Dynamixel.cc

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#include "Dynamixel.h"
#include "Shared/MarkScope.h"
#include "Shared/debuget.h"
#include "Shared/WorldState.h"
#include "Shared/BioloidInfo.h"
#include "Shared/TimeET.h"
#include "IPC/CallbackThread.h"
#include <algorithm>

using namespace std; 
using namespace DynamixelProtocol;

INSTANTIATE_NAMEDENUMERATION_STATICS(SensorOffset_t);
enum SeenState { LED_UNSEEN, LED_SAME, LED_DIFF };

unsigned int DynamixelDriver::VOLTAGE_SENSOR_OFFSET = capabilities.findSensorOffset("PowerVoltage");
unsigned int DynamixelDriver::TEMP_SENSOR_OFFSET = capabilities.findSensorOffset("PowerThermo");

const std::string DynamixelDriver::autoRegisterDynamixelDriver = DeviceDriver::getRegistry().registerType<DynamixelDriver>("Dynamixel");

void DynamixelDriver::motionStarting() {
  ASSERTRET(!motionActive,"DynamixelDriver::motionStarting, but motionActive is true");
  MotionHook::motionStarting();
  
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm==NULL) {
    if(commName.size()>0)
      std::cerr << "DynamixelDriver \"" << instanceName << "\": initialization failed, CommPort \"" << commName << "\" not found" << std::endl;
  } else if(!comm->open() || !comm->isWriteable()) {
    std::cerr << "DynamixelDriver \"" << instanceName << "\": initialization failed, CommPort disconnected" << std::endl;
  } else {
    bool restartComm=false;
    if(commThread.isStarted()) { // commThread hogs the comm lock, stop it so we don't starve
      commThread.stop().join();
      restartComm=true;
    }
    MarkScope autolock(*comm);
    std::ostream os(&comm->getWriteStreambuf());
    // we'll reset these individually on the first motion update
    for(servo_iterator it=servos.begin(); it!=servos.end(); ++it)
      it->second->punch = it->second->margin = it->second->slope = 0;
    write(os, BroadcastFullComplianceCmd()).flush();
    write(os, BroadcastNoPunchCmd()).flush();
    write(os, BroadcastZeroSpeedCmd()).flush();
    // we use compliance slope to disable torque, so make sure it's enabled here
    write(os, BroadcastTorqueCmd(true)).flush();
    
    if(!sensorsActive) // first to become active, ping servos
      pingServos();
    
    if(restartComm) // we might have stopped commThread
      commThread.start();
  }
  
  motionActive=true;
  commName.addPrimitiveListener(this);
}

bool DynamixelDriver::isConnected() {
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  return (comm!=NULL && comm->isReadable() && comm->isWriteable());
}

void DynamixelDriver::motionStopping() {
  ASSERTRET(motionActive,"DynamixelDriver::motionStopping, but motionActive is false");
  motionActive=false;
  if(!sensorsActive) { // last one to stay active...
    if(commThread.isStarted())
      commThread.stop().join();
    // listener count is not recursive, so only remove if we're the last one
    commName.removePrimitiveListener(this);
  }
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm!=NULL) {
    sendZeroTorqueCmd(*comm);
    comm->close(); // this *is* recursive, so we always close it to match our open() in motionStarting()
  }
  MotionHook::motionStopping();
}

void DynamixelDriver::motionCheck(const float outputs[][NumOutputs]) {
  float * buf = commThread.getWriteBuffer();
  for(unsigned int i=NumOutputs; i!=0; ) {
    --i;
    buf[i] = outputs[NumFrames-1][i];
  }
  commThread.setWriteBufferTimestamp(buf);
}

void DynamixelDriver::updatePIDs(const std::vector<MotionHook::PIDUpdate>& pids) {
  MarkScope autolock(commThread.pidLock);
  for(std::vector<MotionHook::PIDUpdate>::const_iterator it=pids.begin(); it!=pids.end(); ++it)
    commThread.pidValues[it->idx]=*it;
  commThread.dirtyPIDs+=pids.size();
}

void DynamixelDriver::registerSource() {
  ASSERTRET(!sensorsActive,"DynamixelDriver::registerSource, but sensorsActive is true");
  sensorsActive=true;
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm!=NULL)
    comm->open();
  for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
    if(it->second->detected) {
      provideOutput(it->second->output);
      provideOutput(it->second->freeSpinOutput);
    }
    it->second->output.addPrimitiveListener(this);
    it->second->freeSpinOutput.addPrimitiveListener(this);
    it->second->detected.addPrimitiveListener(this);
  }
  if(!motionActive && comm!=NULL && comm->isWriteable()) // first to become active, ping servos
    pingServos();
  commName.addPrimitiveListener(this);
  commLatency.addPrimitiveListener(this);
  numPoll.addPrimitiveListener(this);
  responseTime.addPrimitiveListener(this);
  plistValueChanged(numPoll); // just to trigger sanity check on these values
}

void DynamixelDriver::deregisterSource() {
  ASSERTRET(sensorsActive,"DynamixelDriver::deregisterSource, but sensorsActive is false");
  sensorsActive=false;
  if(!motionActive) { // last to stay active...
    if(commThread.isStarted())
      commThread.stop().join();
    // listener count is not recursive, so only remove if we're the last one
    commName.removePrimitiveListener(this);
  }
  commLatency.removePrimitiveListener(this);
  numPoll.removePrimitiveListener(this);
  responseTime.removePrimitiveListener(this);
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm!=NULL)
    comm->close();
  for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
    it->second->detected.removePrimitiveListener(this);
    it->second->freeSpinOutput.removePrimitiveListener(this);
    it->second->output.removePrimitiveListener(this);
    if(it->second->detected)
      ignoreOutput(it->second->output);
  }
}

