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+ + + + + + + + + 1.91765e-9 0 -0.0254 3.72529e-9 0 0.0254 0 0 0.0254 0 1.91765e-9 -3.72529e-9 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/drivers/gazeboserver/models/formula1/model.config b/src/drivers/gazeboserver/models/formula1/model.config new file mode 100644 index 000000000..e1477fb64 --- /dev/null +++ b/src/drivers/gazeboserver/models/formula1/model.config @@ -0,0 +1,16 @@ + + + + Formula1 + 1.0 + model.sdf + + + Andres Hernandez + andresjhe@gmail.com + + + + A description of the model + + diff --git a/src/drivers/gazeboserver/models/formula1/model.sdf b/src/drivers/gazeboserver/models/formula1/model.sdf new file mode 100644 index 000000000..91b5aeb55 --- /dev/null +++ b/src/drivers/gazeboserver/models/formula1/model.sdf @@ -0,0 +1,477 @@ + + + + + + f1 + formula1plugin.cfg + rear_right_wheel_hinge + rear_left_wheel_hinge + front_right_wheel_hinge + front_left_wheel_hinge + 5 + + + + 0 0 0 0 0 0 + + 10 + + 1 + 0 + 1 + 0 + 0 + 1 + + + + + + model://formula1/meshes/F1.dae + + + + + + + model://formula1/meshes/F1.dae + + + + + + + -0.16 0 0.06 0 1.57 0 + + 1.5 + + 0.002100875 + 0.0 + 0.002100875 + 0.0 + 0.0 + 0.00297675 + + + + + + .063 + .07 + + + + + + + model://formula1/meshes/wheel.dae + + + + + + + 0.16 0 0.06 0 1.57 0 + + 1.5 + + 0.002100875 + 0.0 + 0.002100875 + 0.0 + 0.0 + 0.00297675 + + + + + + .063 + .07 + + + + + + + model://formula1/meshes/wheel.dae + + + + + + + 0.16 0.58 0.06 0 1.57 0 + + 2 + + 0.002801167 + 0.0 + 0.002801167 + 0.0 + 0.0 + 0.003969 + + + + + + .063 + .07 + + + + + + + model://formula1/meshes/wheel.dae + + + + + + + -0.16 0.58 0.06 0 1.57 0 + + 2 + + 0.002801167 + 0.0 + 0.002801167 + 0.0 + 0.0 + 0.003969 + + + + + + .063 + .07 + + + + + + + model://formula1/meshes/wheel.dae + + + + + + + 0.050000 -0.09000 0.1442400 0.000000 -0.000000 0.000000 + + 0.0500000 + + 0.000002 + 0.0 + 0.000002 + 0.0 + 0.0 + 0.000002 + + + + 0.000000 0.000000 0.000000 0.00000 0.00000 -1.57000 + 20.000000 + + 1.570000 + 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+ + + 0.01 + + 0.000004 + 0.0 + 0.000004 + 0.0 + 0.0 + 0.000004 + + + -0.16 0 0.06 0 0 0 + + + + 0.01 + + + + + + + 0.01 + + + + + + + 0 0 0 0 0 0 + steer_left + f1 + + 0 0 -1 + + 0.349066 + -0.349066 + + + + + + 0 0 0 0 0 0 + steer_right + f1 + + 0 0 -1 + + 0.349066 + -0.349066 + + + + + + 0 0 0 0 0 0 + front_left_wheel + steer_left + + 0 0 1 + + + + + 0 0 0 0 0 0 + front_right_wheel + steer_right + + 0 0 1 + + + + + 0 0 0 0 0 0 + rear_left_wheel + f1 + + 0 0 1 + + + + + 0 0 0 0 0 0 + rear_right_wheel + f1 + + 0 0 1 + + + + + 0 0 0 0 0 0 + camera_top_body_left + f1 + + 0 0 0 + + + + + 0 0 0 0 0 0 + camera_top_body_right + f1 + + 0 0 0 + + + + + 0 0 0 0 0 0 + laser + f1 + + 0 0 0 + + + + + + diff --git a/src/drivers/gazeboserver/plugins/formula1/CMakeLists.txt b/src/drivers/gazeboserver/plugins/formula1/CMakeLists.txt new file mode 100644 index 000000000..6815c115a --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/CMakeLists.txt @@ -0,0 +1,64 @@ +include_directories( + ${GAZEBO_INCLUDE_DIRS} + ${INTERFACES_CPP_DIR} + ${LIBS_DIR} + ${CMAKE_CURRENT_SOURCE_DIR} + ${easyiceconfig_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR}/include +) + +# Headers trick for IDEs +file(GLOB_RECURSE formula1_headers "include/**") +add_library(formula1_headers ${formula1_headers}) +set_target_properties(formula1_headers PROPERTIES LINKER_LANGUAGE CXX) + +link_directories( + ${GAZEBO_LIBRARY_DIRS} + ${easyiceconfig_LIBRARY_DIRS} +) + +#set( CMAKE_CXX_FLAGS "-Wall" ) + +set(SOURCES src/formula1plugin.cc + src/formula1ice.cc + + src/formula1control.cc + src/formula1sensors.cc + + src/cameraproxy.cc + + src/interfaces/motorsi.cpp + src/interfaces/laseri.cpp + src/interfaces/pose3di.cpp + src/interfaces/camerai.cpp + src/interfaces/pushcamerai.cpp + src/interfaces/cameraibase.cpp +) + +add_library(formula1plugin SHARED ${SOURCES}) +# Gazebo +target_link_libraries(formula1plugin ${GAZEBO_libraries}) +set_target_properties(formula1plugin PROPERTIES COMPILE_FLAGS "${GAZEBO_CXX_FLAGS}") + +# Ice +target_link_libraries(formula1plugin + Ice + IceUtil + JderobotInterfaces + ${ZeroCIce_LIBRARIES} + ${easyiceconfig_LIBRARIES} +) + +# Application +target_link_libraries(formula1plugin + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES} + CameraPlugin + colorspacesmm +) + +INSTALL (TARGETS formula1plugin DESTINATION share/jderobot/gazebo/plugins/formula1/ COMPONENT core) +FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/cfg/*.cfg) +INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/formula1/ COMPONENT core) + diff --git a/src/drivers/gazeboserver/plugins/formula1/cfg/formula1plugin.cfg b/src/drivers/gazeboserver/plugins/formula1/cfg/formula1plugin.cfg new file mode 100644 index 000000000..ce2e00454 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/cfg/formula1plugin.cfg @@ -0,0 +1,7 @@ +F1.Adapter.Endpoints=default -h localhost -p 9002 +F1.Motors.Name=Motors +F1.Laser.Name=Laser +F1.Pose3D.Name=Pose3D +F1.CameraL.Name=CameraL +F1.CameraR.Name=CameraR + diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/cameraproxy.hh b/src/drivers/gazeboserver/plugins/formula1/include/formula1/cameraproxy.hh new file mode 100644 index 000000000..51d14bbfd --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/cameraproxy.hh @@ -0,0 +1,72 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef CAMERAPROXY +#define CAMERAPROXY + +#include +#include +#include + +namespace formula1{ + +class ICameraConsumer{ +public: + virtual void onCameraSensorBoostrap(const cv::Mat, const gazebo::sensors::CameraSensorPtr)=0; + virtual void onCameraSensorUpdate(const cv::Mat)=0; +}; + +typedef boost::shared_ptr ICameraConsumerPtr; + +class CameraProxy{ +public: + CameraProxy(); + virtual ~CameraProxy(); + + void registerCamera(gazebo::sensors::CameraSensorPtr cam); + void setActive(int id); + int getActive(); + void next(); + + void registerConsumer(ICameraConsumerPtr consumer); + +protected: + /// overrideable method that acts as pasarell between gazebo's raw image format and cv::Mat + virtual cv::Mat _createImageWrapper(const gazebo::sensors::CameraSensorPtr cam, const int id) const; + +private: + void _on_cam_bootstrap(); + void _on_cam_update(); + + +private: + boost::mutex lock; + int active_camera = -1; + gazebo::event::ConnectionPtr active_sub; + + cv::Mat img; + + std::vector cameras; + std::vector consumers; +}; + +}//NS + +#endif // CAMERAPROXY + diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/debugtools.h b/src/drivers/gazeboserver/plugins/formula1/include/formula1/debugtools.h new file mode 100644 index 000000000..3137cea27 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/debugtools.h @@ -0,0 +1,80 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + +#ifndef DEBUGTOOLS_H +#define DEBUGTOOLS_H + +#define DEBUG + +#ifdef DEBUG +#define ONDEBUG(x) x +#else +#define ONDEBUG(x) +#endif + + + +#ifdef DEBUG +/* Debug Levels + * Critical 1 + * Error 2 + * Warning 3 + * Info 4 + * Verbose 5 + */ + +#ifndef DEBUG_LEVEL +#define DEBUG_LEVEL 4 +#endif + +#if DEBUG_LEVEL < 1 +#define ONDEBUG_CRITICAL(x) +#else +#define ONDEBUG_CRITICAL(x) x +#endif + +#if DEBUG_LEVEL < 2 +#define ONDEBUG_ERROR(x) +#else +#define ONDEBUG_ERROR(x) x +#endif + +#if DEBUG_LEVEL < 3 +#define ONDEBUG_WARNING(x) +#else +#define ONDEBUG_WARNING(x) x +#endif + +#if DEBUG_LEVEL < 4 +#define ONDEBUG_INFO(x) +#else +#define ONDEBUG_INFO(x) x +#endif + +#if DEBUG_LEVEL < 5 +#define ONDEBUG_VERBOSE(x) +#else +#define ONDEBUG_VERBOSE(x) x +#endif + +#endif + +#endif // DEBUGTOOLS_H + diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1control.hh b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1control.hh new file mode 100644 index 000000000..898203f2a --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1control.hh @@ -0,0 +1,89 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef FORMULA1CONTROL_H +#define FORMULA1CONTROL_H + + +#include +#include + +#include "transport/transport.hh" + +#include + +namespace formula1{ + +class Formula1Control { +public: + Formula1Control(); + virtual ~Formula1Control(); + void setSensors(Formula1Sensors *sensors); + +/// Control commands +public: + + pthread_mutex_t mutex; + pthread_mutex_t mutexMotor; + + struct motor_t { + float v; + float w; + float l; + double wheelMax; + double wheelMin; + double targetRightSteerPos,targetLeftSteerPos; + }; + motor_t robotMotors; + + std::string _log_prefix; + +/// Control +protected: + Formula1Sensors *sensors; + +/// Gazebo +public: + void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr _sdf); + void Init(Formula1Sensors* sensors); + void OnUpdate(const gazebo::common::UpdateInfo & _info); + void teleport(gazebo::math::Pose pose); + +private: + gazebo::event::ConnectionPtr updateConnection; + gazebo::physics::ModelPtr model; + gazebo::physics::InertialPtr inertial; + gazebo::physics::JointPtr driveLeftJoint, driveRightJoint, steeringLeftJoint, steeringRightJoint; + + gazebo::transport::NodePtr node; + gazebo::transport::SubscriberPtr velSub; + gazebo::common::Time prevUpdateTime; + + double wheelSeparation; + double wheelRadius; + double motorspeed; + +}; + + +typedef boost::shared_ptr Formula1ControlPtr; + +}//NS + +#endif // QUADROTORPLUGIN_H diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1ice.hh b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1ice.hh new file mode 100644 index 000000000..f9e3bc53b --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1ice.hh @@ -0,0 +1,77 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef FORMULA1ICE_H +#define FORMULA1ICE_H + + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include + +namespace formula1{ + +class Formula1Ice +{ +public: + Formula1Ice(Ice::CommunicatorPtr ic, const Formula1Sensors *sensors, Formula1Control *control, CameraProxy *camproxy); + virtual ~Formula1Ice(); + + void run(); + void start(); + void stop(); + + std::string _log_prefix; + +protected: + void bootstrap(); + +private: + Ice::CommunicatorPtr ic; + Ice::PropertiesPtr prop; + Ice::ObjectAdapterPtr adapter; + +private: + const Formula1Sensors *sensor; + Formula1Control *control; + CameraProxy *camproxy; + boost::mutex lock; + +}; + +typedef boost::shared_ptr Formula1IcePtr; + +}//NS + +#endif // QUADROTORICE_H diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1plugin.hh b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1plugin.hh new file mode 100644 index 000000000..1fb4db641 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1plugin.hh @@ -0,0 +1,76 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef FORMULA1PLUGIN_H +#define FORMULA1PLUGIN_H + +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include + +namespace formula1{ + +class Formula1Plugin : public gazebo::ModelPlugin { +public: + Formula1Plugin(); + ~Formula1Plugin(); + + std::string _log_prefix; + +private: + Formula1Sensors sensors; + Formula1Control control; + CameraProxy cameraproxy; + + +/// Gazebo +protected: + void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf); + void Init(); + void OnUpdate(const gazebo::common::UpdateInfo & _info); + void Reset(); + void OnSigInt(); + +private: + gazebo::physics::ModelPtr model; + gazebo::event::ConnectionPtr updateConnection; + gazebo::event::ConnectionPtr sigintConnection; + + +/// Ice +protected: + void InitializeIce(sdf::ElementPtr _sdf); + +private: + Formula1IcePtr icePlugin; + +}; + +}//NS + +#endif // FORMULA1Plugin_H diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1sensors.hh b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1sensors.hh new file mode 100644 index 000000000..0bb7448aa --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/formula1sensors.hh @@ -0,0 +1,89 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + +#ifndef FORMULA1SENSORS_H +#define FORMULA1SENSORS_H + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +#include + +namespace formula1{ + +class Formula1Sensors +{ +public: + enum{ + CAM_LEFT = 0, + CAM_RIGHT, + NUM_CAMS + }; + +public: + Formula1Sensors(); + virtual ~Formula1Sensors(); + + void Load(gazebo::physics::ModelPtr model); + void Init(); + void OnUpdate(const gazebo::common::UpdateInfo & _info); + + void debugInfo(); + + std::string _log_prefix; + +public: + gazebo::sensors::CameraSensorPtr cam[NUM_CAMS]; + gazebo::sensors::RaySensorPtr laser; + + +private: + gazebo::physics::ModelPtr model; + uint32_t base_link_id; + +private: + gazebo::event::ConnectionPtr sub_cam[NUM_CAMS]; + gazebo::event::ConnectionPtr sub_laser; + gazebo::event::ConnectionPtr updatePose; + + void _on_cam(int id); + void _on_laser(); + void _on_pose(); + +public: + cv::Mat img[NUM_CAMS]; + std::vector laserValues; + gazebo::math::Pose pose; + + double position; +}; + +}//NS + +#endif // QUADROTORSENSORS_H diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/camerai.h b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/camerai.h new file mode 100644 index 000000000..b60ff5cd1 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/camerai.h @@ -0,0 +1,58 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef CAMERAI_H +#define CAMERAI_H + +#include + +#include +#include + + +namespace formula1{ +namespace interfaces{ + + +class CameraI: public formula1::interfaces::CameraIBase { +public: + CameraI (const formula1::Formula1Sensors *sensor); + virtual ~CameraI (); + + const int cam_id = Formula1Sensors::CAM_LEFT; + +private: + cv::Mat imgCached; + const formula1::Formula1Sensors *sensor; + +/// Gazebo +private: + void onCameraSensorBoostrap(); + void onCameraSensorUpdate(); + + gazebo::event::ConnectionPtr cameraSensorConnection; + + +}; + + +}}//NS + +#endif // CAMERAI_H + diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/cameraibase.h b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/cameraibase.h new file mode 100644 index 000000000..f9b69209f --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/cameraibase.h @@ -0,0 +1,79 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef CAMERAIBASE_H +#define CAMERAIBASE_H + +#include +#include +#include +#include + +#include + +#include + + +// Fix name +namespace jderobot{ typedef ImageFormat ImageFormats; } + + +namespace formula1{ +namespace interfaces{ + + +class CameraIBase: virtual public jderobot::Camera { +public: + CameraIBase(); + virtual ~CameraIBase(); + + /// jderobot::ImageProvider + jderobot::ImageFormats getImageFormat(const Ice::Current& c); //bad name... getSupportedFormats please + jderobot::ImageDescriptionPtr getImageDescription(const Ice::Current& c); + void getImageData_async (const jderobot::AMD_ImageProvider_getImageDataPtr& cb,const std::string& format, const Ice::Current& c); + virtual void _getImageData_async (const jderobot::AMD_ImageProvider_getImageDataPtr& cb,const std::string& format, const Ice::Current& c); + + + /// jderobot::Camera + jderobot::CameraDescriptionPtr getCameraDescription(const Ice::Current& c); + virtual Ice::Int setCameraDescription(const