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arm_gui.cpp
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arm_gui.cpp
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//////////////
// INCLUDES
//////////////
// C Libraries
#include <stdio.h>
#include <unistd.h>
#include <pthread.h>
#include <stdlib.h>
#include <lcm/lcm.h>
#include <signal.h>
// VX
#include "vx/vx.h"
#include "vx/vxo_drawables.h"
#include "vx/vx_remote_display_source.h"
#include "vx/vx_types.h"
#include "vx/vx_event.h"
#include "vx/vx_event_handler.h"
#include "vx/default_camera_mgr.h"
// EECS 467 Libraries
#include "common/getopt.h"
#include "common/image_util.h"
#include "common/timestamp.h"
#include "common/matd.h"
#include "imagesource/image_source.h"
#include "imagesource/image_convert.h"
// Local Includes
#include "arm_gui.h"
#include "arm_state.h"
#include "eecs467_util.h"
#include "body_utility.h"
int displayCount;
double arm_segment_length[5] = {11.5, 10, 10, 9.5, 8};
double arm_segment_width = 5;
double arm_segment_depth = 2.5;
void my_param_changed(parameter_listener_t *pl, parameter_gui_t *pg, const char *name)
{
state_t *state = (state_t*) pl->impl;
int i;
int updateServoAngles = 0;
double angles[NUM_SERVOS];
if (!strcmp("s0", name)) {
state->gui_servo_angles[0] = pg_gd(pg, name);
} else if (!strcmp("s1", name)) {
state->gui_servo_angles[1] = pg_gd(pg, name);
} else if (!strcmp("s2", name)) {
state->gui_servo_angles[2] = pg_gd(pg, name);
} else if (!strcmp("s3", name)) {
state->gui_servo_angles[3] = pg_gd(pg, name);
} else if (!strcmp("s4", name)) {
state->gui_servo_angles[4] = pg_gd(pg, name);
} else if (!strcmp("s5", name)) {
state->gui_servo_angles[5] = pg_gd(pg, name);
} else if (!strcmp("s6", name)) {
state->ds->setDSF(pg_gd(pg, name));
} else if (!strcmp("s7", name)) {
state->ds->setTSF(pg_gd(pg, name));
} else if (!strcmp("but1", name)) {
updateServoAngles = 1;
} else if (!strcmp("but2", name)) {
if (!state->update_arm_cont) {
for (i = 0; i < NUM_SERVOS; i++) {
angles[i] = 0.0;
}
state->arm->setTargetAngles(angles, state->cfs);
} else {
printf("Uncheck \"Update Arm Continuously\" first\n");
}
} else if (!strcmp("but7", name)) {
pthread_mutex_lock(&state->fsm_mutex);
state->FSM_next_state = FSM_NONE;
pthread_mutex_unlock(&state->fsm_mutex);
} else if (!strcmp("but8", name)) {
pthread_mutex_lock(&state->fsm_mutex);
state->FSM_next_state = FSM_ARM;
pthread_mutex_unlock(&state->fsm_mutex);
} else if (!strcmp("but9", name)) {
pthread_mutex_lock(&state->fsm_mutex);
state->FSM_next_state = FSM_WRIST;
pthread_mutex_unlock(&state->fsm_mutex);
} else if (!strcmp("but10", name)) {
pthread_mutex_lock(&state->fsm_mutex);
state->FSM_next_state = FSM_GRIP;
pthread_mutex_unlock(&state->fsm_mutex);
} else if (!strcmp("but11", name)) {
pthread_mutex_lock(&state->fsm_mutex);
state->FSM_next_state = FSM_ROTATE;
pthread_mutex_unlock(&state->fsm_mutex);
} else if (!strcmp("butcb", name)) {
state->set_cbs = true;
} else if (!strcmp("cb1", name)) {
state->update_arm_cont = pg_gb(pg, name);
} else if (!strcmp("cb2", name)) {
state->close_right_gripper = pg_gb(pg, name);
} else if (!strcmp("cb3", name)) {
state->interpolate_angles = pg_gb(pg, name);