void DynamixelDriver::doUnfreeze() {
  MarkScope sl(commThread.getStartLock());
  if(!commThread.isStarted()) {
    commThread.start();
  }
}

void DynamixelDriver::doFreeze() {
  MarkScope sl(commThread.getStartLock());
  if(commThread.isStarted()) {
    commThread.stop().join();
    ASSERT(!commThread.isStarted(),"DynamixelDriver::CommThread ended, but still running?");
  }
}

unsigned int DynamixelDriver::nextTimestamp() {
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm==NULL || !comm->isReadable() || !comm->isWriteable())
    return -1U;
  return commThread.nextTimestamp();
}

bool DynamixelDriver::advance() {
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm==NULL || !comm->isReadable() || !comm->isWriteable())
    return false;
  
  if(!commThread.isStarted()) {
    // indicates we're in non-realtime mode
    pingServos(true);
  }
  static unsigned int lockeduptest=0;
  if(!commThread.takeUpdate()) {
    if(++lockeduptest==8)
      std::cerr << "WARNING: DynamixelDriver appears to be locked up, not getting new sensor readings" << std::endl;
    return false;
  }
  if(lockeduptest>=8)
    std::cerr << "DynamixelDriver has gotten unwedged, sending sensor updates again." << std::endl;
  lockeduptest=0;
  
  return true;
}

void DynamixelDriver::plistValueChanged(const plist::PrimitiveBase& pl) {
  if(&pl==&commName) {
    // if here, then motionStarted or registerSource has been called, thus when commName changes,
    // need to close old one and reopen new one
    if(commThread.isStarted())
      commThread.stop().join();
    
    CommPort * comm = CommPort::getRegistry().getInstance(commName.getPreviousValue());
    if(comm!=NULL) {
      // close each of our old references
      if(sensorsActive)
        comm->close();
      if(motionActive) {
        sendZeroTorqueCmd(*comm);
        comm->close();
      }
    }
    bool motionWasActive=motionActive, sensorsWereActive=sensorsActive;
    sensorsActive=motionActive=false;
    
    // open each of our new references
    if(motionWasActive)
      motionStarting();
    if(sensorsWereActive)
      registerSource();
    
    if(getTimeScale()>0)
      commThread.start();
  } else if(&pl==&commLatency || &pl==&numPoll || &pl==&responseTime) {
    if(numPoll==0) {
      std::cerr << "NumPoll must be at least 1, remove " << instanceName << " from the Sensors.Sources list if you want to disable sensor polling." << std::endl;
      numPoll=1;
    } else if(numPoll>1 && (numPoll * responseTime)/1000 > commLatency) {
      std::cerr << "WARNING: NumPoll * ResponseTime (" << numPoll << "·" << responseTime << "µs=" << (numPoll*responseTime/1000) << "ms) exceeds BufferLatency (" << commLatency << "ms)\n"
      "You may be missing synchronization with buffer flushes" << std::endl;
    }
  } else {
    // check if it's one of the individual servos... if it is, means we're providing servo feedback,
    // need to call providingOutput/ignoringOutput as appropriate
    for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
      if(&pl==&it->second->detected) {
        if(it->second->detected) {
          provideOutput(it->second->output);
          provideOutput(it->second->freeSpinOutput);
        } else {
          ignoreOutput(it->second->freeSpinOutput);
          ignoreOutput(it->second->output);
        }
        return; // found it, DON'T fall through to error message below...
      } else if(it->second->detected) {
        if(&pl==&it->second->output) {
          ignoreOutput(it->second->output.getPreviousValue());
          provideOutput(it->second->output);
          return; // found it, DON'T fall through to error message below...
        } else if(&pl==&it->second->freeSpinOutput) {
          ignoreOutput(it->second->freeSpinOutput.getPreviousValue());
          provideOutput(it->second->freeSpinOutput);
          return; // found it, DON'T fall through to error message below...
        }
      } else if(&pl==&it->second->output || &pl==&it->second->freeSpinOutput) {
        return; // found it, DON'T fall through to error message below...
      }
    }
    std::cerr << "Unhandled value change in " << getClassName() << ": " << pl.get() << std::endl;
  }
}

void DynamixelDriver::processDriverMessage(const DriverMessaging::Message& d) {
  if(d.CLASS_NAME==DriverMessaging::LoadPrediction::NAME) {
    const DriverMessaging::LoadPrediction& loads = dynamic_cast<const DriverMessaging::LoadPrediction&>(d);
    for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
      plist::DictionaryOf<plist::Primitive<float> >::const_iterator dit = loads.loads.findEntry(it->second->output.get());
      if(dit!=loads.loads.end())
        it->second->predictedLoad=*dit->second;
    }
  } else if(d.CLASS_NAME==DriverMessaging::SensorPriority::NAME) {
    const DriverMessaging::SensorPriority& pri = dynamic_cast<const DriverMessaging::SensorPriority&>(d);
    for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
      plist::DictionaryOf<plist::Primitive<float> >::const_iterator dit = pri.outputs.findEntry(it->second->output.get());
      if(dit!=pri.outputs.end())
        it->second->sensorPriority=*dit->second;
    }
  }
}

void DynamixelDriver::pingServos(bool detectedOnly) {
  if(!detectedOnly)
    for(servo_iterator it=servos.begin(); it!=servos.end(); ++it)
      it->second->detected=false;

  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm==NULL)
    return;
  
  bool restartComm=false;
  if(commThread.isStarted()) { // commThread hogs the comm lock, stop it so we don't starve
    commThread.stop().join();
    restartComm=true;
  }
  