jderobot::CameraDescriptionPtr &/*description*/, const Ice::Current& /*c*/) { return 0; } + + + /// jderobot::StreamableCamera + virtual std::string startCameraStreaming(const Ice::Current&){ return ""; } + virtual void stopCameraStreaming(const Ice::Current&) {} + virtual void reset(const Ice::Current&){} + +protected: + boost::mutex mutex; + typedef boost::lock_guard lock_guard_t; + +protected: + /// Ice + jderobot::ImageDataPtr imageData; + jderobot::ImageFormats imageFormats; + jderobot::ImageDescriptionPtr imageDescription; + jderobot::CameraDescriptionPtr cameraDescription; +}; + + +}}//NS + +#endif // CAMERAIBASE_H + diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/laseri.h b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/laseri.h new file mode 100644 index 000000000..1e6db2151 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/laseri.h @@ -0,0 +1,44 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef LASER_H +#define LASER_H + + +#include +#include +#include + +namespace formula1{ +namespace interfaces{ + +class LaserI : public jderobot::Laser { +public: + LaserI (const formula1::Formula1Sensors *sensor); + virtual ~LaserI(); + + virtual jderobot::LaserDataPtr getLaserData ( const Ice::Current& ); + +protected: + jderobot::LaserDataPtr laserdata; + const formula1::Formula1Sensors* const sensor; +}; + +}}//NS +#endif // LASER_H diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/motorsi.h b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/motorsi.h new file mode 100644 index 000000000..ebd5f759d --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/motorsi.h @@ -0,0 +1,29 @@ +#ifndef MOTORSI_H +#define MOTORSI_H + +#include +#include + +namespace formula1{ +namespace interfaces{ + +class MotorsI : virtual public jderobot::Motors { +public: + + MotorsI(formula1::Formula1Control* const control); + virtual ~MotorsI(); + + virtual float getV(const Ice::Current&); + virtual float getW(const Ice::Current&); + virtual float getL(const Ice::Current&); + virtual Ice::Int setV(Ice::Float v, const Ice::Current&); + virtual Ice::Int setW(Ice::Float _w, const Ice::Current&); + virtual Ice::Int setL(Ice::Float l, const Ice::Current&); + +private: + formula1::Formula1Control* const control; +}; // end class MotorsI + +}} //NS + +#endif // MOTORSI_H diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/pose3di.h b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/pose3di.h new file mode 100644 index 000000000..6d80377ac --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/pose3di.h @@ -0,0 +1,51 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + +#ifndef POSE3D_H +#define POSE3D_H + + +#include +#include +#include + + +namespace formula1{ +namespace interfaces{ + +class Pose3DI : public jderobot::Pose3D { +public: + Pose3DI (const formula1::Formula1Sensors *sensor, formula1::Formula1Control *control); + virtual ~Pose3DI (); + + virtual + jderobot::Pose3DDataPtr getPose3DData ( const Ice::Current& ); + Ice::Int setPose3DData ( const jderobot::Pose3DDataPtr & data, + const Ice::Current& ); + + +protected: + jderobot::Pose3DDataPtr data; + const formula1::Formula1Sensors* const sensor; + formula1::Formula1Control* const control; +}; + +}}//NS +#endif // POSE3DI_H diff --git a/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/pushcamerai.h b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/pushcamerai.h new file mode 100644 index 000000000..27fc034b2 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/include/formula1/interfaces/pushcamerai.h @@ -0,0 +1,49 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#ifndef PUSHCAMERAI_H +#define PUSHCAMERAI_H + +#include +#include + + +namespace formula1{ +namespace interfaces{ + + +class PushCameraI: + public formula1::interfaces::CameraIBase, + public ICameraConsumer +{ +public: + PushCameraI (); + virtual ~PushCameraI (); + + + void onCameraSensorBoostrap(const cv::Mat, const gazebo::sensors::CameraSensorPtr); + void onCameraSensorUpdate(const cv::Mat); + +}; + + +}}//NS + +#endif // PUSHCAMERAI_H + diff --git a/src/drivers/gazeboserver/plugins/formula1/src/cameraproxy.cc b/src/drivers/gazeboserver/plugins/formula1/src/cameraproxy.cc new file mode 100644 index 000000000..22708eec4 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/cameraproxy.cc @@ -0,0 +1,115 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + + +#include + +using namespace formula1; + + +CameraProxy::CameraProxy(){ + +} + +CameraProxy::~CameraProxy(){ + +} + +void +CameraProxy::registerCamera(gazebo::sensors::CameraSensorPtr cam){ + cameras.push_back(cam); +} + +void +CameraProxy::registerConsumer(ICameraConsumerPtr consumer){ + consumers.push_back(consumer); +} + +void +CameraProxy::setActive(int id){ + lock.lock(); + + /* + /// deactivate previous + if (active_camera != -1){ + cameras[active_camera]->SetActive(false); + cameras[active_camera]->DisconnectUpdated(active_sub); + } + */ + + /// active new + if (id != -1){ + active_camera = id; + active_sub = cameras[active_camera]->ConnectUpdated( + boost::bind(&CameraProxy::_on_cam_bootstrap, this)); + cameras[0]->SetActive(true); + cameras[1]->SetActive(true); + } + + lock.unlock(); +} + +int +CameraProxy::getActive(){ + return active_camera; +} + +void +CameraProxy::next(){ + int next = (active_camera+1)%cameras.size(); + setActive(next); +} + +void +CameraProxy::_on_cam_bootstrap(){ + lock.lock(); + + cameras[active_camera]->DisconnectUpdated(active_sub); + + img = _createImageWrapper(cameras[active_camera], active_camera); + + for (ICameraConsumerPtr consumer : consumers){ + consumer->onCameraSensorBoostrap(img, cameras[active_camera]); + } + + active_sub = cameras[active_camera]->ConnectUpdated( + boost::bind(&CameraProxy::_on_cam_update, this)); + lock.unlock(); +} + +void +CameraProxy::_on_cam_update(){ + lock.lock(); + + for (ICameraConsumerPtr consumer : consumers){ + consumer->onCameraSensorUpdate(img); + } + + lock.unlock(); +} + + +cv::Mat +CameraProxy::_createImageWrapper(const gazebo::sensors::CameraSensorPtr cam, const int /*id*/) const{ + const unsigned char *data = cam->ImageData(); + uint32_t h = cam->ImageHeight(); + uint32_t w = cam->ImageWidth(); + return cv::Mat(h, w, CV_8UC3, (uint8_t*)data); +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/formula1control.cc b/src/drivers/gazeboserver/plugins/formula1/src/formula1control.cc new file mode 100644 index 000000000..e995a4a2c --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/formula1control.cc @@ -0,0 +1,147 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + + +#include "formula1/formula1control.hh" + +using namespace formula1; +using namespace gazebo::math; +using namespace gazebo::physics; +using namespace gazebo::common; +using namespace gazebo::transport; + +enum { + RIGHT, + LEFT +}; + +Formula1Control::Formula1Control(){ + +} + +Formula1Control::~Formula1Control(){} + +void +Formula1Control::Load(ModelPtr model, sdf::ElementPtr _sdf){ + + this->model = model; + this->node = NodePtr(new Node()); + this->node->Init(this->model->GetWorld()->GetName()); + + if (!_sdf->HasElement("drive_right_joint")) + gzerr << "motors plugin missing element\n"; + if (!_sdf->HasElement("drive_left_joint")) + gzerr << "motors plugin missing element\n"; + if (!_sdf->HasElement("steering_right_joint")) + gzerr << "motors plugin missing element\n"; + if (!