dynashell_cmd_train.cxx File Reference

Dynamixel shell record and playback functions. More...

#include <sys/select.h>
#include <limits.h>
#include <time.h>
#include <ctype.h>
#include <cstring>
#include <iostream>
#include <fstream>
#include <map>
#include <vector>
#include <math.h>
#include <gsl/gsl_bspline.h>
#include <gsl/gsl_multifit.h>
#include <gsl/gsl_rng.h>
#include <gsl/gsl_randist.h>
#include <gsl/gsl_statistics.h>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/DynaComm.h"
#include "Dynamixel/DynaPidSpeed.h"
#include "Dynamixel/DynaServo.h"
#include "Dynamixel/DynaChain.h"
#include "Dynamixel/DynaOlio.h"
#include "dynashell.h"
#include "dynashell_cmd.h"
#include "dynashell_recording.h"
#include "dynashell_util.h"

Go to the source code of this file.

Classes
class	DynaShellCmdGetPid
	Get the PID values for the given servos. More...
class	DynaShellCmdSetPid
	Get the PID values for the given servos. More...
class	DynaShellCmdLoadRecording
	Load recording from file. More...
class	DynaShellCmdSaveRecording
	Save recording to file. More...
class	DynaShellCmdTrain
	Record dynamixel chain movements. More...
class	DynaShellCmdPlay
	Record dynamixel chain movements. More...

Functions
static bool_t	waitkey (int nMSec)
	Block, waiting for either timeout or user keyboard press. More...
static bool_t	waitkey (double fSec)
	Block, waiting for either timeout or user keyboard press. More...
void	PublishShellTrainCommands (DynaShell &shell)
	Publish shell servo commands to shell. More...

Detailed Description

Dynamixel shell record and playback functions.

LastChangedDate

2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015)

Rev

3845

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file dynashell_cmd_train.cxx.

Function Documentation

void PublishShellTrainCommands

(

DynaShell &

shell

)

Publish shell servo commands to shell.

shell Dynamixel shell.

Definition at line 2260 of file dynashell_cmd_train.cxx.

References DynaShell::PublishCommand().

Referenced by DynaShellCmdChainOut::ArgToUInt().

{
  shell.PublishCommand("get", new DynaShellCmdGetPid());
  shell.PublishCommand("set", new DynaShellCmdSetPid());
  shell.PublishCommand("load", new DynaShellCmdLoadRecording());
  shell.PublishCommand("save", new DynaShellCmdSaveRecording());
  shell.PublishCommand(NULL, new DynaShellCmdTrain());
  shell.PublishCommand(NULL, new DynaShellCmdPlay());
}

static bool_t waitkey ( int  nMSec )

static

Block, waiting for either timeout or user keyboard press.

No characters are read.

Parameters

nMSec

Wait period (ms)

Returns

Returns true if wait was interrupted by keyboard press. Else returns false on time out.

Definition at line 102 of file dynashell_cmd_train.cxx.

Referenced by DynaShellCmdPlay::Play(), and DynaShellCmdTrain::RecordTraining().

{
   int            fno = fileno(stdin);
   fd_set         fdset;
   uint_t         usec = (uint_t)nMSec * 1000;
   struct timeval timeout;
   int            rc;

   FD_ZERO(&fdset);
   FD_SET(fno, &fdset);
   
   // timeout (gets munged after each select())
   timeout.tv_sec  = (time_t)(usec / 1000000);
   timeout.tv_usec = (time_t)(usec % 1000000);

   if( (rc = select(fno+1, &fdset, NULL, NULL, &timeout)) > 0 )
   {
     fflush(stdin);
   }

   return rc>0? true: false;
}

static bool_t waitkey ( double  fSec )

static

Block, waiting for either timeout or user keyboard press.

No characters are read.

Parameters

fSec	Wait period (seconds)

Returns

Returns true if wait was interrupted by keyboard press. Else returns false on time out.

Definition at line 135 of file dynashell_cmd_train.cxx.

{
   int            fno = fileno(stdin);
   fd_set         fdset;
   struct timeval timeout;
   int            rc;

   FD_ZERO(&fdset);
   FD_SET(fno, &fdset);
   
   // timeout (gets munged after each select())
   timeout.tv_sec  = (time_t)((int)fSec);
   timeout.tv_usec = (time_t)(((fSec - (double)timeout.tv_sec)) * 1000000.0);

   if( (rc = select(fno+1, &fdset, NULL, NULL, &timeout)) > 0 )
   {
     fflush(stdin);
   }

   return rc>0? true: false;
}