  MarkScope autolock(comm->getLock());
  if(!comm->isWriteable() || !comm->isReadable()) {
    std::cerr << "DynamixelDriver \"" << instanceName << "\": cannot ping servos, CommPort disconnected." << std::endl;
    ASSERT(!restartComm,"How was the comm thread still running?  Not restarting it...");
    return;
  }
  std::istream is(&comm->getReadStreambuf());
  std::ostream os(&comm->getWriteStreambuf());
  if(!is || !os) {
    std::cerr << "DynamixelDriver \"" << instanceName << "\": cannot ping servos, CommPort gave bad iostreams." << std::endl;
    ASSERT(!restartComm,"How was the comm thread still running?  Not restarting it...");
    return;
  }
  
  // request exception on badbit so we can thread_cancel read under linux
  // (otherwise we get FATAL: exception not rethrown / Abort error)
  is.exceptions(ios_base::badbit);
  
  MarkScope writeLock(getSensorWriteLock());
  ServoSensorsResponse servoSensors;
  AXS1SensorsResponse axs1Sensors;
  for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
    if( (it->second->getModel()==MODEL_UNKNOWN && !it->second->hasSensorOffset() && it->second->output==UNUSED)
       || ( it->second->getModel()==MODEL_AXS1 && !it->second->hasSensorOffset() )
       || ( it->second->getModel()!=MODEL_UNKNOWN && it->second->getModel()!=MODEL_AXS1 && it->second->output==UNUSED ))
      continue; // don't poll units we're not using
    if(!detectedOnly) {
      it->second->setModel(MODEL_UNKNOWN);
      it->second->detected=false;
    } else if(!it->second->detected) {
      continue;
    }
    unsigned int servoid = it->second->servoID;
    PingThread ping(is, os, servoid, it->second->output, &servoSensors, &axs1Sensors);
    const char* model = static_cast<const char*>(ping.join());
    is.clear();
    os.clear();
    if(model==Thread::CANCELLED || model==NULL) {
      unsigned int idx = it->second->output;
      if(static_cast<unsigned int>(idx)<NumOutputs) {
        cerr << "Warning: Dynamixel servo " << it->first
         << " (mapped to output offset " << outputNames[idx] << ")"
         << " was disconnected or not found" << endl;
      } else if(idx!=UNUSED) {
        cerr << "Warning: Dynamixel servo " << it->first
         << " (mapped to invalid output " << idx << "))"
         << " was disconnected or not found" << endl;
      } else if(servoid>=NumOutputs+START_SERVO_ID && (it->second->leftIRDistOffset!=-1 || it->second->centerIRDistOffset!=-1 || it->second->rightIRDistOffset!=-1
          || it->second->leftLuminosityOffset!=-1 || it->second->centerLuminosityOffset!=-1 || it->second->rightLuminosityOffset!=-1
          || it->second->micVolumeOffset!=-1 || it->second->micSpikeCountOffset!=-1))
      {
        cerr << "Warning: Dynamixel sensor module " << it->first
        << " was disconnected or not found" << endl;
      }
      it->second->sensorActivation=0;
      continue;
    }
    it->second->setModelName(model);
    for(std::map<DynamixelProtocol::ModelID_t, const std::string>::const_iterator nit=DynamixelProtocol::dynamixelModels.begin(); nit!=DynamixelProtocol::dynamixelModels.end(); ++nit) {
      if(nit->second==model) {
        it->second->setModel(nit->first);
        break;
      }
    }
    //std::cerr << "Ping " << it->second->servoID << " detected model " << it->second->getModel() << std::endl;
    it->second->detected=true;
    if(it->second->sensorActivation==0)
      it->second->sensorActivation=1;
    if(it->second->getModel()==MODEL_AXS1) {
      provideValues(*it->second,axs1Sensors);
    } else if(it->second->getModel()!=MODEL_UNKNOWN) {
      it->second->lastCmd=servoSensors.getPosition();
      provideValues(*it->second,servoSensors);
    }
  }
  
  if(restartComm)
    commThread.start();
}

void DynamixelDriver::sendZeroTorqueCmd(CommPort& comm) {
  if(!comm.isWriteable()) {
    std::cerr << "DynamixelDriver \"" << instanceName << "\": unable to send shutdown, CommPort disconnected" << std::endl;
  } else {
    MarkScope autolock(comm);
    std::ostream os(&comm.getWriteStreambuf());
    //printf("\nHEADER: ");
    //debuget::hexout(BroadcastTorqueCmd(true),sizeof(BroadcastTorqueCmd));
    write(os, BroadcastTorqueCmd(false)).flush();
  }
}

/// @cond INTERNAL
static bool sensorActivationCompare(const DynamixelDriver::ServoInfo* a, const DynamixelDriver::ServoInfo* b) { return a->sensorActivation > b->sensorActivation; }
/// @endcond

Thread& DynamixelDriver::CommThread::stop() {
  // we might be stopped by the user while failsafe is also engaged
  if(getCurrent()!=&failsafe) {
    // not stopped by failsafe, so stop the failsafe first
    failsafe.restartFlag=false;
    failsafe.stop().join();
  }
  // failsafe may have already stopped this thread
  if(isStarted())
    Thread::stop();
  return *this;
}

void DynamixelDriver::CommThread::waitForUpdate() {
  if(!isStarted()) {
    if(!updated)
      std::cerr << "DynamixelDriver::CommThread::waitForUpdate: thread not running!" << std::endl;
    return;
  }
  if(updated)
    return;
  join();
  ASSERT(!failsafe.isStarted(),"DynamixelDriver::CommThread ended, but failsafe still running?");
}

