test-SeaBeeJoyStick.C

Go to the documentation of this file.
00001 /*!@file src/SeaBee/test-SeaBeeJoyStick.C test Joystick interface to SeaBee */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2002   //
00005 // by the University of Southern California (USC) and the iLab at USC.  //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Michael Montalbo <montalbo@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/test-SeaBeeJoyStick.C $
00035 // $Id:
00036 //
00037 
00038 #include "Beowulf/Beowulf.H"
00039 #include "Component/ModelManager.H"
00040 #include "Devices/JoyStick.H"
00041 #include "Util/Types.H"
00042 #include "Util/log.H"
00043 #include "Raster/Raster.H"
00044 
00045 #include <unistd.h>
00046 #include <signal.h>
00047 
00048 #ifdef HAVE_LINUX_JOYSTICK_H
00049 
00050 #define COM_B_NODE 0
00051 #define INIT_COMM 10000
00052 #define JS_AXIS_UPDATE   20000
00053 #define ABORT 90000
00054 
00055 #define X_MIN -32767
00056 #define X_MAX 32767
00057 #define Y_MIN -32767
00058 #define Y_MAX 32767
00059 #define D_MIN -32767
00060 #define D_MAX 32767
00061 
00062 
00063 nub::soft_ref<Beowulf> beo;
00064 volatile bool keepGoing = false;
00065 
00066 //! A simple joystick listener
00067 class TestJoyStickListener : public JoyStickListener
00068 {
00069 public:
00070   virtual ~TestJoyStickListener() { }
00071 
00072   virtual void axis(const uint num, const int16 val)
00073   {
00074     if(keepGoing)
00075       {
00076 
00077         int32 rnode = 0;
00078         TCPmessage smsg;     // buffer to send messages
00079 
00080         int32 sframe  = 0;
00081         int32 saction = JS_AXIS_UPDATE;
00082 
00083         smsg.reset(sframe, saction);
00084         smsg.addInt32(int32(num));
00085 
00086         //p is the percentage of thrust being applied [-100.0...100.0] for the axis
00087         float p = 0.0;
00088         float v = 0.0;
00089         v = (float)val;
00090 
00091         switch(num)
00092           {
00093           case 0:
00094             p =  (float)(v/X_MAX*100.0);
00095             LINFO("X-Axis = %f", p);
00096             break;
00097           case 1:
00098             p =  v/Y_MAX*100.0;
00099             LINFO("Y-Axis = %f", p);
00100             break;
00101           case 2:
00102             p =  v/D_MAX*100.0;
00103             LINFO("Depth = %f", p);
00104             break;
00105           default:
00106             LERROR("Unknown axis event recieved");
00107           }
00108 
00109         smsg.addFloat(p);
00110 
00111         // send the message to COM_B
00112         beo->send(rnode, smsg);
00113 
00114       }
00115   }
00116 
00117   virtual void button(const uint num, const bool state)
00118   {
00119     LINFO("Button[%d] = %s", num, state?"true":"false");
00120   }
00121 };
00122 
00123 #endif
00124 
00125 // ######################################################################
00126 //! Signal handler (e.g., for control-C)
00127 void terminate(int s)
00128 { LERROR("*** INTERRUPT ***"); keepGoing = false; exit(1); }
00129 
00130 
00131 // ######################################################################
00132 //! Test JoyStick code
00133 /*! Test Joystick code. */
00134 int main(const int argc, const char **argv)
00135 {
00136 #ifndef HAVE_LINUX_JOYSTICK_H
00137 
00138   LFATAL("<linux/joystick.h> must be installed to use this program");
00139 
00140 #else
00141 
00142   // get a manager going:
00143   ModelManager manager("JoyStick Manager");
00144 
00145   // instantiate our model components:
00146   nub::soft_ref<JoyStick> js(new JoyStick(manager) );
00147   manager.addSubComponent(js);
00148 
00149   beo.reset(new Beowulf(manager, "Beowulf Master", "BeowulfMaster", true));
00150   manager.addSubComponent(beo);
00151 
00152   manager.exportOptions(MC_RECURSE);
00153 
00154   // Parse command-line:
00155   if (manager.parseCommandLine(argc, argv, "[device]", 0, 1) == false)
00156     return(1);
00157 
00158   // let's configure our device:
00159   if (manager.numExtraArgs() > 0)
00160     js->setModelParamVal("JoyStickDevName",
00161                          manager.getExtraArg(0), MC_RECURSE);
00162 
00163   // register a listener:
00164   rutz::shared_ptr<TestJoyStickListener> lis(new TestJoyStickListener);
00165   rutz::shared_ptr<JoyStickListener> lis2; lis2.dynCastFrom(lis); // cast down
00166   js->setListener(lis2);
00167 
00168   TCPmessage rmsg;     // buffer to receive messages
00169   TCPmessage smsg;     // buffer to send messages
00170   int32 rframe = 0, raction = 0, rnode = 0;
00171 
00172 
00173   // catch signals and redirect them to terminate for clean exit:
00174   signal(SIGHUP, terminate); signal(SIGINT, terminate);
00175   signal(SIGQUIT, terminate); signal(SIGTERM, terminate);
00176   signal(SIGALRM, terminate);
00177 
00178   // get started:
00179   manager.start();
00180 
00181   // send params to dorsal and ventral node to initialize contact:
00182   smsg.reset(0, INIT_COMM);
00183   smsg.addInt32(int32(235));
00184 
00185   // send the same initial values message to CPU_B
00186   beo->send(COM_B_NODE, smsg);
00187 
00188   // SYNCHRONIZATION: wait until the other board is ready
00189   LINFO("waiting until COM_B is ready to go");
00190   rnode = COM_B_NODE;
00191   while(!beo->receive(rnode, rmsg, rframe, raction, 5));
00192   rmsg.reset(rframe, raction);
00193   LINFO("%d is ready", rnode);
00194   Raster::waitForKey();
00195 
00196   keepGoing = true;
00197   // Everything is event-driven so in our main loop here we just sleep:
00198   while(keepGoing) sleep(100);
00199 
00200   // send abort to COM_B
00201   smsg.reset(0, ABORT);
00202   beo->send(COM_B_NODE, smsg);
00203 
00204   // stop everything and exit:
00205   manager.stop();
00206   return 0;
00207 
00208 #endif // HAVE_LINUX_JOYSTICK_H
00209 
00210 }
00211 
00212 // ######################################################################
00213 /* So things look consistent in everyone's emacs... */
00214 /* Local Variables: */
00215 /* indent-tabs-mode: nil */
00216 /* End: */
Generated on Sun May 8 08:42:15 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3