Record dynamixel chain movements. More...

Inheritance diagram for DynaShellCmdTrain:

Public Member Functions
	DynaShellCmdTrain ()
	Default constructor.

virtual	~DynaShellCmdTrain ()
	Default destructor.

virtual void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute recording. More...

virtual char *	TabCompletion (DynaShell &shell, const char sText, size_t uTextLen, int nState, const char sContext)
	Command tab completion generator. More...

Public Member Functions inherited from DynaShellCmd
	DynaShellCmd (int nArgCntMin=0, int nArgCntMax=0)
	Default constructor.

virtual	~DynaShellCmd ()
	Default destructor.

const char *	GetCmdName ()
	Get dynamixel shell command name. More...

const char *	GetCmdHelpBrief ()
	Get shell command name brief description. More...

virtual void	PrintHelp (int indent=0, int width=80)
	Print command help with the description aligned at the given indentation. More...

int	GetPublishedLevel () const

const char *	GetPublishedName () const

int	SetPublishedInfo (int nLevel, const char *sParent=NULL)

virtual bool	ChkArgCnt (DynaShell &shell, int argc)
	Check that the argument count is within the class (min,max). More...

bool	ChkArgCnt0 (DynaShell &shell, int argc)
	Check that the argument count is zero. More...

bool	ChkArgCntEQ (DynaShell &shell, int argc, int eq)
	Check that the argument count is equal to the required. More...

bool	ChkArgCntGE (DynaShell &shell, int argc, int min)
	Check argument count against minimum required. More...

bool	ChkArgCntLE (DynaShell &shell, int argc, int max)
	Check argument count against maximum allowed. More...

bool	ChkComm (DynaShell &shell)
	Check that Dynamixel communication exists and is open. More...

bool	ChkChain (DynaShell &shell)
	Check that the servo chain exists. More...

bool	ChkChainNotEmpty (DynaShell &shell)
	Check that the servo chain exists and is not empty. More...

bool	ChkChainHasServo (DynaShell &shell, int nServoId)
	Check that the given servo is present in the chain. More...

bool	ChkChainIsMasterServo (DynaShell &shell, int nServoId)
	Check that the given servo is a master. More...

bool	ToInt (DynaShell &shell, const char sArg, int pVal)
	Convert command argument to integer. More...

bool	ToUInt (DynaShell &shell, const char sArg, uint_t pVal)
	Convert command argument to unsigned integer. More...

bool	ToDouble (DynaShell &shell, const char sArg, double pVal)
	Convert command argument to double. More...

bool	ToBool (DynaShell &shell, const char sArg, bool pVal)
	Convert command argument to boolean. More...

Protected Member Functions
void	RecordTraining (DynaShell &shell, int nStartDelay, int nSamplePeriod)
	Record the movements of a dynamixel chain. More...

Protected Member Functions inherited from DynaShellCmd
virtual void	PrintSynopses (int indent, int width)
	Print synsopses. More...

virtual void	PrintBlock (int col, int indent, int width, const char *sText)
	Print a block of indented text of width. More...

virtual void	PrintDelim (int width, const char cDelim)

char *	eow (const char *s)
	Find end of word. More...

Protected Attributes
int	m_nTabIndex
	tab completion: keyword index

Protected Attributes inherited from DynaShellCmd
const char *	m_sCmdName
	command name

const char *	m_sCmdHelpBrief
	command help brief

const char *	m_sCmdHelpArgs
	command help arguments

const char *	m_sCmdHelpDesc
	command help description

const int	m_nArgCntMin
	minimum argument count

const int	m_nArgCntMax
	maximum argument count (0 if not max)

int	m_nPubLevel
	command's published level (depth)

char *	m_sPubName
	command's published name

Detailed Description

Record dynamixel chain movements.

Definition at line 1267 of file dynashell_cmd_train.cxx.

Member Function Documentation

virtual void DynaShellCmdTrain::Exec	(	DynaShell &	shell,
		int	argc,
		char *	argv[]
	)

inlinevirtual

Execute recording.

Parameters

shell	Dynamixel shell.
argc	Command argument count.
argv	Array of arguments.

Implements DynaShellCmd.

Definition at line 1296 of file dynashell_cmd_train.cxx.

References DYNA_ID_NONE, DynaServo::GetModelNumber(), DynaChain::GetServo(), DynaChain::IterNextMaster(), DynaChain::IterStartMaster(), DynaShell::m_pDynaChain, DynaShell::m_pRecording, DynaShell::RecordingInit(), DynaRecording::RegisterServoInfo(), and TRY.

   {
     int         nStartDelay;
     int         nSamplePeriod;
     int         iter;
     int         nServoId;
     DynaServo  *pServo;
 
     //
     // Parse arguments
     //
     TRY( ChkArgCnt(shell, argc) );
     TRY( ToInt(shell, argv[0], &nStartDelay) );
     TRY( ToInt(shell, argv[1], &nSamplePeriod) );
 
     //
     // Check state
     //
     TRY( ChkComm(shell) );
     TRY( ChkChainNotEmpty(shell) );
 
     
     // initialize recording data
     shell.RecordingInit(nSamplePeriod);
 
     // register servos in chain to be trained with recording header
     for(nServoId = shell.m_pDynaChain->IterStartMaster(&iter);
         nServoId != DYNA_ID_NONE;
         nServoId = shell.m_pDynaChain->IterNextMaster(&iter))
     {
       pServo = shell.m_pDynaChain->GetServo(nServoId);
       shell.m_pRecording->RegisterServoInfo(nServoId, pServo->GetModelNumber());
     }
 
     // record training session
     RecordTraining(shell, nStartDelay, nSamplePeriod);
   }

void DynaShellCmdTrain::RecordTraining	(	DynaShell &	shell,
		int	nStartDelay,
		int	nSamplePeriod
	)

inlineprotected

Record the movements of a dynamixel chain.