float * DynamixelDriver::CommThread::getWriteBuffer() {
  float * bufs[3];
  if(timestampBufA<timestampBufB) {
    if(timestampBufA<timestampBufC) {
      bufs[0]=outputBufA;
      if(timestampBufB<timestampBufC) {
        bufs[1]=outputBufB;
        bufs[2]=outputBufC;
      } else {
        bufs[1]=outputBufC;
        bufs[2]=outputBufB;
      }
    }  else {
      bufs[0]=outputBufC;
      bufs[1]=outputBufA;
      bufs[2]=outputBufB;
    }
  } else if(timestampBufB<timestampBufC) {
    bufs[0]=outputBufB;
    if(timestampBufA<timestampBufC) {
      bufs[1]=outputBufA;
      bufs[2]=outputBufC;
    }  else {
      bufs[1]=outputBufC;
      bufs[2]=outputBufA;
    }
  } else {
    bufs[0]=outputBufC;
    bufs[1]=outputBufB;
    bufs[2]=outputBufA;
  }
  return (bufs[0]==curBuf) ? bufs[1] : bufs[0];
}

void DynamixelDriver::CommThread::setWriteBufferTimestamp(float * buf) {
  if(buf==outputBufA)
    timestampBufA=get_time();
  else if(buf==outputBufB)
    timestampBufB=get_time();
  else if(buf==outputBufC)
    timestampBufC=get_time();
  else
    std::cerr << "DynamixelDriver::CommThread::setWriteBufferTimestamp was passed a unknown buffer" << std::endl;
}

bool DynamixelDriver::CommThread::launched() {
  isFirstCheck=true;
  if(!failsafe.isRunning())
    failsafe.start();
  return true;
}

void DynamixelDriver::CommThread::cancelled() {
  if(!failsafe.isEngaged()) {
    ASSERT(!failsafe.isStarted(),"Failsafe is still running!  How was CommThread cancelled?");
    if(responsePending) {
      // clear read buffer so it doesn't interfere with whatever we do next
      CallbackThread cb(std::mem_fun(&CommThread::clearBuffer), this, true);
      usleep(50*1000);
      if(cb.isStarted())
        cb.stop().join();
    }
  } else {
    if(servoPollQueue.empty())
      return;
    ServoInfo* cur=NULL;
    // find first with some activation energy, that was the one in progress
    for(std::vector<ServoInfo*>::const_iterator it=servoPollQueue.begin(); it!=servoPollQueue.end(); ++it) {
      cur=*it;
      if(cur->sensorActivation>0)
        break;
    }
    cur->sensorActivation=0;
    //std::cerr << "DynamixelDriver: comm timeout reading from servo #" << cur->servoID << ", restarting thread" << std::endl;
    if(++(cur->failures) >= 20) {
      // consistently failing, mark servo as missing so we'll ignore it from now on
      std::cerr << "DynamixelDriver: too many failures on #" << cur->servoID << ", disabling 'Detected' flag" << std::endl;
      cur->detected=false;
      cur->sensorActivation=0;
    }
  }
}

void DynamixelDriver::CommThread::clearBuffer() {
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm==NULL || !comm->isReadable() || !comm->isWriteable())
    return;
  
  MarkScope autolock(comm->getLock());
  std::istream is(&comm->getReadStreambuf());
  
  // request exception on badbit so we can thread_cancel read under linux
  // (otherwise we get FATAL: exception not rethrown / Abort error)
  is.exceptions(ios_base::badbit);
  
  while(is) {
    is.get();
    Thread::testCurrentCancel();
  }
}

unsigned int DynamixelDriver::CommThread::runloop() {
  testCancel();
  
  failsafe.progressFlag=true;
  
  // if there aren't any servos detected, just return now
  if(servoPollQueue.empty())
    return FrameTime*NumFrames*1000;
  
  // get the comm port
  CommPort * comm = CommPort::getRegistry().getInstance(commName);
  if(comm==NULL || !comm->isReadable() || !comm->isWriteable())
    return FrameTime*NumFrames*1000;
    
  MarkScope autolock(comm->getLock());
  std::ostream os(&comm->getWriteStreambuf());
  std::istream is(&comm->getReadStreambuf());
  
  // request exception on badbit so we can thread_cancel read under linux
  // (otherwise we get FATAL: exception not rethrown / Abort error)
  os.exceptions(ios_base::badbit);
  is.exceptions(ios_base::badbit);
  
  if(!driver.sensorsActive && continuousUpdates)
    updateCommands(is,os);
  
  unsigned int NUM_AVAIL_POLL = std::min<unsigned int>(driver.numPoll,servoPollQueue.size());
  std::partial_sort(servoPollQueue.begin(),servoPollQueue.begin()+NUM_AVAIL_POLL,servoPollQueue.end(),sensorActivationCompare);
  
  for(unsigned int i=0; driver.sensorsActive && i<NUM_AVAIL_POLL; ++i) {
    failsafe.progressFlag=true;
    if(servoPollQueue[i]->sensorActivation<=0) {
      NUM_AVAIL_POLL=i;
      break;
    }
    if(i>0) {
      // it's important we wait for at least the specified response time so the next query doesn't collide with a response in progress
      struct timespec st, rt;
      st.tv_sec = 0;
      st.tv_nsec = driver.responseTime*1000;
      while(nanosleep(&st,&rt)!=0) {
        testCancel();
        st=rt;
      }
    }
    failsafe.progressFlag=true;
    if(continuousUpdates)
      updateCommands(is,os);
    
    //cout << get_time() << " requesting from " << servoPollQueue[i]->servoID << " model " << servoPollQueue[i]->getModel() << endl;
    