} else if (!strcmp("cb4", name)) {
state->force_state = pg_gb(pg, name);
}
/*if (state->update_arm_cont || updateServoAngles) {
state->arm->setTargetAngles(state->gui_servo_angles, state->cfs);
}*/
}
void display_finished(vx_application_t * app, vx_display_t * disp)
{
//printf("Top of display finished\n");
uint64_t i;
vx_layer_t *value;
state_t * state = (state_t*) app->impl;
//printf("disp end: %d\n", disp);
pthread_mutex_lock(&state->layer_mutex);
for (i = 0; i < NUM_LAYERS; i++) {
layer_data_t *layerData = &(state->layers[i]);
if (layerData->enable == 1) {
uint64_t key = ((uint64_t) disp) * (i + 1);
//printf("disp: %zu, key %zu\n", ((uint64_t) disp), key);
zhash_remove(state->layer_map, &key, NULL, &value);
//printf("layer being destroyed!\n");
vx_layer_destroy(value);
}
}
pthread_mutex_unlock(&state->layer_mutex);
displayCount--;
//printf("hash table size after remove: %d\n", zhash_size(state->layer_map));
}
void display_started(vx_application_t * app, vx_display_t * disp)
{
uint64_t i;
state_t * state = (state_t*) app->impl;
//printf("disp start: %d\n", disp);
for (i = 0; i < NUM_LAYERS; i++) {
layer_data_t *layerData = &(state->layers[i]);
if (layerData->enable == 1) {
uint64_t key = ((uint64_t) disp) * (i + 1);
printf("Layer being created\n");
if (layerData->init(state, layerData) == 0) {
printf("Failed to init layer: %s\n", layerData->name);
return;
}
vx_layer_t * layer = vx_layer_create(layerData->world);
printf("disp: %zu, key %zu\n", ((uint64_t) disp), key);
layerData->layer = layer;
vx_layer_set_display(layer, disp);
pthread_mutex_lock(&state->layer_mutex);
// store a reference to the world and layer that we associate with each vx_display_t
zhash_put(state->layer_map, &key, &layer, NULL, NULL);
pthread_mutex_unlock(&state->layer_mutex);
layerData->displayInit(state, layerData);
}
}
displayCount++;
printf("hash table size after insert: %d\n", zhash_size(state->layer_map));
}
int initArmsLayer(state_t *state, layer_data_t *layerData) {
layerData->world = vx_world_create();
return 1;
}
int displayInitArmsLayer(state_t *state, layer_data_t *layerData) {
const float eye[3] = {0, -100, 50};
const float lookat[3] = {0, 0, 25};
const float up[3] = {0, 0, 1};
vx_layer_set_viewport_rel(layerData->layer, layerData->position);
vx_layer_camera_lookat(layerData->layer, eye, lookat, up, 1);
return 1;
}
int renderArmsLayer(state_t *state, layer_data_t *layerData) {
//Draw Grid
vx_buffer_t *gridBuff = vx_world_get_buffer(layerData->world, "grid");
vx_buffer_add_back(gridBuff, vxo_grid());
//Draw Axes
float axes[12] = {-1000, 0, 0, 0, 0, 0, 0, -1000, 0, 0, 1000, 0};
vx_resc_t *verts = vx_resc_copyf(axes, 12);
vx_buffer_add_back(gridBuff, vxo_lines(verts, 4, GL_LINES, vxo_points_style(vx_black, 2.0f)));
float posAxes[6] = {0, 0, 0, 1000, 0, 0};
verts = vx_resc_copyf(posAxes, 6);
vx_buffer_add_back(gridBuff, vxo_lines(verts, 2, GL_LINES, vxo_points_style(vx_green, 2.0f)));
//Draw Config Space
vx_buffer_t *cfsBuff = vx_world_get_buffer(layerData->world, "cfs");
state->cfs.draw(cfsBuff, vx_red);
//Draw Arms
vx_buffer_t *armBuff = vx_world_get_buffer(layerData->world, "arm");
state->arm->drawTargetState(armBuff, vx_yellow, state->FSM_state);