_sdf->HasElement("steering_left_joint")) + gzerr << "motors plugin missing element\n"; + + std::cout<< _sdf->GetElement("drive_left_joint")->Get()<< std::endl; + + this->driveLeftJoint = model->GetJoint( + _sdf->GetElement("drive_left_joint")->Get()); + this->driveRightJoint = model->GetJoint( + _sdf->GetElement("drive_right_joint")->Get()); + this->steeringLeftJoint = model->GetJoint( + _sdf->GetElement("steering_left_joint")->Get()); + this->steeringRightJoint = model->GetJoint( + _sdf->GetElement("steering_right_joint")->Get()); + + if (!this->driveLeftJoint) + gzerr << "Unable to find drive left joint[" + << _sdf->GetElement("drive_left_joint")->Get() << "]\n"; + if (!this->driveRightJoint) + gzerr << "Unable to find drive right joint[" + << _sdf->GetElement("drive_right_joint")->Get() << "]\n"; + if (!this->steeringLeftJoint) + gzerr << "Unable to find steering left joint[" + << _sdf->GetElement("steering_left_joint")->Get() << "]\n"; + if (!this->steeringRightJoint) + gzerr << "Unable to find steering right joint[" + << _sdf->GetElement("steering_right_joint")->Get() << "]\n"; +} + +void +Formula1Control::Init(Formula1Sensors *sensors){ + this->sensors = sensors; + + + this->wheelSeparation = this->driveLeftJoint->GetAnchor(0).Distance(this->driveRightJoint->GetAnchor(0)); + //std::cout << "Motors Separation:" << this->frontmotorseparation << std::endl; + EntityPtr parent = boost::dynamic_pointer_cast (this->driveLeftJoint->GetChild()); + + Box bb = parent->GetBoundingBox(); + + this->wheelRadius = bb.GetSize().GetMax() * 0.5; + std::cout << "motors Diameter:" << this->wheelRadius * 2 << std::endl; + + robotMotors.v = 0; + robotMotors.w = 0; + robotMotors.wheelMin= steeringLeftJoint->GetLowerLimit(0).Radian(); + robotMotors.wheelMax= steeringLeftJoint->GetUpperLimit(0).Radian(); + robotMotors.targetRightSteerPos=robotMotors.targetLeftSteerPos=0; + + this->steeringRightJoint->SetHighStop(0,robotMotors.wheelMax); + this->steeringRightJoint->SetLowStop(0,robotMotors.wheelMin); + this->steeringLeftJoint->SetHighStop(0,robotMotors.wheelMax); + this->steeringLeftJoint->SetLowStop(0,robotMotors.wheelMin); + + updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&Formula1Control::OnUpdate, this, _1)); +} + +void +Formula1Control::OnUpdate(const gazebo::common::UpdateInfo & /*_info*/){ + + pthread_mutex_lock(&mutex); + + robotMotors.targetRightSteerPos=robotMotors.w*0.145-this->steeringRightJoint->GetAngle(0).Radian(); + robotMotors.targetLeftSteerPos=robotMotors.w*0.145-this->steeringLeftJoint->GetAngle(0).Radian(); + + this->motorspeed = robotMotors.v*10; + + //DEPRECATED + //this->frontLeftJoint->SetMaxForce(0,torque); + //this->frontRightJoint->SetMaxForce(0,torque); + this->driveLeftJoint->SetVelocity(0, motorspeed); + this->driveRightJoint->SetVelocity(0, motorspeed); + + if(this->steeringRightJoint->GetAngle(0).Radian() >= robotMotors.wheelMax + || this->steeringLeftJoint->GetAngle(0).Radian() >= robotMotors.wheelMax + || this->steeringRightJoint->GetAngle(0).Radian() <= robotMotors.wheelMin + || this->steeringLeftJoint->GetAngle(0).Radian() <= robotMotors.wheelMin) + { + this->steeringLeftJoint->SetForce(0,0.00000); + this->steeringRightJoint->SetForce(0,0.00000); + + }else + { + this->steeringLeftJoint->SetForce(0,robotMotors.targetLeftSteerPos); + this->steeringRightJoint->SetForce(0,robotMotors.targetRightSteerPos); + } + + pthread_mutex_unlock(&mutex); +} + +void +Formula1Control::teleport(gazebo::math::Pose pose){ + this->model->SetWorldPose(pose); +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/formula1ice.cc b/src/drivers/gazeboserver/plugins/formula1/src/formula1ice.cc new file mode 100644 index 000000000..df7de41aa --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/formula1ice.cc @@ -0,0 +1,130 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Francisco Perez Salgado + */ + + +#include + +using namespace formula1; +using namespace formula1::interfaces; +using namespace Ice; + +Formula1Ice::Formula1Ice(CommunicatorPtr ic, const Formula1Sensors *sensors, Formula1Control *control, CameraProxy *camproxy): + ic(ic), + sensor(sensors), + control(control), + camproxy(camproxy) +{ + assert(ic != 0); +} + +Formula1Ice::~Formula1Ice(){ + stop(); +} + +void +Formula1Ice::stop(){ + ONDEBUG_INFO(std::cout<<_log_prefix << "Formula1Ice::stop()" << std::endl;) + lock.lock(); + if (ic && !ic->isShutdown()){ + std::cout<<_log_prefix << "Shuting down Ice..." << std::endl; + adapter->deactivate(); + ic->shutdown(); + } + lock.unlock(); +} + +void +Formula1Ice::start(){ + /// boost::thread "thread" lifetime survives "object" lifetime if + /// thread was running when object is deleted + /// Is same effect that detach() + /// Therefore, there is no needed to manage object lifetime neither + /// delete it. + boost::thread(boost::bind(&Formula1Ice::run, this)); +} + +void +Formula1Ice::run(){ +#if 0 + // Register to handle the signals that indicate when the server should exit. + // It is safe to register for the same signal multiple times in a program, + // provided all registration for the specified signal is made through Asio. + // API changed from 1.47 to 1.59 (now requires io_service) + boost::asio::io_service _io_service; + boost::asio::signal_set _signals(_io_service); + _signals.add(SIGINT); + _signals.add(SIGTERM); + _signals.async_wait(boost::bind(&Formula1Ice::stop, this)); +#endif + + bootstrap(); + + ic->waitForShutdown(); + + std::cout<<_log_prefix << "Ice is down now" << std::endl; +} + +void Formula1Ice::bootstrap(){ + lock.lock(); + if (ic->isShutdown()) return; + + prop = ic->getProperties(); + + adapter = ic->createObjectAdapter("F1.Adapter"); + std::cout<<_log_prefix << "Ice adapter listening at " << std::endl; + std::cout<<_log_prefix << "\t" << adapter->getEndpoints()[0]->toString() << std::endl; + + std::string name; + + name = prop->getProperty("F1.Motors.Name"); + ObjectPtr motorsi = new MotorsI(control); + adapter->add(motorsi, ic->stringToIdentity(name)); + + name = prop->getProperty("F1.Pose3D.Name"); + ObjectPtr posei = new Pose3DI(sensor, control); + adapter->add(posei, ic->stringToIdentity(name)); + + ObjectPtr laseri = new LaserI(sensor); + name = prop->getProperty("F1.Laser.Name"); + adapter->add(laseri, ic->stringToIdentity(name)); + + //ObjectPtr camerai = new CameraI(sensor); + ObjectPtr cameraiL; + { + PushCameraI *_cameraiL = new PushCameraI(); + camproxy->registerConsumer(ICameraConsumerPtr(_cameraiL)); + cameraiL = ObjectPtr(_cameraiL); + } + name = prop->getProperty("F1.CameraL.Name"); + adapter->add(cameraiL, ic->stringToIdentity(name)); + + ObjectPtr cameraiR; + { + PushCameraI *_cameraiR = new PushCameraI(); + camproxy->registerConsumer(ICameraConsumerPtr(_cameraiR)); + cameraiR = ObjectPtr(_cameraiR); + } + name = prop->getProperty("F1.CameraR.Name"); + adapter->add(cameraiR, ic->stringToIdentity(name)); + + adapter->activate(); + + std::cout<<_log_prefix<< "Ice booststrap done." << std::endl; + lock.unlock(); +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/formula1plugin.cc b/src/drivers/gazeboserver/plugins/formula1/src/formula1plugin.cc new file mode 100644 index 000000000..47ec27a9d --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/formula1plugin.cc @@ -0,0 +1,152 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + + +#include "formula1/formula1plugin.hh" + +GZ_REGISTER_MODEL_PLUGIN(formula1::Formula1Plugin) + +using namespace formula1; +using namespace gazebo::physics; +using namespace gazebo::math; +using namespace gazebo::event; +using namespace gazebo::common; + + +Formula1Plugin::Formula1Plugin(){ + std::stringstream ss; + ss << "["<<(void*)this<<"] "; + ss >> _log_prefix; + ONDEBUG_INFO(std::cout << _log_prefix << "Formula1Plugin::Formula1Plugin()" << std::endl;) + sensors._log_prefix = _log_prefix; + control._log_prefix = _log_prefix; +} + +Formula1Plugin::~Formula1Plugin(){ + ONDEBUG_INFO(std::cout << _log_prefix << "Formula1Plugin::~Formula1Plugin()" << std::endl;) + //icePlugin->stop(); +} + + +void +Formula1Plugin::Load(ModelPtr _model, sdf::ElementPtr _sdf){ + ONDEBUG_INFO(std::cout << _log_prefix << "Formula1Plugin::Load()" << std::endl;) + + _log_prefix = "["+_model->GetName()+"] "; + sensors._log_prefix = _log_prefix; + control._log_prefix = _log_prefix; + + model = _model; + + sensors.Load(model); + control.Load(model, _sdf); + + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = Events::ConnectWorldUpdateBegin( + boost::bind(&Formula1Plugin::OnUpdate, this, _1)); + + sigintConnection = Events::ConnectSigInt( + boost::bind(&Formula1Plugin::OnSigInt, this)); + + this->InitializeIce(_sdf); +} + + +void +Formula1Plugin::Init(){ + ONDEBUG_INFO(std::cout << _log_prefix << "Formula1Plugin::Init()" << std::endl;) + sensors.debugInfo(); + sensors.Init(); + + sensors.cam[Formula1Sensors::CAM_LEFT]->SetActive(true); + sensors.cam[Formula1Sensors::CAM_RIGHT]->SetActive(true); + sensors.laser->SetActive(true); + + cameraproxy.registerCamera(sensors.cam[Formula1Sensors::CAM_LEFT]); + cameraproxy.registerCamera(sensors.cam[Formula1Sensors::CAM_RIGHT]); + cameraproxy.setActive(0); + cameraproxy.setActive(1); + + control.Init(&sensors); + + icePlugin->start(); +} + + +void +Formula1Plugin::OnUpdate(const UpdateInfo & ONDEBUG_VERBOSE(_info)){ + ONDEBUG_VERBOSE(std::cout << _log_prefix << "Formula1Plugin::OnUpdate()\n\t" << _info.simTime << std::endl;) +} + +void +Formula1Plugin::OnSigInt(){ + ONDEBUG_INFO(std::cout << _log_prefix << "Formula1Plugin::OnSigInt()" << std::endl;) + icePlugin->stop(); +} + + +void +Formula1Plugin::Reset(){ + +} + + +void +Formula1Plugin::InitializeIce(sdf::ElementPtr _sdf){ + std::cout << _log_prefix << "Formula1Plugin::InitializeIce()" << std::endl; + std::string iceConfigFile = "Formula1Plugin.cfg"; + if(_sdf->HasElement("iceConfigFile")) + iceConfigFile = _sdf->GetElement("iceConfigFile")->GetValue()->GetAsString(); + std::cout << _log_prefix << "\tconfig: "<< iceConfigFile << std::endl; +#if 0 + Ice::StringSeq args; + args.push_back("--Ice.Config=" + iceConfigFile); + Ice::CommunicatorPtr ic = Ice::initialize(args); +#else + Ice::InitializationData id; + id.properties = Ice::createProperties(); +#if 0 + id.properties->load(iceConfigFile); +#else /// EasyIce + easyiceconfig::loader::loadIceConfig(iceConfigFile, id.properties); +#endif + Ice::CommunicatorPtr ic = Ice::initialize(id); +#endif + + std::string port; + /// Get Adapter port from _sdf (static bad) + if(_sdf->HasElement("iceAdapterPort")) + port = _sdf->GetElement("iceAdapterPort")->Get(); + + /// Get port from model (wolrd file, good enough) + std::string name = model->GetName(); + boost::regex re("[0-9]+$"); + boost::sregex_iterator eof, m1(name.begin(), name.end(), re); + if (m1!=eof){ + port = (*m1)[0]; + } + if (!port.empty()) + id.properties->setProperty("Formula1.Adapter.Endpoints", "tcp -h localhost -p "+port); //ToDo: use regex replace instead hardcored text. + + std::cout << _log_prefix << "\tcreate Ice plugin..." << std::endl; + icePlugin = Formula1IcePtr(new Formula1Ice(ic, &sensors, &control, &cameraproxy)); + icePlugin->_log_prefix = _log_prefix; +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/formula1sensors.cc b/src/drivers/gazeboserver/plugins/formula1/src/formula1sensors.cc new file mode 100644 index 000000000..ef3d8c90c --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/formula1sensors.cc @@ -0,0 +1,146 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + +#include "formula1/formula1sensors.hh" + + +using namespace formula1; +using namespace gazebo::physics; +using namespace gazebo::sensors; + +Formula1Sensors::Formula1Sensors(){ + ONDEBUG_INFO(std::cout << _log_prefix << "Formula1Sensors::Formula1Sensors()" << std::endl;) +} + +Formula1Sensors::~Formula1Sensors(){ + ONDEBUG_INFO(std::cout << _log_prefix << "Formula1Sensors::~Formula1Sensors()" << std::endl;) +} + +void +Formula1Sensors::Load(ModelPtr model){ + + this->model = model; + + this->base_link_id = model->GetChildLink("f1")->GetId(); + + SensorManager *sm = SensorManager::Instance(); + + for (SensorPtr s: sm->GetSensors()){ +// if (s->GetParentId() != base_link_id) continue; + std::string name = s->Name(); + if (name.find("laser") != std::string::npos) + laser = std::static_pointer_cast(s); + + if (name.find("cam_formula1_left") != std::string::npos) + cam[CAM_LEFT] = std::static_pointer_cast(s); + + if (name.find("cam_formula1_right") != std::string::npos) + cam[CAM_RIGHT] = std::static_pointer_cast(s); + + pose = model->GetWorldPose(); + } +} + + +void +Formula1Sensors::Init(){ + for (int id=0; idConnectUpdated( + boost::bind(&Formula1Sensors::_on_cam, this, id)); + }else + std::cerr << _log_prefix << "\t cam["<ConnectUpdated( + boost::bind(&Formula1Sensors::_on_laser, this)); + }else + std::cerr << _log_prefix << "\t laser was not connected (NULL pointer)" << std::endl; + + ONDEBUG_INFO(std::cout << _log_prefix << "Initial Pose [x,y,z] " << pose.pos.x << ", " << pose.pos.y << ", " << pose.pos.z << std::endl;) + + //Pose3d + updatePose = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&Formula1Sensors::OnUpdate, this, _1)); +} + +void +Formula1Sensors::debugInfo(){ + std::cout << _log_prefix << "Sensors of " << model->GetName() << std::endl; + boost::format fmt(_log_prefix+"\t%1% (id: %2%)\n"); + + std::cout << fmt % cam[CAM_LEFT]->Name() % cam[CAM_LEFT]->Id(); + std::cout << fmt % cam[CAM_RIGHT]->Name() % cam[CAM_RIGHT]->Id(); + std::cout << fmt % laser->Name() % laser->Id(); +} + +void +Formula1Sensors::_on_cam(int id){ + //// Assumption: Camera (raw) data is constant, so after Camera boostrap + /// Camera.data will be a constant pointer. + /// Therefore, we can use the cv::Mat constructor to simply wrap this + /// data and avoid copy overload. + /// Warning: thread safe is not supplied, but one can never ensure it + /// if CameraSensor thread is overriding data and there are no option + /// to intercept this update. + /// Warning 2: char* is NULL until CameraSensor.OnUpdate(), so it is not + /// possible to bootstrap at Load neither Init step. + + if (img[id].empty()){ + + const unsigned char *data = cam[id]->ImageData(); + if (data == 0) + return; + + std::cout << _log_prefix << "\tbootstrap cam["<ImageHeight(); + uint32_t w = cam[id]->ImageWidth(); + img[id] = cv::Mat(h, w, CV_8UC3, (uint8_t*)data); + + cam[id]->DisconnectUpdated(sub_cam[id]); // close connection + } +} + + +void +Formula1Sensors::_on_laser(){ + /*assert(laser->GetRangeCount() > 0); + std::vector ranges(laser->GetRangeCount()); + laser->GetRanges(ranges); + std::sort(ranges.begin(), ranges.end()); + //altitude = ranges[0]; + int c = std::ceil(ranges.size()*0.20); // smooth value by take 20% of minor values + ranges.resize(c);*/ + + //laser values + MultiRayShapePtr laserV = this->laser->LaserShape(); + + + laserValues.resize(laserV->GetSampleCount ()); + for (int i = 0; i< laserV->GetSampleCount (); i++){ + laserValues[i] = laserV->GetRange(i); + } +} + +void +Formula1Sensors::OnUpdate(const gazebo::common::UpdateInfo & /*_info*/){ + pose = model->GetWorldPose(); +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/interfaces/camerai.cpp