    // send request for sensor values...
    //TimeET resptime;
    if(servoPollQueue[i]->getModel()==MODEL_AXS1) {
      //std::cout << "Query AX-S1 " << servoPollQueue[i]->servoID << std::endl;
      write(os, ReadAXS1SensorsCmd(servoPollQueue[i]->servoID)).flush();
      responsePending=true;
    } else if(servoPollQueue[i]->getModel()!=MODEL_UNKNOWN) {
      //std::cout << "Query Servo " << servoPollQueue[i]->servoID << std::endl;
      write(os, ReadServoSensorsCmd(servoPollQueue[i]->servoID)).flush();
      responsePending=true;
    } else {
      std::cerr << "Dynamixel Driver, attempting to poll unknown model '" << servoPollQueue[i]->getModelName() << "' (" << servoPollQueue[i]->getModel() << ") at servo ID " << servoPollQueue[i]->servoID << " (ignoring)" << std::endl;
      // drop it so we don't keep repeating the message
      std::vector<ServoInfo*>::iterator it=servoPollQueue.begin();
      std::advance(it,i);
      servoPollQueue.erase(it);
      --i;
      os.flush(); // flush any pending data (e.g. updateCommands) before the sleep on next iteration...
    }
    if(!os) {
      std::cerr << "DynamixelDriver " << driver.instanceName << " unable to send sensor poll request, lost comm?" << std::endl;
      return false;
    }
  }
  
  //TimeET latency;
  
  //std::cout << "READ " << get_time() << '\t' << (get_time()-lastSensorTime) << std::endl;
  lastSensorTime=get_time(); // actually should be set to time of first successful read... will be reset if that goes through
  
  ServoSensorsResponse servoresponse;
  AXS1SensorsResponse axs1response;
  for(unsigned int i=0; driver.sensorsActive && i<NUM_AVAIL_POLL; ++i) {
    failsafe.progressFlag=true;
    
    //cout << "reading from " << servoPollQueue[i]->servoID << endl;
    
    if(servoPollQueue[i]->getModel()==MODEL_AXS1) {
      readResponse(axs1response, is, *servoPollQueue[i]);
      
      // if we clear the count every poll, it disrupts count in progress, so count would always stay 0.  So only clear after a count has been registered.
      // buffer the clear commands, we don't want to interfere with incoming reads.  Will wait to flush after reads are complete.
      unsigned char checksum = 0;
      if(axs1response.sndCount>0) {
        write(os, SyncWriteHeader<SyncWriteSoundHoldAndCountEntry>(1), checksum);
        write(os, SyncWriteSoundHoldAndCountEntry(servoPollQueue[i]->servoID), checksum);
      } else {
        write(os, SyncWriteHeader<SyncWriteSoundHoldEntry>(1), checksum);
        write(os, SyncWriteSoundHoldEntry(servoPollQueue[i]->servoID), checksum);
      }
      os.put(~checksum);
      // note there is no flush... ok to wait and let it go out with the next write.
    
    } else if(servoPollQueue[i]->getModel()!=MODEL_UNKNOWN) {
      readResponse(servoresponse, is, *servoPollQueue[i]);
    }
    
    if(i==0)
      lastSensorTime=get_time(); // the rest should be coming in short order, but this syncs us to the comm buffer clear period
    
    /*
     // adaptive load compensation not working... using loadCompensation directly as value instead of flag to enable servoDeflection
    unsigned short pos = response.getPosition();
    //cout << "Polling " << servoPollQueue[i]->servoID << " pos " << pos << " predicted " << servoPollQueue[i]->predictedLoad << endl;
    if(std::abs(servoPollQueue[i]->predictedLoad)>0.25 && pos>0 && pos<1024) {
      float defl = pos - servoPollQueue[i]->lastCmd;
      float f = defl / servoPollQueue[i]->predictedLoad;
      servoDeflection = servoDeflection*.999 + f*.001;
      //cout << servoPollQueue[i]->servoID << " at " << pos << " deflection " << defl << " prediction " << servoPollQueue[i]->predictedLoad << " = " << servoDeflection << endl;
    }
    */
  }
  responsePending=false;
  
  // update activations to indicate which servos to poll next in CommThread...
  // Increment activation so the end of the list should have an activation of 20
  // (just a heuristic to be on par with a motion of 20 servo tics per update)
  const float actInc = (driver.numPoll>servoPollQueue.size()) ? 20 : 20.f*driver.numPoll/servoPollQueue.size();
  for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
    ServoInfo * s = it->second;
    if(s->detected) {
      if(s->sensorPriority>=0) {
        s->sensorActivation += s->sensorPriority;
      } else { // auto mode
        // we add more activation for movement too...
        s->sensorActivation += actInc + s->recentCmdMotion;
      }
    }
    /*if(s->sensorActivation>0)
     cout << "Servo " << s->servoID << " has activation " << s->sensorActivation << endl;*/
  }
  
  //std::cout << "Latency: " << latency.Age() << std::endl;
  
  updated=true;
  //std::cout << "updated " /*<< (driver.thread==NULL) << ' ' << continuousUpdates << ' ' << NUM_AVAIL_POLL<< ' ' << servoPollQueue.size() << ' '*/ << get_time() << std::endl;
  
  if(!continuousUpdates) {
    failsafe.stop();
    return -1U;
  }
  
  return (driver.sensorsActive && NUM_AVAIL_POLL>0) ? 0 : FrameTime*NumFrames*1000;
}

void DynamixelDriver::provideValues(const ServoInfo& info, const DynamixelProtocol::ServoSensorsResponse& response) {
  MarkScope writeLock(getSensorWriteLock());
  
