ChiaraInfo.h

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//-*-c++-*-
#ifndef INCLUDED_ChiaraInfo_h
#define INCLUDED_ChiaraInfo_h

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"
using namespace RobotInfo;

// see http://tekkotsu.org/porting.html#configuration for more information on TGT_HAS_* flags
#if defined(TGT_CHIARA)
#  define TGT_IS_BIOLOID
#  define TGT_IS_CHIARA
#  define TGT_HAS_CAMERA 1
#  define TGT_HAS_LEDS 11
#  define TGT_HAS_BUTTONS 3
#  define TGT_HAS_LEGS 6
#  define TGT_HAS_SEK_LEGS 6
#  define TGT_HAS_ARMS 1
#  define TGT_HAS_HEAD 1
#  define TGT_HAS_POWER_STATUS
#  define TGT_HAS_IR_DISTANCE 3
#endif

//! Contains information about an Chiara hexapod robot, such as number of joints, LEDs, etc.
namespace ChiaraInfo {

  // *******************************
  //       ROBOT CONFIGURATION
  // *******************************

  extern const char* const TargetName; //!< the name of the model, to be used for logging and remote GUIs

  const unsigned int FrameTime=32;        //!< time between frames in the motion system (milliseconds)
  const unsigned int NumFrames=1;        //!< the number of frames per buffer (don't forget also double buffered)
  const unsigned int SoundBufferTime=32; //!< the number of milliseconds per sound buffer... I'm not sure if this can be changed
  
  //!@name Output Types Information
  const unsigned NumWheels      =  0;
  
  const unsigned JointsPerArm   =  6;
  const unsigned NumArms        =  1;
  const unsigned NumArmJoints   =  JointsPerArm*NumArms;
  
  const unsigned JointsPerLeg   =  3; //!< The number of joints per leg
  const unsigned NumLegs        =  6; //!< The number of legs
  const unsigned NumLegJoints   =  JointsPerLeg*NumLegs; //!< the TOTAL number of joints on ALL legs
  const unsigned NumHeadJoints  =  2; //!< The number of joints in the pantilt
  const unsigned NumTailJoints  =  0; //!< The number of joints assigned to the tail
  const unsigned NumMouthJoints =  0; //!< the number of joints that control the mouth
  const unsigned NumEarJoints   =  0; //!< The number of joints which control the ears (NOT per ear, is total)
  const unsigned NumButtons     =  3; //!< the number of buttons that are available
  const unsigned NumSensors     =  11;  //!< the number of sensors available
  const unsigned NumFacePanelLEDs = 0; //!< The number of face panel LEDs

  const unsigned NumLEDs        =  NumLegs + 1 + 4; //!< There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones: knees and pan
  const unsigned NumPIDJoints   = NumArmJoints + 1 + NumLegJoints + NumHeadJoints+NumTailJoints+NumMouthJoints;; //!< servo pins
  
  const unsigned NumOutputs     = NumWheels + NumPIDJoints + NumLEDs; //!< the total number of outputs
  const unsigned NumReferenceFrames = NumOutputs + 1 + NumLegs + NumArms + 1 + 3; //!< for the base, feet, gripper, camera, and IR distance rangefinder

  using namespace Camera75DOF;
  
  const float BallOfFootRadius=0; //!< radius of the ball of the foot
  //@}


  // *******************************
  //         OUTPUT OFFSETS
  // *******************************

  //!Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file
  //!@name Output Offsets

  
  const unsigned PIDJointOffset = 0; //!< The beginning of the PID Joints
  const unsigned RFrRotatorOffset = PIDJointOffset; //!< The right front leg's rotator joint
  const unsigned LegOffset   = RFrRotatorOffset+1;           //!< the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg):  #NumLegs of #JointsPerLeg each, in #LegOrder_t order; see #LegOffset_t
  const unsigned ArmOffset  = LegOffset+NumLegJoints;   //!< the offset of the beginning of the arm joints, add #TPROffset_t to get specific joint
  const unsigned HeadOffset  = ArmOffset+NumArmJoints;   //!< the offset of the beginning of the head joints, add #TPROffset_t to get specific joint

  const unsigned LEDOffset   = PIDJointOffset + NumPIDJoints; //!< the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets

  const unsigned BaseFrameOffset   = NumOutputs; //!< Use with kinematics to refer to base reference frame
  const unsigned FootFrameOffset    = BaseFrameOffset+1; //!< Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw)
  const unsigned GripperFrameOffset = FootFrameOffset+NumLegs; //!< Use with kinematics to refer to gripper reference frame
  const unsigned CameraFrameOffset = GripperFrameOffset+NumArms; //!< Use with kinematics to refer to camera reference frame
  
  const unsigned LeftIRFrameOffset = CameraFrameOffset+1; //!< Use with kinematics to refer to left IR distance rangefinder reference frame
  const unsigned CenterIRFrameOffset = LeftIRFrameOffset+1; //!< Use with kinematics to refer to center IR distance rangefinder reference frame
  const unsigned IRFrameOffset = CenterIRFrameOffset; //!< alias for CenterIRFrameOffset
  const unsigned RightIRFrameOffset = CenterIRFrameOffset+1; //!< Use with kinematics to refer to right IR distance rangefinder reference frame

  //! the ordering of legs
  enum LegOrder_t {
    RFrLegOrder = 0, //!< right front leg
    LFrLegOrder,       //!< left front leg
    RMdLegOrder,     //!< right middle leg
    LMdLegOrder,     //!< left middle leg
    RBkLegOrder,      //!< right back leg
    LBkLegOrder     //!< left back leg
  };
  
  //! The offsets within appendages (the legs)  Note that the ordering matches the actual physical ordering of joints on the appendage
  enum SEKOffset_t {
    SweepOffset=0, //!< moves leg forward or backward along body
    ElevatorOffset,  //!< moves leg toward or away from body
    KneeOffset       //!< moves knee
  };
  
  //! The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist)
  enum TPROffset_t {
    PanOffset=0, //!< pan/yaw/heading (horizontal)
    TiltOffset,      //!< tilt/pitch/elevation (vertical)
    NodOffset = TiltOffset, //!< replicated tilt (could be left undefined instead...)
    RollOffset //!< spin/twist final axis (can be applied to WristOffset, but Chiara neck only has pan/tilt)
  };
  
  //! The offsets of the individual legs, add #REKOffset_t value to access specific joint
  /*! @hideinitializer */
  enum LegOffset_t {
    RFrLegOffset = LegOffset+RFrLegOrder*JointsPerLeg, //!< beginning of right front leg's joints
    LFrLegOffset = LegOffset+LFrLegOrder*JointsPerLeg, //!< beginning of left front leg's joints
    RMdLegOffset = LegOffset+RMdLegOrder*JointsPerLeg, //!< beginning of right front leg's joints
    LMdLegOffset = LegOffset+LMdLegOrder*JointsPerLeg, //!< beginning of left front leg's joints
    RBkLegOffset = LegOffset+RBkLegOrder*JointsPerLeg,  //!< beginning of right back leg's joints
    LBkLegOffset = LegOffset+LBkLegOrder*JointsPerLeg, //!< beginning of left back leg's joints
  };
  
  //! These are 'absolute' offsets for the arm joints, don't need to add to ArmOffset like TPROffset_t values do
  enum ArmOffset_t {
    ArmShoulderOffset=ArmOffset,
    ArmElbowOffset,
    WristOffset,
    WristYawOffset = WristOffset,
    WristPitchOffset,
    WristRollOffset,
    GripperOffset
  };
  
  //! These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do
  enum HeadOffset_t {
    HeadPanOffset = HeadOffset,      //!< pan/heading (horizontal)
    HeadTiltOffset, //!< tilt/elevation (vertical)
  };
  
  //! The offsets of the individual LEDs, one LED on each dynamixel servo, these match the servo order, so this is empty
  /*! @hideinitializer */
  enum LEDOffset_t {
    BlueLEDOffset = LEDOffset, //!< The blue LED on the back of the robot (closest to rear button panel)
    GreenLEDOffset, //!< The green LED on the back of the robot (second closest to rear button panel)
    YellowLEDOffset, //!< The yellow LED on the back of the robot (second closest to neck)
    RedLEDOffset, //!< The red LED on the back of the robot (closest to neck)
    RFrKneeLEDOffset, //!< Small LED on the knee servo
    LFrKneeLEDOffset, //!< Small LED on the knee servo
    RMdKneeLEDOffset, //!< Small LED on the knee servo
    LMdKneeLEDOffset, //!< Small LED on the knee servo
    RBkKneeLEDOffset, //!< Small LED on the knee servo
    LBkKneeLEDOffset, //!< Small LED on the knee servo
    HeadLEDOffset  //!< Small LED on the camera's pan servo
  };
  
  typedef unsigned int LEDBitMask_t; //!< So you can be clear when you're refering to a LED bitmask
  
  const LEDBitMask_t BlueLEDMask = 1<<(BlueLEDOffset-LEDOffset); //!< mask corresponding to BlueLEDOffset
  const LEDBitMask_t GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset); //!< mask corresponding to GreenLEDOffset
  const LEDBitMask_t YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset); //!< mask corresponding to YellowLEDOffset
  const LEDBitMask_t RedLEDMask = 1<<(RedLEDOffset-LEDOffset); //!< mask corresponding to RedLEDOffset
  const LEDBitMask_t RFrKneeLEDMask = 1<<(RFrKneeLEDOffset-LEDOffset); //!< mask corresponding to RFrKneeLEDOffset
  const LEDBitMask_t LFrKneeLEDMask = 1<<(LFrKneeLEDOffset-LEDOffset); //!< mask corresponding to LFrKneeLEDOffset
  const LEDBitMask_t RMdKneeLEDMask = 1<<(RMdKneeLEDOffset-LEDOffset); //!< mask corresponding to RMdKneeLEDOffset
  const LEDBitMask_t LMdKneeLEDMask = 1<<(LMdKneeLEDOffset-LEDOffset); //!< mask corresponding to LMdKneeLEDOffset
  const LEDBitMask_t RBkKneeLEDMask = 1<<(RBkKneeLEDOffset-LEDOffset); //!< mask corresponding to RBkKneeLEDOffset
  const LEDBitMask_t LBkKneeLEDMask = 1<<(LBkKneeLEDOffset-LEDOffset); //!< mask corresponding to LBkKneeLEDOffset
  const LEDBitMask_t HeadLEDMask = 1<<(HeadLEDOffset-LEDOffset); //!< mask corresponding to HeadLEDOffset
  
  //! LEDs for the "face panel" -- on the Chiara this is just HeadLEDMask
  const LEDBitMask_t FaceLEDMask = HeadLEDMask;
  //! selects all of the leds
  const LEDBitMask_t AllLEDMask  = (LEDBitMask_t)~0;
  //@}


  //! Offset needed so that the centroid of the robot is correct relative to the bounding box
  const fmat::Column<3> AgentBoundingBoxBaseFrameOffset = fmat::pack(0,0,0); 

  //! Half of the length, width, and height of the robot
  const fmat::Column<3> AgentBoundingBoxHalfDims = fmat::pack(304.8/2, 304.8/2, 0);

  // *******************************
  //          INPUT OFFSETS
  // *******************************


  //! The order in which inputs should be stored
  //!@name Input Offsets

  //! holds offsets to different buttons in WorldState::buttons[]
  /*! Should be a straight mapping to the ButtonSourceIDs
   *
   *  Note that the chest (power) button is not a normal button.  It kills
   *  power to the motors at a hardware level, and isn't sensed in the
   *  normal way.  If you want to know when it is pressed (and you are
   *  about to shut down) see PowerSrcID::PauseSID.
   *
   *  @see WorldState::buttons @see ButtonSourceID_t
   * @hideinitializer */
  enum ButtonOffset_t { GreenButOffset, RedButOffset, YellowButOffset };

  //! Provides a string name for each button
  const char* const buttonNames[NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL };

  //! holds offset to different sensor values in WorldState::sensors[]
  /*! @see WorldState::sensors[] */
  enum SensorOffset_t {
    LeftIRDistOffset,
    CenterIRDistOffset,
    IRDistOffset = CenterIRDistOffset,
    RightIRDistOffset,
    LeftLuminosityOffset,
    CenterLuminosityOffset,
    RightLuminosityOffset,
    MicVolumeOffset,
    MicSpikeCountOffset,
    PowerRemainOffset, //! estimate of power capacity as percentage, 0-1
    PowerThermoOffset, //!< degrees Celcius
    PowerVoltageOffset, //!< volts
  };

  //! Provides a string name for each sensor
  const char* const sensorNames[NumSensors+1] = {
    "LeftIRDist", "CenterIRDist", "RightIRDist",
    "LeftLuminosity", "CenterLuminosity", "RightLuminosity",
    "MicVolume", "MicSpikeCount",
    "PowerRemain", "PowerThermo", "PowerVoltage", NULL
  };

  //@}
  
  
  //! Names for each of the outputs
  const char* const outputNames[NumReferenceFrames+1] = {
    // servos:
    "RFr:rotor",
    "RFr:sweep","RFr:elvtr","RFr:knee",
    "LFr:sweep","LFr:elvtr","LFr:knee",
    "RMd:sweep","RMd:elvtr","RMd:knee",
    "LMd:sweep","LMd:elvtr","LMd:knee",
    "RBk:sweep","RBk:elvtr","RBk:knee",
    "LBk:sweep","LBk:elvtr","LBk:knee",
    "ARM:shldr","ARM:elbow","ARM:wristYaw","ARM:wristPitch","ARM:wristRoll","ARM:gripper",
    "NECK:pan","NECK:tilt",
    