state->arm->drawCurState(armBuff, vx_blue, state->FSM_state);
//Swap buffers
vx_buffer_swap(gridBuff);
vx_buffer_swap(cfsBuff);
vx_buffer_swap(armBuff);
return 1;
}
int destroyArmsLayer(state_t *state, layer_data_t *layerData) {
vx_world_destroy(layerData->world);
return 1;
}
int initSkeletonLayer(state_t *state, layer_data_t *layerData) {
layerData->world = vx_world_create();
return 1;
}
int displayInitSkeletonLayer(state_t *state, layer_data_t *layerData) {
const float eye[3] = {0, 125, 50};
const float lookat[3] = {0, 0, 25};
const float up[3] = {0, 0, 1};
vx_layer_set_viewport_rel(layerData->layer, layerData->position);
vx_layer_camera_lookat(layerData->layer, eye, lookat, up, 1);
return 1;
}
int renderSkeletonLayer(state_t *state, layer_data_t *layerData) {
//Draw Grid
vx_buffer_t *gridBuff = vx_world_get_buffer(layerData->world, "grid");
//vx_buffer_add_back(gridBuff, vxo_grid());
//Draw Axes
float axes[12] = {-1000, 0, 0, 0, 0, 0, 0, -1000, 0, 0, 1000, 0};
vx_resc_t *verts = vx_resc_copyf(axes, 12);
vx_buffer_add_back(gridBuff, vxo_lines(verts, 4, GL_LINES, vxo_points_style(vx_black, 2.0f)));
float posAxes[6] = {0, 0, 0, 1000, 0, 0};
verts = vx_resc_copyf(posAxes, 6);
vx_buffer_add_back(gridBuff, vxo_lines(verts, 2, GL_LINES, vxo_points_style(vx_green, 2.0f)));
//Draw Control Boxes
vx_buffer_t *cbBuff = vx_world_get_buffer(layerData->world, "cb");
//Draw Skeleton
//vx_buffer_t *skeletonBuff = vx_world_get_buffer(layerData->world, "skeleton");
body_draw(state->body, cbBuff);
const float* color;
for (int i = 0; i < NUM_CONTROL_BOXES; i++) {
switch (i) {
case GRIPPER:
if (state->controlBoxSelected[i]) {
color = vx_white;
} else if (state->FSM_state == FSM_GRIP) {
color = vx_black;
} else {
color = state->controlBoxColor[i];
}
break;
case WRIST:
if (state->controlBoxSelected[i]) {
color = vx_white;
} else if (state->FSM_state == FSM_WRIST) {
color = vx_black;
} else {
color = state->controlBoxColor[i];
}
break;
case ARM:
if (state->controlBoxSelected[i]) {
color = vx_white;
} else if (state->FSM_state == FSM_ARM) {
color = vx_black;
} else {
color = state->controlBoxColor[i];
}
break;
case ROTATE:
if (state->controlBoxSelected[i]) {
color = vx_white;
} else if (state->FSM_state == FSM_ROTATE) {
color = vx_black;
} else {
color = state->controlBoxColor[i];
}
break;
}
state->controlBoxes[i]->draw(cbBuff, color);
}
//Swap buffers
vx_buffer_swap(gridBuff);
vx_buffer_swap(cbBuff);
//vx_buffer_swap(skeletonBuff);
return 1;
}
int destroySkeletonLayer(state_t *state, layer_data_t *layerData) {
vx_world_destroy(layerData->world);
return 1;
}
void* renderLayers(void *data) {
state_t * state = (state_t*) data;
int i;
printf("Entering render loop\n");
// Render Loop
while(state->running) {
//printf("running!\n");
for (i = 0; i < NUM_LAYERS; i++) {
layer_data_t *layer = &(state->layers[i]);
//printf("layer %d enable %d\n", i, layer->enable);
pthread_mutex_lock(&state->running_mutex);
if (state->running) {
if (layer->enable == 1 && displayCount > 0) {
if (layer->render(state, layer) == 0) {
printf("Failed to render layer: %s\n", layer->name);
return NULL;
}
}
} else {
break;
}
pthread_mutex_unlock(&state->running_mutex);
}
// 30 FPS
usleep(33333);
//usleep(1000000);
}