  if(info.freeSpinOutput<NumOutputs) {
    float x=response.getSpeed();
    if(info.invertRotation)
      x=1023-x;
    unsigned int idx=info.freeSpinOutput;
    float outputValue = x * info.repSpeedSlope; // apply calibration
    setOutputValue(idx,outputValue);
    if(idx-PIDJointOffset<NumPIDJoints) {
      float dutyValue = (info.curRotationMode!=ServoInfo::CONTINUOUS) ? 0 : response.getLoad()/1023.f;
      setPIDDutyValue(idx-PIDJointOffset, (info.invertRotation) ? -dutyValue : dutyValue);
    }
  }
  if(info.output<NumOutputs && info.output!=info.freeSpinOutput) {
    float x = response.getPosition();
    if(info.invertRotation)
      x=info.maxTic-x;
    x = x/info.maxTic*info.maxAngle;
    x -= info.zeroAngle + info.maxAngle/2;
    unsigned int idx=info.output;
    setOutputValue(idx,x);
    if(idx-PIDJointOffset<NumPIDJoints) {
      float dutyValue = (info.curRotationMode!=ServoInfo::POSITION) ? 0 : response.getLoad()/1023.f;
      setPIDDutyValue(idx-PIDJointOffset, (info.invertRotation) ? -dutyValue : dutyValue);
    }
  }
  ASSERT(info.output!=info.freeSpinOutput || info.curRotationMode==ServoInfo::CONTINUOUS,"Permanent free-spin, but curRotationMode not CONTINUOUS");
  
  if(VOLTAGE_SENSOR_OFFSET<NumSensors)
    setSensorValue(VOLTAGE_SENSOR_OFFSET, response.voltage/10.f);
  if(TEMP_SENSOR_OFFSET<NumSensors)
    setSensorValue(TEMP_SENSOR_OFFSET, response.temp);
}

/*!
 TODO: let sndCount be mapped to a button instead of sensor to provide events?
 */
void DynamixelDriver::provideValues(ServoInfo& info, const DynamixelProtocol::AXS1SensorsResponse& response) {
  if(info.leftIRDistOffset!=-1)
    setSensorValue(info.leftIRDistOffset, response.leftIR/255.f);
  if(info.centerIRDistOffset!=-1)
    setSensorValue(info.centerIRDistOffset, response.centerIR/255.f);
  if(info.rightIRDistOffset!=-1)
    setSensorValue(info.rightIRDistOffset, response.rightIR/255.f);
  
  if(info.leftLuminosityOffset!=-1)
    setSensorValue(info.leftLuminosityOffset, response.leftLum/255.f);
  if(info.centerLuminosityOffset!=-1)
    setSensorValue(info.centerLuminosityOffset, response.centerLum/255.f);
  if(info.rightLuminosityOffset!=-1)
    setSensorValue(info.rightLuminosityOffset, response.rightLum/255.f);
  
  if(info.micVolumeOffset!=-1 && response.sndMaxHold>0) // if zero, didn't get a reading; shouldn't see any values<127
    setSensorValue(info.micVolumeOffset, std::abs(response.sndMaxHold-127)/128.f);
  if(info.micSpikeCountOffset!=-1) {
    if(info.micSpikeFrameNumber != getSensorFrameNumber()) {
      // count has been read since last update, reset count to current value
      setSensorValue(info.micSpikeCountOffset, response.sndCount);
      info.micSpikeFrameNumber = getSensorFrameNumber();
    } else if(response.sndCount>0) {
      // previous spikes haven't been picked up yet - if new spikes, add on to the count
      setSensorValue(info.micSpikeCountOffset, getSensorValue(info.micSpikeCountOffset) + response.sndCount);
    }
  }

  /*
  if(VOLTAGE_SENSOR_OFFSET<NumSensors)
    setSensorValue(VOLTAGE_SENSOR_OFFSET, response.voltage/10.f);
  if(TEMP_SENSOR_OFFSET<NumSensors)
    setSensorValue(TEMP_SENSOR_OFFSET, response.temp);
   */
}

void DynamixelDriver::CommThread::updateCommands(std::istream& is, std::ostream& os) {
  if(timestampBufA>timestampBufB) {
    if(timestampBufA>timestampBufC) {
      if(curBuf == outputBufA)
        return;
      curBuf = outputBufA;
    }  else {
      if(curBuf == outputBufC)
        return;
      curBuf = outputBufC;
    }
  } else if(timestampBufB>timestampBufC) {
    if(curBuf == outputBufB)
      return;
    curBuf = outputBufB;
  } else {
    if(timestampBufC==0)
      return; // no data yet, don't send commands to servos
    if(curBuf == outputBufC)
      return;
    curBuf = outputBufC;
  }
  
  float period = NumFrames*FrameTime;
  if(getTimeScale()>0)
    period /= ::getTimeScale();
  
  std::vector<SyncWritePosSpeedEntry> packets;
  packets.reserve(servos.size());
  
  std::vector<SyncWriteContinuousRotationEntry> modes;
  modes.reserve(servos.size());
  
  typedef std::vector<std::pair<std::string,ServoInfo::RotationMode> > modeUpdates_t;
  modeUpdates_t modeUpdates;
  modeUpdates.reserve(servos.size());
  
  std::vector<SyncWriteLEDEntry> leds;
  std::vector<SeenState> seenLEDs(NumLEDs,LED_UNSEEN);
  leds.reserve(servos.size());
  
  std::vector<SyncWriteComplianceEntry> compliances;
  compliances.reserve(servos.size());
  
  std::vector<SyncWritePunchEntry> punches;
  punches.reserve(servos.size());
  
  std::vector<SyncWriteTorqueEntry> torqueToggles;
  torqueToggles.reserve(servos.size());
  
  const bool havePIDUpdates = (dirtyPIDs>0);
  if(havePIDUpdates)
    pidLock.lock();
  
  for(servo_iterator it=servos.begin(); it!=servos.end(); ++it) {
    if(!it->second->detected || it->second->getModel()==MODEL_AXS1)
      continue;
    unsigned int servoid = it->second->servoID;
    
