->movLM2P(points[j].X, points[j].Y, points[j].Z, points[j].phi, points[j].theta, points[j].psi, points[i].X, points[i].Y, points[i].Z, points[i].phi, points[i].theta, points[i].psi, true, 100.0, wait);
                }
                std::cout << " ...done." << std::endl;
        }
        std::cout << "   ...done." << std::endl;
        
        // move all axes (moveRobotToEnc)
        std::cout << "- Move all axes..." << std ::endl;
        for (short motorNumber = 0; motorNumber < nOfMot; ++motorNumber) {
                encoders[motorNumber] = 30500;
                if (motorNumber == 1 || motorNumber == 2)
                        encoders[motorNumber] = -30500;
        }
        katana->moveRobotToEnc(encoders, true);
        std::cout << "   Robot moved to encoder position 30500 -30500 -30500 30500 30500 30500" << std::endl;
        std::cout << "   ...done." << std::endl;
        
        return 0;
}