printf("Entering layer destroy\n");
// Destroy/Clean up
for (i = 0; i < NUM_LAYERS; i++) {
layer_data_t *layer = &(state->layers[i]);
if (layer->enable == 1) {
if (layer->destroy(state, layer) == 0) {
printf("Failed to destroy layer: %s\n", layer->name);
return NULL;
}
}
}
printf("returning\n");
return NULL;
}
// Main Pthread GUI funtion
void gui_create(state_t *state) {
pthread_t render_thread;
vx_remote_display_source_attr_t remote_attr;
vx_remote_display_source_attr_init(&remote_attr);
remote_attr.advertise_name = "Kinect Arm";
// Init layer data structs
state->layers[0].enable = 1;
state->layers[0].name = "Arms";
state->layers[0].position[0] = 0.5f;
state->layers[0].position[1] = 0.0f;
state->layers[0].position[2] = 0.5f;
state->layers[0].position[3] = 1.0f;
state->layers[0].init = initArmsLayer;
state->layers[0].displayInit = displayInitArmsLayer;
state->layers[0].render = renderArmsLayer;
state->layers[0].destroy = destroyArmsLayer;
state->layers[1].enable = 1;
state->layers[1].name = "Skeleton";
state->layers[1].position[0] = 0.0f;
state->layers[1].position[1] = 0.0f;
state->layers[1].position[2] = 0.5f;
state->layers[1].position[3] = 1.0f;
state->layers[1].init = initSkeletonLayer;
state->layers[1].displayInit = displayInitSkeletonLayer;
state->layers[1].render = renderSkeletonLayer;
state->layers[1].destroy = destroySkeletonLayer;
vx_remote_display_source_t * remote = vx_remote_display_source_create_attr(&state->app, &remote_attr);
// Handles layer init, rendering, and destruction
parameter_gui_t *pg = pg_create();
/*pg_add_double_slider(pg, "s0", "S0 (Shoulder Rotation)", -M_PI, M_PI, 0);
pg_add_double_slider(pg, "s1", "S1 (Shoulder Bend)", -M_PI, M_PI, 0);
pg_add_double_slider(pg, "s2", "S2 (Elbow)", -M_PI, M_PI, 0);
pg_add_double_slider(pg, "s3", "S3 (Wrist Bend)", -M_PI, M_PI, 0);
pg_add_double_slider(pg, "s4", "S4 (Wrist Rotation)", -M_PI, M_PI, 0);
pg_add_double_slider(pg, "s5", "S5 (Gripper)", -M_PI, M_PI, 0);*/
pg_add_check_boxes(pg, "cb1", "Send Arm Commands", state->update_arm_cont,
"cb2", "Close Gripper", state->close_right_gripper,
"cb3", "Interpolate Arm Angles", state->interpolate_angles,
"cb4", "Force State", state->force_state, NULL);
pg_add_double_slider(pg, "s6", "DSF", 0, 1, state->ds->getDSF());
pg_add_double_slider(pg, "s7", "TSF", 0, 1, state->ds->getTSF());
//pg_add_buttons(pg, "but1", "Update Arm", "but2", "Go To Home", NULL);
pg_add_buttons(pg, "butcb", "Set Control Boxes", NULL);
pg_add_buttons(pg, "but7", "FSM-NONE",
"but8", "FSM-ARM",
"but9", "FSM-WRIST",
"but10", "FSM-GRIP",
"but11", "FSM-ROTATE",
NULL);
parameter_listener_t *my_listener = (parameter_listener_t*) calloc(1,sizeof(parameter_listener_t*));
my_listener->impl = state;
my_listener->param_changed = my_param_changed;
pg_add_listener(pg, my_listener);
pthread_create(&render_thread, NULL, renderLayers, state);
eecs467_gui_run(&state->app, pg, 800, 600);
printf("after gui run***\n");
pthread_mutex_lock(&state->running_mutex);
printf("setting runnin to 0\n");
state->running = 0;
//pthread_join(&render_thread, NULL);
//pthread_mutex_unlock(&state->running_mutex);
vx_remote_display_source_destroy(remote);
printf("end of gui thread (after destroy)\n");
}