b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/camerai.cpp new file mode 100644 index 000000000..8fc488c33 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/camerai.cpp @@ -0,0 +1,72 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#include + +using namespace formula1::interfaces; +using namespace jderobot; + + +CameraI::CameraI (const Formula1Sensors *sensor): + sensor(sensor) +{ + cameraSensorConnection = sensor->cam[cam_id]->ConnectUpdated( + boost::bind(&CameraI::onCameraSensorBoostrap, this)); +} + +CameraI::~CameraI () +{} + + +void +CameraI::onCameraSensorBoostrap(){ + if (sensor->img[cam_id].empty()) + return; + + std::cout<<"CameraI::onCameraSensorBoostrap()"<cam[cam_id]->DisconnectUpdated(cameraSensorConnection); + + imgCached = sensor->img[cam_id].clone(); + + imageDescription = new ImageDescription(); + imageDescription->format = "RGB8";// colorspaces::ImageRGB8::FORMAT_RGB8->name(); + imageDescription->height = imgCached.rows; + imageDescription->width = imgCached.cols; + imageDescription->size = imgCached.rows*imgCached.cols*3; + + imageData = new ImageData(); + imageData->description = imageDescription; + imageData->pixelData.resize(imageDescription->size); + memcpy(imageData->pixelData.data(), imgCached.data, imageData->pixelData.size()); + + imageFormats.push_back(imageDescription->format); + + cameraSensorConnection = sensor->cam[cam_id]->ConnectUpdated( + boost::bind(&CameraI::onCameraSensorUpdate, this)); +} + +void +CameraI::onCameraSensorUpdate(){ + // thread unsafe with gazebo (?) + imgCached = sensor->img[cam_id].clone(); + + // thread unsafe with ice + memcpy(imageData->pixelData.data(), imgCached.data, imageData->pixelData.size()); +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/interfaces/cameraibase.cpp b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/cameraibase.cpp new file mode 100644 index 000000000..6b6c44b9f --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/cameraibase.cpp @@ -0,0 +1,87 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#include + +using namespace formula1::interfaces; +using namespace jderobot; + + +CameraIBase::CameraIBase(): + imageDescription(new ImageDescription()), + cameraDescription(new CameraDescription()) +{ + ONDEBUG_INFO(std::cout << "Constructor CameraIBase" << std::endl;) +} + +CameraIBase::~CameraIBase(){ +} + + +ImageDescriptionPtr +CameraIBase::getImageDescription(const Ice::Current& /*c*/){ + ONDEBUG_VERBOSE(std::cout<<"CameraIBase::getImageDescription()"<ice_response(imageData); +} + + +CameraDescriptionPtr +CameraIBase::getCameraDescription(const Ice::Current& /*c*/){ + ONDEBUG_VERBOSE(std::cout<<"CameraIBase::getCameraDescription()"<numLaser = sensor->laserValues.size(); + laserdata->distanceData.resize(sizeof(int)*laserdata->numLaser); + + //Update laser values + for(int i = 0 ; i < laserdata->numLaser; i++){ + laserdata->distanceData[i] = sensor->laserValues[i]*1000; + } + return laserdata; +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/interfaces/motorsi.cpp b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/motorsi.cpp new file mode 100644 index 000000000..647aa02e1 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/motorsi.cpp @@ -0,0 +1,46 @@ +#include "formula1/interfaces/motorsi.h" + +using namespace formula1::interfaces; +using namespace jderobot; + +MotorsI::MotorsI(formula1::Formula1Control* const control): + control(control) +{} + +MotorsI::~MotorsI() {} + +float +MotorsI::getV(const Ice::Current&) { + + return control->robotMotors.v; +} + +float +MotorsI::getW(const Ice::Current&) { + + return control->robotMotors.w; +} + +float +MotorsI::getL(const Ice::Current&) { + return 0.; +} + +Ice::Int +MotorsI::setV(Ice::Float v, const Ice::Current&) { + + control->robotMotors.v = v; + return 0; +} + +Ice::Int +MotorsI::setW(Ice::Float _w, const Ice::Current&) { + + control->robotMotors.w = -_w; + return 0; +} + +Ice::Int +MotorsI::setL(Ice::Float /*l*/, const Ice::Current&) { + return 0; +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pose3dencoders.cpp b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pose3dencoders.cpp new file mode 100644 index 000000000..f36a566ba --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pose3dencoders.cpp @@ -0,0 +1,496 @@ +#include "pose3dencoders.h" +//#include "pose3dmotors.h" + + + +namespace gazebo { + + void *pose3dencodersICE(void* v); + + GZ_REGISTER_MODEL_PLUGIN(Pose3DEncoders) + + Pose3DEncoders::Pose3DEncoders() { + pthread_mutex_init(&mutex, NULL); + pthread_mutex_init(&mutexPose3DEncoders, NULL); + count = 0; + std::cout << "constructor pose3dencoders" << std::endl; + } + + void Pose3DEncoders::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) { + + this->model = _model; + + // LOAD CAMERA LEFT + if (!_sdf->HasElement("left_joint_pose3dencoders_pan")) + gzerr << "pose3dencoders plugin missing element\n"; + if (!_sdf->HasElement("left_joint_pose3dencoders_tilt")) + gzerr << "pose3dencoders plugin missing element\n"; + + this->cameraLeft.joint_pose3dencoders_pan = this->model->GetJoint("pan_joint_left"); + this->cameraLeft.joint_pose3dencoders_tilt = this->model->GetJoint("tilt_joint_left"); + + if (!this->cameraLeft.joint_pose3dencoders_pan) + gzerr << "Unable to find left joint pose3dencoders_pan[" + << _sdf->GetElement("left_joint_pose3dencoders_pan")->Get() << "]\n"; + if (!this->cameraLeft.joint_pose3dencoders_tilt) + gzerr << "Unable to find left joint pose3dencoders_tilt[" + << _sdf->GetElement("left_joint_pose3dencoders_tilt")->Get() << "]\n"; + this->cameraLeft.camera_link_pan = this->model->GetLink("camera_column_body_left"); + this->cameraLeft.camera_link_tilt = this->model->GetLink("camera_top_body_left"); + + //LOAD CAMERA RIGHT + if (!_sdf->HasElement("right_joint_pose3dencoders_pan")) + gzerr << "Motors plugin missing element\n"; + if (!_sdf->HasElement("right_joint_pose3dencoders_tilt")) + gzerr << "Motors plugin missing element\n"; + + + this->cameraRight.joint_pose3dencoders_pan = this->model->GetJoint("pan_joint_right"); + this->cameraRight.joint_pose3dencoders_tilt = this->model->GetJoint("tilt_joint_right"); + + + if (!this->cameraRight.joint_pose3dencoders_pan) + gzerr << "Unable to find right joint pose3dencoders_pan[" + << _sdf->GetElement("right_joint_pose3dencoders_pan")->Get() << "]\n"; + if (!this->cameraRight.joint_pose3dencoders_tilt) + gzerr << "Unable to find right joint pose3dencoders_tilt[" + << _sdf->GetElement("right_joint_pose3dencoders_tilt")->Get() << "]\n"; + this->cameraRight.camera_link_pan = this->model->GetLink("camera_column_body_right"); + this->cameraRight.camera_link_tilt = this->model->GetLink("camera_top_body_right"); + + + //LOAD TORQUE + if (_sdf->HasElement("torque")) + this->torque = _sdf->GetElement("torque")->Get(); + else { + gzwarn << "No torque value set for the DiffDrive plugin.\n"; + this->torque = 5.0; + } + + //LOAD POSE3DMOTORS + + this->updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&Pose3DEncoders::OnUpdate, this)); + + + } + + void Pose3DEncoders::Init() { + + + + } + + void Pose3DEncoders::OnUpdate() { + + if (count == 0) { + count++; + + std::string name = this->model->GetName(); + + namePose3DEncoders = std::string("--Ice.Config=" + name + "_pose3dencoders.cfg"); + pthread_t thr_gui; + pthread_create(&thr_gui, NULL, &pose3dencodersICE, (void*) this); + } + + // ----------ENCODERS---------- + //GET pose3dencoders data from left_camera (PAN&TILT) + this->cameraLeft.encoder.pan = this->cameraLeft.camera_link_pan->GetRelativePose().rot.GetAsEuler().z * 180.0 / M_PI; + if (this->cameraLeft.encoder.pan > 0) { + this->cameraLeft.encoder.pan = 180 - this->cameraLeft.encoder.pan; + } + if (this->cameraLeft.encoder.pan < 0) { + this->cameraLeft.encoder.pan = -(180 + this->cameraLeft.encoder.pan); + } + + //std::cout << this->cameraLeft.encoder.pan << std::endl; + this->cameraLeft.encoder.tilt = this->cameraLeft.camera_link_tilt->GetRelativePose().rot.GetAsEuler().y * 180.0 / M_PI; + //std::cout << this->cameraLeft.encoder.tilt << std::endl; + + + //GET pose3dencoders data from left_camera (PAN&TILT) + + this->cameraRight.encoder.pan = this->cameraRight.camera_link_pan->GetRelativePose().rot.GetAsEuler().z * 180.0 / M_PI; + if (this->cameraRight.encoder.pan > 0) { + this->cameraRight.encoder.pan = 180 - this->cameraRight.encoder.pan; + } + if (this->cameraRight.encoder.pan < 0) { + this->cameraRight.encoder.pan = -(180 + this->cameraRight.encoder.pan); + } + + //std::cout << this->cameraRight.pan << std::endl; + this->cameraRight.encoder.tilt = this->cameraRight.camera_link_tilt->GetRelativePose().rot.GetAsEuler().y * 180.0 / M_PI; + //std::cout << this->cameraRight.encoder.tilt << std::endl; + + double setPanRight = -50; + double setPanLeft = -50; + double setTiltRight = -10; + double setTiltLeft = -10; + // ----------MOTORS---------- + + + + if (this->cameraLeft.motor.pan >= 0) { + if (this->cameraLeft.encoder.pan < this->cameraLeft.motor.pan) { + this->cameraLeft.joint_pose3dencoders_pan->SetParam("vel", 0, -0.1); + this->cameraLeft.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraLeft.joint_pose3dencoders_pan->SetParam("vel", 0, 0); + this->cameraLeft.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + } + } else { + if (this->cameraLeft.encoder.pan > this->cameraLeft.motor.pan) { + this->cameraLeft.joint_pose3dencoders_pan->SetParam("vel", 0, 0.1); + this->cameraLeft.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraLeft.joint_pose3dencoders_pan->SetParam("vel", 0, 0); + this->cameraLeft.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + } + } + if (this->cameraRight.motor.pan >= 0) { + if (this->cameraRight.encoder.pan < this->cameraRight.motor.pan) { + this->cameraRight.joint_pose3dencoders_pan->SetParam("vel", 0, -0.1); + this->cameraRight.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraRight.joint_pose3dencoders_pan->SetParam("vel", 0, 0); + this->cameraRight.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + } + } else { + if (this->cameraRight.encoder.pan > this->cameraRight.motor.pan) { + this->cameraRight.joint_pose3dencoders_pan->SetParam("vel", 0, 0.1); + this->cameraRight.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraRight.joint_pose3dencoders_pan->SetParam("vel", 0, 0); + this->cameraRight.joint_pose3dencoders_pan->SetParam("fmax", 0, this->torque); + } + } + + if (this->cameraLeft.motor.tilt >= 0) { + if (this->cameraLeft.encoder.tilt < this->cameraLeft.motor.tilt) { + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("vel", 0, -0.1); + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("vel", 0, 0); + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + } + } else { + if (this->cameraLeft.encoder.tilt > this->cameraLeft.motor.tilt) { + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("vel", 0, 0.1); + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("vel", 0, 0); + this->cameraLeft.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + } + } + if (this->cameraRight.motor.tilt >= 0) { + if (this->cameraRight.encoder.tilt < this->cameraRight.motor.tilt) { + this->cameraRight.joint_pose3dencoders_tilt->SetParam("vel", 0, -0.1); + this->cameraRight.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraRight.joint_pose3dencoders_tilt->SetParam("vel", 0, 0); + this->cameraRight.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + } + } else { + if (this->cameraRight.encoder.tilt > this->cameraRight.motor.tilt) { + this->cameraRight.joint_pose3dencoders_tilt->SetParam("vel", 0, 0.1); + this->cameraRight.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + //std::cout << "AQUI" << std::endl; + } else { + this->cameraRight.joint_pose3dencoders_tilt->SetParam("vel", 0, 0); + this->cameraRight.joint_pose3dencoders_tilt->SetParam("fmax", 0, this->torque); + } + } + + + + + + } + + class Pose3DEncodersI : virtual public jderobot::Pose3DEncoders { + public: + + Pose3DEncodersI(gazebo::Pose3DEncoders* pose) : pose3DEncodersData(new jderobot::Pose3DEncodersData()) { + + this->pose = pose; + + } + + virtual ~Pose3DEncodersI() { + + } + + virtual jderobot::Pose3DEncodersDataPtr getPose3DEncodersData(const Ice::Current&) { + + pthread_mutex_lock(&pose->mutex); + pose3DEncodersData->x = 0; + pose3DEncodersData->y = 0; + pose3DEncodersData->z = 0; + pose3DEncodersData->pan = pose->cameraLeft.encoder.pan; + pose3DEncodersData->tilt = pose->cameraLeft.encoder.tilt; + pose3DEncodersData->clock = 0; + pose3DEncodersData->roll = 0; + pthread_mutex_unlock(&pose->mutex); + + return pose3DEncodersData; + + } + + gazebo::Pose3DEncoders* pose; + + private: + jderobot::Pose3DEncodersDataPtr pose3DEncodersData; + + }; + + class Pose3DEncodersII : virtual public jderobot::Pose3DEncoders { + public: + + Pose3DEncodersII(gazebo::Pose3DEncoders* pose) : pose3DEncodersData(new jderobot::Pose3DEncodersData()) { + + this->pose = pose; + + } + + virtual ~Pose3DEncodersII() { + + } + + virtual jderobot::Pose3DEncodersDataPtr getPose3DEncodersData(const Ice::Current&) { + + pthread_mutex_lock(&pose->mutex); + pose3DEncodersData->x = 0; + pose3DEncodersData->y = 0; + pose3DEncodersData->z = 0; + pose3DEncodersData->pan = pose->cameraRight.encoder.pan; + pose3DEncodersData->tilt = pose->cameraRight.encoder.tilt; + pose3DEncodersData->clock = 0; + pose3DEncodersData->roll = 0; + pthread_mutex_unlock(&pose->mutex); + + return pose3DEncodersData; + + } + + gazebo::Pose3DEncoders* pose; + + private: + jderobot::Pose3DEncodersDataPtr pose3DEncodersData; + + }; + + class Pose3DMotorsI : virtual public jderobot::Pose3DMotors { + + public: + + Pose3DMotorsI(gazebo::Pose3DEncoders* pose) : pose3DMotorsData(new jderobot::Pose3DMotorsData()) { + + this->pose = pose; + + } + + virtual ~Pose3DMotorsI(){ + + } + + virtual jderobot::Pose3DMotorsDataPtr getPose3DMotorsData(const Ice::Current&){ + + pthread_mutex_lock(&pose->mutex); + pose3DMotorsData->x = 0; + pose3DMotorsData->y = 0; + pose3DMotorsData->z = 0; + pose3DMotorsData->pan = pose->cameraLeft.encoder.pan; + pose3DMotorsData->tilt = pose->cameraLeft.encoder.tilt; + pose3DMotorsData->roll = 0; + pose3DMotorsData->panSpeed = 0; + pose3DMotorsData->tiltSpeed = 0; + pthread_mutex_unlock(&pose->mutex); + + return pose3DMotorsData; + + + } + + virtual jderobot::Pose3DMotorsParamsPtr getPose3DMotorsParams(const Ice::Current&) { + pthread_mutex_lock(&pose->mutex); + pose3DMotorsParams->maxPan = 0; + pose3DMotorsParams->minPan = 0; + pose3DMotorsParams->maxTilt = 0; + pose3DMotorsParams->minTilt = 0; + pose3DMotorsParams->maxPanSpeed = 0; + pose3DMotorsParams->maxTiltSpeed = 0; + pthread_mutex_unlock(&pose->mutex); + + return pose3DMotorsParams; + } + + virtual Ice::Int setPose3DMotorsData(const jderobot::Pose3DMotorsDataPtr & data, const Ice::Current&) { + pthread_mutex_lock(&pose->mutex); + pose->cameraLeft.motor.x = data->x; + pose->cameraLeft.motor.y = data->y; + pose->cameraLeft.motor.z = data->z; + pose->cameraLeft.motor.pan = data->pan; + pose->cameraLeft.motor.tilt = data->tilt; + pose->cameraLeft.motor.roll = data->roll; + pose->cameraLeft.motor.panSpeed = data->panSpeed; + pose->cameraLeft.motor.tiltSpeed = data->tiltSpeed; + pthread_mutex_unlock(&pose->mutex); + + } + + gazebo::Pose3DEncoders* pose; + + private: + jderobot::Pose3DMotorsDataPtr pose3DMotorsData; + jderobot::Pose3DMotorsParamsPtr pose3DMotorsParams; + + + }; + + class Pose3DMotorsII : virtual public jderobot::Pose3DMotors { + + public: + + Pose3DMotorsII(gazebo::Pose3DEncoders* pose) : pose3DMotorsData(new jderobot::Pose3DMotorsData()) { + + this->pose = pose; + + } + + virtual ~Pose3DMotorsII(){ + + } + + virtual jderobot::Pose3DMotorsDataPtr getPose3DMotorsData(const Ice::Current&){ + + pthread_mutex_lock(&pose->mutex); + pose3DMotorsData->x = 0; + pose3DMotorsData->y = 0; + pose3DMotorsData->z = 0; + pose3DMotorsData->pan = pose->cameraRight.encoder.pan; + pose3DMotorsData->tilt = pose->cameraRight.encoder.tilt; + pose3DMotorsData->roll = 0; + pose3DMotorsData->panSpeed = 0; + pose3DMotorsData->tiltSpeed = 0; + pthread_mutex_unlock(&pose->mutex); + + return pose3DMotorsData; + + + } + + virtual jderobot::Pose3DMotorsParamsPtr getPose3DMotorsParams(const Ice::Current&) { + pthread_mutex_lock(&pose->mutex); + pose3DMotorsParams->maxPan = 0; + pose3DMotorsParams->minPan = 0; + pose3DMotorsParams->maxTilt = 0; + pose3DMotorsParams->minTilt = 0; + pose3DMotorsParams->maxPanSpeed = 0; + pose3DMotorsParams->maxTiltSpeed = 0; + pthread_mutex_unlock(&pose->mutex); + + return pose3DMotorsParams; + } + + virtual Ice::Int setPose3DMotorsData(const jderobot::Pose3DMotorsDataPtr & data, const Ice::Current&) { + pthread_mutex_lock(&pose->mutex); + pose->cameraRight.motor.x = data->x; + pose->cameraRight.motor.y = data->y; + pose->cameraRight.motor.z = data->z; + pose->cameraRight.motor.pan = data->pan; + pose->cameraRight.motor.tilt = data->tilt; + pose->cameraRight.motor.roll = data->roll; + pose->cameraRight.motor.panSpeed = data->panSpeed; + pose->cameraRight.motor.tiltSpeed = data->tiltSpeed; + pthread_mutex_unlock(&pose->mutex); + + } + + gazebo::Pose3DEncoders* pose; + + private: + jderobot::Pose3DMotorsDataPtr pose3DMotorsData; + jderobot::Pose3DMotorsParamsPtr pose3DMotorsParams; + + + }; + + + void *pose3dencodersICE(void* v) { + + gazebo::Pose3DEncoders* base = (gazebo::Pose3DEncoders*)v; + char* name = (char*) base->namePose3DEncoders.c_str(); + Ice::CommunicatorPtr ic; + int argc = 1; + Ice::PropertiesPtr prop; + char* argv[] = {name}; + + try { + + ic = EasyIce::initialize(argc, argv); + + + prop = ic->getProperties(); + std::string Endpoints1 = prop->getProperty("Pose3DEncoders1.Endpoints"); + std::cout << "Pose3DEncoders1 Endpoints > " << Endpoints1 << std::endl; + std::string Endpoints2 = prop->getProperty("Pose3DEncoders2.Endpoints"); + std::cout << "Pose3DEncoders2 Endpoints > " << Endpoints2 << std::endl; + std::string Endpoints3 = prop->getProperty("Pose3DMotors1.Endpoints"); + std::cout << "Pose3DMotors1 Endpoints > " << Endpoints3 << std::endl; + std::string Endpoints4 = prop->getProperty("Pose3DMotors2.Endpoints"); + std::cout << "Pose3DMotors2 Endpoints > " << Endpoints4 << std::endl; + + + Ice::ObjectAdapterPtr adapter1 = + ic->createObjectAdapterWithEndpoints("Pose3DEncoders1", Endpoints1); + Ice::ObjectAdapterPtr adapter2 = + ic->createObjectAdapterWithEndpoints("Pose3DEncoders2", Endpoints2); + Ice::ObjectAdapterPtr adapter3 = + ic->createObjectAdapterWithEndpoints("Pose3DMotors1", Endpoints3); + Ice::ObjectAdapterPtr adapter4 = + ic->createObjectAdapterWithEndpoints("Pose3DMotors2", Endpoints4); + + + + Ice::ObjectPtr object1 = new Pose3DEncodersI(base); + Ice::ObjectPtr object2 = new Pose3DEncodersII(base); + Ice::ObjectPtr object3 = new Pose3DMotorsI(base); + Ice::ObjectPtr object4 = new Pose3DMotorsII(base); + + + + adapter1->add(object1, ic->stringToIdentity("Pose3DEncoders1")); + adapter2->add(object2, ic->stringToIdentity("Pose3DEncoders2")); + adapter3->add(object3, ic->stringToIdentity("Pose3DMotors1")); + adapter4->add(object4, ic->stringToIdentity("Pose3DMotors2")); + + adapter1->activate(); + adapter2->activate(); + adapter3->activate(); + adapter4->activate(); + + ic->waitForShutdown(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } catch (const char* msg) { + std::cerr << msg << std::endl; + } + if (ic) { + try { + ic->destroy(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } + } + + } + + +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pose3di.cpp b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pose3di.cpp new file mode 100644 index 000000000..ba4e80ee5 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pose3di.cpp @@ -0,0 +1,57 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + + +#include "formula1/interfaces/pose3di.h" + +using namespace formula1::interfaces; +using namespace jderobot; + +Pose3DI::Pose3DI (const formula1::Formula1Sensors *sensor, formula1::Formula1Control *control): + data(new Pose3DData(0,0,0,0,0,0,0,0)), + sensor(sensor), + control(control) +{} + +Pose3DI::~Pose3DI () +{} + +Pose3DDataPtr +Pose3DI::getPose3DData ( const Ice::Current& ){ + gazebo::math::Pose pose = sensor->pose; + + data->x = pose.pos.x; + data->y = pose.pos.y; + data->z = pose.pos.z; + data->h = 1; + data->q0 = pose.rot.w; + data->q1 = pose.rot.x; + data->q2 = pose.rot.y; + data->q3 = pose.rot.z; + + return data; +} + +Ice::Int +Pose3DI::setPose3DData ( const jderobot::Pose3DDataPtr & data, const Ice::Current& ){ + gazebo::math::Pose pose(gazebo::math::Vector3(data->x, data->y, data->z), + gazebo::math::Quaternion(data->q0, data->q1, data->q2, data->q3)); + control->teleport(pose); + return 0; +} diff --git a/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pushcamerai.cpp b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pushcamerai.cpp new file mode 100644 index 000000000..e405a7525 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/formula1/src/interfaces/pushcamerai.cpp @@ -0,0 +1,59 @@ +/* + * Copyright (C) 1997-2015 JDE Developers Team + * + * 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 3 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, see http://www.gnu.org/licenses/. + * Authors : + * Victor Arribas Raigadas + */ + +#include + +using namespace formula1::interfaces; +using namespace jderobot; + + +PushCameraI::PushCameraI () +{} + +PushCameraI::~PushCameraI () +{} + +void +PushCameraI::onCameraSensorBoostrap(const cv::Mat img, const gazebo::sensors::CameraSensorPtr /*camerasensor*/){ + ONDEBUG_INFO(std::cout << "PushCameraI::onCameraSensorBoostrap()" << std::endl;) + lock_guard_t RAII_lock(mutex); + imageDescription = new ImageDescription(); + imageDescription->format = "RGB8";// colorspaces::ImageRGB8::FORMAT_RGB8->name(); + imageDescription->height = img.rows; + imageDescription->width = img.cols; + imageDescription->size = img.rows*img.cols*3; + + //cameraDescription = new CameraDescription(); + //gazebo::rendering::CameraPtr cam = camerasensor->GetCamera(); + + imageData = new ImageData(); + imageData->description = imageDescription; + imageData->pixelData.resize(imageDescription->size); + memcpy(imageData->pixelData.data(), img.data, imageData->pixelData.size()); + + imageFormats = ImageFormats(1); + imageFormats.push_back(imageDescription->format); +} + +void +PushCameraI::onCameraSensorUpdate(const cv::Mat img){ + ONDEBUG_VERBOSE(std::cout << "PushCameraI::onCameraSensorUpdate()" << std::endl;) + lock_guard_t RAII_lock(mutex); + memcpy(imageData->pixelData.data(), img.data, imageData->pixelData.size()); +}