    unsigned int ledidx = it->second->led;
#ifndef TGT_HAS_LEDS
    if(ledidx!=UNUSED)
      std::cerr << "Warning: Dynamixel driver mapping servo " << it->first << " to invalid led output index " << ledidx << std::endl;
#else
    unsigned int ledsubidx = ledidx - LEDOffset;
    if(ledidx>=NumOutputs) {
      if(ledidx!=UNUSED)
        std::cerr << "Warning: Dynamixel driver mapping servo " << it->first << " to invalid led output index " << ledidx << std::endl;
    } else if(static_cast<unsigned int>(ledsubidx)>=NumLEDs) {
      std::cerr << "Warning: Dynamixel driver mapping servo " << it->first << " to invalid led index " << ledsubidx << std::endl;
    } else if(lastOutputs[ledidx]!=curBuf[ledidx] || lastLEDState[ledsubidx]==LED_UNKNOWN || (curBuf[ledidx]>0 && curBuf[ledidx]<1)) {
      if(seenLEDs[ledsubidx]==LED_UNSEEN) {
        // ensures we only calculate the led activation value once per LED signal
        // (even if it might be mapped to several servo LEDs...)
        LedState cur = calcLEDValue(ledsubidx,curBuf[ledidx]) ? LED_ON : LED_OFF;
        seenLEDs[ledsubidx] = (cur==lastLEDState[ledsubidx]) ? LED_SAME : LED_DIFF;
        lastLEDState[ledsubidx]=cur;
      }
      if(seenLEDs[ledsubidx]==LED_DIFF) {
        //cout << "\t\t" << it->first << " led " << lastLEDState[ledsubidx] << " @ " << get_time() << endl;
        leds.push_back(SyncWriteLEDEntry(servoid,lastLEDState[ledsubidx]==LED_ON));
      }
    }
#endif
    
    unsigned int idx = it->second->freeSpinOutput;
    ServoInfo::RotationMode rm = ServoInfo::CONTINUOUS;
    if(it->second->output!=it->second->freeSpinOutput) {
      if(it->second->freeSpinOutput>=NumOutputs) {
        if(it->second->freeSpinOutput!=UNUSED)
          std::cerr << "Warning: Dynamixel driver mapping servo " << it->first << " to invalid free spin output index " << it->second->freeSpinOutput << std::endl;
        idx = it->second->output;
        rm = ServoInfo::POSITION;
      } else if(curBuf[it->second->freeSpinOutput]==0) {
        idx = it->second->output;
        rm = ServoInfo::POSITION;
      }
    }
    if(idx>=NumOutputs) {
      if(idx!=UNUSED)
        std::cerr << "Warning: Dynamixel driver mapping servo " << it->first << " to invalid output index " << idx << std::endl;
      continue; // invalid/unused servo
    }
    /*if(it->second->predictedLoad==0) {
      // send position if first starting, if changed value, or if rotation mode changed
      if(isFirstCheck || lastOutputs[idx]!=curBuf[idx] || rm!=it->second->curRotationMode) {
        float speed;
        if(rm==ServoInfo::CONTINUOUS) {
          // continuous rotation mode, speed specified directly
          speed = curBuf[idx];
        } else if(lastOutputs[idx]!=curBuf[idx]) {
          // here because value changed, speed based on distance to travel
          speed = (curBuf[idx] - lastOutputs[idx]) / (period/1000);
        } else {
          // initial start or change of mode, choose a reasonable speed
          speed = .35;
        }
        packets.push_back(setServo(it, rm, curBuf[idx], speed));
      }
    } else*/ 
    { // subject to load prediction, may need to adjust command
      // find current position in servo units
      float speed;
      if(rm==ServoInfo::CONTINUOUS) {
        // continuous rotation mode, speed specified directly
        speed = curBuf[idx];
      } else if(lastOutputs[idx]!=curBuf[idx]) {
        // here because value changed, speed based on distance to travel
        speed = (curBuf[idx] - lastOutputs[idx]) / (period/1000);
      } else {
        // initial start or change of mode, choose a reasonable speed
        speed = .35f;
      }
      unsigned short oldLastCmd = it->second->lastCmd;
      DynamixelProtocol::SyncWritePosSpeedEntry packet = setServo(it, rm, curBuf[idx], speed);
      // send position if first starting, if changed value, or if rotation mode changed
      if(isFirstCheck || oldLastCmd!=it->second->lastCmd || rm!=it->second->curRotationMode) {
        packets.push_back(packet);
      }
    }
    
    if(rm!=it->second->curRotationMode) {
      modes.push_back(SyncWriteContinuousRotationEntry(servoid,rm==ServoInfo::CONTINUOUS));
      modeUpdates.push_back(std::make_pair(it->first,rm));
    }
    
    if(havePIDUpdates) {
      if(it->second->slope!=pidValues[idx].pids[BioloidInfo::DYNAMIXEL_SLOPE] || it->second->margin!=pidValues[idx].pids[BioloidInfo::DYNAMIXEL_MARGIN]) {
        if(it->second->slope!=pidValues[idx].pids[BioloidInfo::DYNAMIXEL_SLOPE]) {
          it->second->slope = pidValues[idx].pids[BioloidInfo::DYNAMIXEL_SLOPE];
          unsigned short torque = (it->second->slope>0) ? 0x3FF : 0;
          // Have to set max torque to zero when we set slope to 0, otherwise it still fights a little.
          // Setting torque enable instead doesn't cut it because it apparently gets re-enabled on sensor query
          //std::cout << "Max torque " << idx << " set to " << torque << std::endl;
          torqueToggles.push_back(SyncWriteTorqueEntry(servoid,torque));
        }
        it->second->margin = pidValues[idx].pids[BioloidInfo::DYNAMIXEL_MARGIN];
        //std::cout << "Slope and margin " << idx << " set to " << pidValues[idx][BioloidInfo::DYNAMIXEL_SLOPE] << ' ' << pidValues[idx][BioloidInfo::DYNAMIXEL_MARGIN] << std::endl;
        compliances.push_back(SyncWriteComplianceEntry(servoid,(unsigned char)it->second->slope,(unsigned char)it->second->margin));
      }
      if(it->second->punch!=pidValues[idx].pids[BioloidInfo::DYNAMIXEL_PUNCH]) {
        it->second->punch = pidValues[idx].pids[BioloidInfo::DYNAMIXEL_PUNCH];
        //std::cout << "Punch " << idx << " set to " << pidValues[idx][BioloidInfo::DYNAMIXEL_PUNCH] << std::endl;
        punches.push_back(SyncWritePunchEntry(servoid,(unsigned char)it->second->punch));
      }
    }
  }
  