Parameters

shell	Dynamixel shell.
nStartDelay	Delay in seconds, before recording starts.
nSamplePeriod	Recording sample period (ms)

Definition at line 1402 of file dynashell_cmd_train.cxx.

References DynaRecording::AddFieldTuple(), DynaRecording::AddRecord(), DYNA_ID_NONE, DYNA_OK, DynaRecording::END, DynaShell::Error(), DynaChain::GetServo(), DynaChain::IterNextMaster(), DynaChain::IterStartMaster(), DynaShell::m_pDynaChain, DynaShell::m_pRecording, and waitkey().

   {
     DynaRecording  *pRecording = shell.m_pRecording;
     int             nRecNum;
     int             iter;
     int             nServoId;
     DynaServo      *pServo;
     int             nCurPos;
     int             nCurSpeed;
     int             rc;
 
     if( nSamplePeriod < 1 )
     {
       nSamplePeriod = 1;
     }
 
     printf("Starting to record in %u seconds.\n", nStartDelay);
     printf("  Recording sample rate: %dms.\n", nSamplePeriod);
     printf("Press <CR> to stop recording.\n\n");
     fflush(stdout);
 
     // count down
     for(iter=0; iter<nStartDelay; ++iter)
     {
       printf("%d ", nStartDelay-iter);
       fflush(stdout);
       sleep(1);
     }
 
     printf("Go\n\n");
 
     //
     // Add record at sampling rate
     //
     while( (nRecNum = pRecording->AddRecord()) != DynaRecording::END )
     {
       printf("record[%d]: ", nRecNum);
 
       //
       // Record current position and speed for each master servo in chain.
       //
       for(nServoId = shell.m_pDynaChain->IterStartMaster(&iter);
           nServoId != DYNA_ID_NONE;
           nServoId = shell.m_pDynaChain->IterNextMaster(&iter))
       {
         pServo = shell.m_pDynaChain->GetServo(nServoId);
 
         // get current position
         rc = pServo->ReadCurPos(&nCurPos);
 
         if( rc != DYNA_OK )
         {
           shell.Error(rc, "Servo %d: ReadCurPos.", nServoId);
           return;
         }
 
         // RDK TODO check alarms for out-of-range servo positions
         
         // get current speed
         rc = pServo->ReadCurSpeed(&nCurSpeed);
 
         if( rc != DYNA_OK )
         {
           shell.Error(rc, "Servo %d: ReadCurSpeed.", nServoId);
           return;
         }
 
         // and field tuple to record
         pRecording->AddFieldTuple(nRecNum, nServoId, nCurPos, nCurSpeed);
 
         printf("%d %d %d   ", nServoId, nCurPos, nCurSpeed);
       }
 
       printf("\n");
 
       // recording sample period wait and user <CR> stop
       if( waitkey(nSamplePeriod) )
       {
         break;
       }
     }
   }

virtual char* DynaShellCmdTrain::TabCompletion	(	DynaShell &	shell,
		const char *	sText,
		size_t	uTextLen,
		int	nState,
		const char *	sContext
	)

inlinevirtual

Command tab completion generator.

Completes NULL NULL <loop>

Parameters

shell	Dynamixel shell.
sText	Partial text string to complete.
uTextLen	Length of text.
nState	Generator state. If FIRST, then initialize any statics.
sContext	Generator context (i.e. canonical command path).

Returns: If a first/next match is made, return allocated completed match.
Otherwise return NULL.

Reimplemented from DynaShellCmd.

Definition at line 1349 of file dynashell_cmd_train.cxx.

References ReadLine::dupstr(), ReadLine::FIRST, and ReadLine::wc().

   {
     // direction keyword table
     static const char *keywordsLoop[] = {"close", "open"}; 
 
     int         nArgNum;
     const char *s;
     char        buf[16];
   
     // argument number of already (expanded) arguments
     nArgNum = ReadLine::wc(sContext) - ReadLine::wc(m_sPubName);
 
     if( nArgNum != 2 )
     {
       return NULL;
     }
 
     //
     // New command argument to complete - initialize.
     //
     if( nState == ReadLine::FIRST )
     {
       m_nTabIndex   = 0;
     }
   
     while( m_nTabIndex < arraysize(keywordsLoop) )
     {
       s = keywordsLoop[m_nTabIndex++];
 
       if( !strncmp(s, sText, uTextLen) )
       {
         return ReadLine::dupstr(s);
       }
     }
 
     // no more matches
     return NULL;
   }

The documentation for this class was generated from the following file:

dynashell/dynashell_cmd_train.cxx

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation