RobotInfo.cc

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#include "RobotInfo.h"
#include <iostream>

#if defined(TGT_ERS2xx) && defined(PLATFORM_APERIOS)
#  include <OPENR/OPENRAPI.h>
#endif

// collecting these static allocations here so we don't have to have a separate file for each one
// you can either make a .cc file dedicated to your Info.h, or just add an entry below...

#include "ERS210Info.h"
namespace ERS210Info {
  const char* const TargetName="ERS-210";
  const ERS210Capabilities capabilities;
}

#include "ERS220Info.h"
namespace ERS220Info {
  const char* const TargetName="ERS-220";
  const ERS220Capabilities capabilities;
}

#include "ERS2xxInfo.h"
namespace ERS2xxInfo {
  const char* const TargetName="ERS-2xx";
  const ERS2xxCapabilities capabilities;
}

#include "ERS7Info.h"
namespace ERS7Info {
  const char* const TargetName="ERS-7";
  const ERS7Capabilities capabilities;
  const char CameraModelName[] = "ERS-7-Camera";
}

#include "LynxArm6Info.h"
namespace LynxArm6Info {
  const char* const TargetName="LynxArm6";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,0,0,NumOutputs);
}

#include "Regis1Info.h"
namespace Regis1Info {
  const char* const TargetName="Regis1";
  const Regis1Capabilities capabilities;
}

#include "QBotPlusInfo.h"
namespace QBotPlusInfo {
  const char* const TargetName="QBotPlus";
  const QBotPlusCapabilities capabilities;
}

#include "QwerkInfo.h"
namespace QwerkInfo {
  const char* const TargetName="Qwerk";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs);
}

#include "CreateInfo.h"
namespace CreateInfo {
  const char* const TargetName="Create";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs);
}

#include "CalliopeInfo.h"
namespace CalliopeInfo {
  const char* const TargetName="Calliope";
  const CalliopeCapabilities capabilities;
}

namespace CalliopeLPInfo {
  const char* const TargetName="CalliopeLP";
  const CalliopeLPCapabilities capabilities;
}

namespace CalliopeSPInfo {
  const char* const TargetName="CalliopeSP";
  const CalliopeSPCapabilities capabilities;
}

namespace Calliope2SPInfo {
  const char* const TargetName="Calliope2SP";
  const Calliope2SPCapabilities capabilities;
}

namespace Calliope5SPInfo {
  const char* const TargetName="Calliope5SP";
  const Calliope5SPCapabilities capabilities;
}

namespace Calliope5KPInfo {
  const char* const TargetName="Calliope5KP";
  const Calliope5KPCapabilities capabilities;
}

#include "WiiMoteInfo.h"
namespace WiiMoteInfo {
  const char* const TargetName="WiiMote";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs);
}

#include "BioloidInfo.h"
namespace BioloidInfo {
  const char* const TargetName="Bioloid";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs);
}

#include "PanTiltInfo.h"
namespace PanTiltInfo {
  const char* const TargetName="PanTilt";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs);
}

#include "HandEyeInfo.h"
namespace HandEyeInfo {
  const char* const TargetName="HandEye";
  const HandEyeCapabilities capabilities;
}

#include "HandEyeZInfo.h"
namespace HandEyeZInfo {
  const char* const TargetName="HandEyeZ";
  const HandEyeZCapabilities capabilities;
}


#include "TentacleInfo.h"
namespace TentacleInfo {
  const char* const TargetName="Tentacle";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs);
}

#include "ChiaraInfo.h"
namespace ChiaraInfo {
  const char* const TargetName="Chiara";
  const ChiaraCapabilities capabilities;
}

#include "Chiara2Info.h"
namespace Chiara2Info {
  const char* const TargetName="Chiara2";
  const ChiaraCapabilities capabilities;
}

#include "KHR2Info.h"
namespace KHR2Info {
  const char* const TargetName="KHR2";
  const Capabilities capabilities(TargetName,NumReferenceFrames,outputNames,NumButtons,buttonNames,NumSensors,sensorNames,PIDJointOffset,NumPIDJoints,LEDOffset,NumLEDs,NumOutputs);
}

namespace CameraGeneric60 {
  const char CameraModelName[] = "Generic60";
}

namespace Camera75DOF {
  const char CameraModelName[] = "QuickCam-Pro-9000";
}

namespace CameraSTX {
  const char CameraModelName[] = "QuickCam-STX";
}

namespace CameraERS2xx {
  const char CameraModelName[] = "ERS-2xx-Camera";
}

// and now for RobotInfo's own stuff:
namespace RobotInfo {
  
  const char* const detectModel() {
#ifdef TGT_ERS2xx
#  ifdef PLATFORM_APERIOS
    // might be running on either 210 or 220, check
    char robotDesignStr[orobotdesignNAME_MAX + 1];
    memset(robotDesignStr, 0, sizeof(robotDesignStr));
    if (OPENR::GetRobotDesign(robotDesignStr) != oSUCCESS) {
      std::cout << "OPENR::GetRobotDesign() failed." << std::endl;
      return TargetName;
    } else {
      if(strcmp(robotDesignStr,"ERS-210")==0)
        return ERS210Info::TargetName;
      else if(strcmp(robotDesignStr,"ERS-220")==0)
        return ERS220Info::TargetName;
      else {
        std::cerr << "ERROR: Unknown name '" << robotDesignStr << "' for target ERS2xx" << std::endl;
        return TargetName;
      }
    }
#  else
#    warning TGT_ERS2xx assuming ERS-210 for simulation on local platform
    return ERS210Info::TargetName;
#  endif
    
#else
    // target is directly the robot, return the target name
    return TargetName;
#endif
  }
  
#if defined(TGT_HAS_CAMERA) || defined(TGT_HAS_WEBCAM)
  const char* CameraName = CameraModelName;
  fmat::Matrix<3,3> CameraHomography = fmat::Matrix<3,3>::identity();
#endif
  
#ifndef PLATFORM_APERIOS
  const char* const RobotName = detectModel();
#else // have to use a string because aperios is annoying like that
  const std::string RobotName = detectModel();
#endif
  
  
  Capabilities::Capabilities(const char* robName, size_t numFrame, const char * const frameNames[], size_t numBut, const char * const butNames[], size_t numSen, const char * const senNames[], size_t pidOff, size_t numPID, size_t ledOff, size_t numLED, size_t numTotalOutputs)
    : name(robName),
    frames(frameNames,frameNames+numFrame), buttons(butNames,butNames+numBut), sensors(senNames,senNames+numSen),
    frameToIndex(), buttonToIndex(), sensorToIndex(),
    pidJointOffset(pidOff), numPIDJoints(numPID), ledOffset(ledOff), numLEDs(numLED), numOutputs(numTotalOutputs),
    fakeOutputs()
  {
    for(size_t i=0; i<frames.size(); ++i)
      frameToIndex[frames[i]]=i;
    for(size_t i=0; i<buttons.size(); ++i)
      buttonToIndex[buttons[i]]=i;
    for(size_t i=0; i<sensors.size(); ++i)
      sensorToIndex[sensors[i]]=i;
    
    std::map<std::string, const Capabilities*>::const_iterator it=getCaps().find(robName);
    if(it!=getCaps().end())
      std::cerr << "WARNING: RobotInfo '" << robName << "' capabilities has already been registered!  Name conflict?  Replacing previous..." << std::endl;
    getCaps()[robName]=this;
  }

  std::map<std::string, const Capabilities*>& Capabilities::getCaps() {
    static std::map<std::string, const Capabilities*> caps;
    return caps;
  }
  
}