    // note we don't expose ALL of the dynamixel LEDs... can't see most of them anyway,
    // so don't bother wasting storage/computation... these are the more visible ones:
    "LED:blue", "LED:green", "LED:yellow", "LED:red",
    "LED:RFr:knee","LED:LFr:knee",
    "LED:RMd:knee","LED:LMd:knee",
    "LED:RBk:knee","LED:LBk:knee",
    "LED:NECK:pan",
    
    // reference frames:
    "BaseFrame",
    "RFrFootFrame",
    "LFrFootFrame",
    "RMdFootFrame",
    "LMdFootFrame",
    "RBkFootFrame",
    "LBkFootFrame",
    "GripperFrame",
    "CameraFrame",
    "LeftIRFrame",
    "CenterIRFrame",
    "RightIRFrame",
    NULL
  };
  
  //! provides polymorphic robot capability detection/mapping
  class ChiaraCapabilities : public Capabilities {
  public:
    //! constructor
    ChiaraCapabilities()
    : Capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs)
    {
      frameToIndex["ARM:Wrist"] = WristYawOffset;
      frameToIndex["NECK:nod"] = HeadTiltOffset;
      frameToIndex["IRFrame"] = IRFrameOffset; // aliased to the center IR sensor
      sensorToIndex["IRDist"]=IRDistOffset; // aliased to the center IR sensor
    }
  };
  //! allocation declared in RobotInfo.cc
  extern const ChiaraCapabilities capabilities;
  
  
  //! offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters
  enum ServoParam_t {
    DYNAMIXEL_SLOPE=0, //!< compliance slope, the proportional control (P in PID)
    DYNAMIXEL_PUNCH, //!< punch, a constant added to the slope once error exceeds compliance margin
    DYNAMIXEL_MARGIN //!< compliance margin, the amount of error to tolerate before triggering a torque response
  };
  
  //! Dynamixel servos don't use PID control.  Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t)
  /*! I believe the torque calculation goes something like: torque = (error<compliance) ? 0 : punch + P*error
   *  Dynamixel servos allow different values to be supplied for CW vs. CCW motion, but we just use the same value for each */
  const float DefaultPIDs[NumPIDJoints][3] = {
    {32,32,0},
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, {32,32,0}, 
    {32,32,0}, {32,32,0},
  };
  
  //!These values are our recommended maximum joint velocities, in rad/ms
  /*! a value <= 0 means infinite speed (e.g. LEDs)
   *  
   *  These limits are <b>not</b> enforced by the framework.  They are simply available for you to use as you see fit.
   *  HeadPointerMC and PostureMC are primary examples of included classes which do respect these values (although they can be overridden)
   *  
   *  These values were obtained from the administrators of the Sony OPEN-R BBS */
  const float MaxOutputSpeed[NumOutputs] = {
    // servos
    0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,
    0,0,0,0,0,0,
    0,0,
    // leds
    0,0,
    0,0,
    0,0,
    0,
    0,0,0,0,
  };

  #ifndef RAD
    //!Just a little macro for converting degrees to radians
  #define RAD(deg) (((deg) * (float)M_PI ) / 180.0f)
    //!a flag so we undef these after we're done - do you have a cleaner solution?
  #define __RI_RAD_FLAG
  #endif
  
  //! This table holds the software limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange)
  const float outputRanges[NumOutputs][2] = {
    // servos
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // right front
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // left front
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // right mid
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // left mid
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // right back
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // left back   
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)}, 
    
    // LED
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, 
    {0,1}, {0,1}, {0,1}, {0,1},
  };

  //! This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange)
  /*! Same as #outputRanges, don't know actual values because they were never specified by Sony */
  const float mechanicalLimits[NumOutputs][2] = {
    // servos
    {RAD(-17),RAD(90)},
    {RAD(-102),RAD(67)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // right front
    {RAD(-53),RAD(58)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // left front
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // right mid
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // left mid
    {RAD(-53),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // right back
    {RAD(-73),RAD(53)}, {RAD(-100),RAD(100)}, {RAD(-55),RAD(160)}, // left back   
    {RAD(-95),RAD(95)}, {RAD(-95),RAD(95)}, {RAD(-100),RAD(100)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)}, {RAD(-90),RAD(90)},
    {RAD(-150),RAD(150)}, {RAD(-92),RAD(75)},     

    // LED
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, {0,1},
    {0,1}, 
    {0,1}, {0,1}, {0,1}, {0,1},
  };

#ifdef __RI_RAD_FLAG
#undef RAD
#undef __RI_RAD_FLAG
#endif
}

/*! @file
 * @brief Defines some capabilities of the Chiara hexapod robots
 * @author ejt (Creator)
 */

#endif