  if(havePIDUpdates) {
    dirtyPIDs=0;
    pidLock.unlock();
  }
  
  // if no changes, skip update altogether -- but if anything has changed, have to take the lock and send the updates
  if(packets.size()>0 || modes.size()>0 || leds.size()>0 || compliances.size()>0 || punches.size()>0) { 
    // send rotation mode changes, need to go before corresponding position command
    writeSyncEntries(os,modes);
    // send positions and speeds
    writeSyncEntries(os,packets);
    // send LED values
    writeSyncEntries(os,leds);
    // send servo controller parameters
    writeSyncEntries(os,torqueToggles);
    writeSyncEntries(os,compliances);
    writeSyncEntries(os,punches);
    // now dump it on the wire
    os.flush();
    if(os) {
      for(modeUpdates_t::const_iterator it=modeUpdates.begin(); it!=modeUpdates.end(); ++it) {
        //printf("\t\t%s Mode switch (%d -> %d)\n",it->first.c_str(),servos[it->first].curRotationMode,it->second);
        servos[it->first].curRotationMode=it->second;
      }
    } else {
      std::cerr << "WARNING: DynamixelDriver couldn't write update, bad output stream" << std::endl;
    }
  }
  memcpy(lastOutputs,curBuf,sizeof(lastOutputs));
  isFirstCheck=false;
}

DynamixelProtocol::SyncWritePosSpeedEntry DynamixelDriver::CommThread::setServo(const servo_iterator& servo, ServoInfo::RotationMode rm, float v, float speed) {
  const int MAX_CMD = servo->second->maxTic;
  const int MIN_CMD = 0;
  const int MAX_SPDCMD = 1023;
  unsigned int servoIdx = servo->second->servoID;
  if(servoIdx>255)
    throw std::runtime_error("DynamixelDriver::setServo, bad servo index!");
  //unsigned int outputIdx = servo->second->output;
  // get output's range in radians
  float outRange = servo->second->maxAngle;
  // get servo's range
  unsigned int servoRange = MAX_CMD - MIN_CMD;
  // get commanded position as percent of range of motion
  float cmd = (v+servo->second->zeroAngle+outRange/2)/outRange;
  // do conversion from radians (output domain) to pulse width (servo domain)
  float pw = cmd*servoRange;
  // account for servo load deflection
  pw -= servo->second->predictedLoad*driver.loadCompensation;
  
  // round to int
  int bpw = static_cast<int>(pw+0.5);
  // check bounds
  if(bpw<MIN_CMD)
    bpw = MIN_CMD;
  else if(bpw>MAX_CMD)
    bpw = MAX_CMD;
  if(servo->second->invertRotation)
    bpw = MAX_CMD - (bpw-MIN_CMD);
  
  // same for speed
  int bpwSpeed;
  if(rm==ServoInfo::CONTINUOUS) {
    if(speed>0)
      speed = speed*servo->second->cmdSpeedSlopeP + servo->second->cmdSpeedOffsetP; // apply calibration
    else if(speed<0)
      speed = speed*servo->second->cmdSpeedSlopeN + servo->second->cmdSpeedOffsetN; // apply calibration
    bpwSpeed = static_cast<int>(speed/outRange*servoRange+.5f);
    if(bpwSpeed<-MAX_SPDCMD)
      bpwSpeed=-MAX_SPDCMD;
    if(bpwSpeed>MAX_SPDCMD)
      bpwSpeed=MAX_SPDCMD;
    if(servo->second->invertRotation)
      bpwSpeed=-bpwSpeed;
    // 10th bit is turn direction
    if(bpwSpeed<0)
      bpwSpeed = -bpwSpeed + 1024;
  } else {
    bpwSpeed = 0; // speed control seems to make it jumpier than just running at maximum... :(
    /*if(speed>0)
     speed = speed*servo->second->cmdSpeedSlopeP + servo->second->cmdSpeedOffsetP; // apply calibration
     else if(speed<0)
     speed = speed*servo->second->cmdSpeedSlopeN + servo->second->cmdSpeedOffsetN; // apply calibration
     bpwSpeed = abs(static_cast<int>(speed/outRange*servoRange+.5f));
     if(bpwSpeed<1)
     bpwSpeed=1;
     if(bpwSpeed>1023)
     bpwSpeed=0; // max speed */
  }
  // LOW LEVEL LOGGING:
  //std::cout << get_time() << "\t" << servoIdx << " POS: " << bpw << " Speed: " << bpwSpeed << std::endl;
  
  const float GAMMA = 0.9f;
  float motion = std::abs(servo->second->lastCmd-bpw);
  servo->second->recentCmdMotion*=GAMMA;
  if(motion>servo->second->recentCmdMotion)
    servo->second->recentCmdMotion=motion;
  
  servo->second->lastCmd = bpw;
  return SyncWritePosSpeedEntry(servoIdx,bpw,bpwSpeed);
}

/*! @file
 * @brief 
 * @author Ethan Tira-Thompson (ejt) (Creator)
 */