mujinjog.cpp

Shows how to jog robot in joint and tool spaces. example1: mujinjog –controller_hostname=yourhost –robotname=yourrobot example2: mujinjog –controller_hostname=yourhost –robotname=yourrobot –task_scenepk=yourscene –jointmode=false –axis=1 –move_in_positive=true –speed=0.2

// -*- coding: utf-8 -*-
#include <mujincontrollerclient/binpickingtask.h>

#include <boost/program_options.hpp>
#include <signal.h>
#include <iostream>

#if defined(_WIN32) || defined(_WIN64)
#undef GetUserName // clashes with ControllerClient::GetUserName
#endif // defined(_WIN32) || defined(_WIN64)

using namespace mujinclient;
namespace bpo = boost::program_options;
using namespace std;

void sigint_handler(int sig);
static bool s_sigintreceived = false;
static string s_robotname;

bool ParseOptions(int argc, char ** argv, bpo::variables_map& opts)
{
    // parse command line arguments
    bpo::options_description desc("Options");

    desc.add_options()
        ("help,h", "produce help message")
        ("controller_hostname", bpo::value<string>()->required(), "hostname or ip of the mujin controller, e.g. controllerXX or 192.168.0.1")
        ("controller_port", bpo::value<unsigned int>()->default_value(80), "port of the mujin controller")
        ("slave_request_id", bpo::value<string>()->default_value(""), "request id of the mujin slave, e.g. controller20_slave0. If empty, uses  ")
        ("controller_username_password", bpo::value<string>()->default_value("testuser:pass"), "username and password to the mujin controller, e.g. username:password")
        ("controller_command_timeout", bpo::value<double>()->default_value(10), "command timeout in seconds, e.g. 10")
        ("locale", bpo::value<string>()->default_value("en_US"), "locale to use for the mujin controller client")
        ("task_scenepk", bpo::value<string>()->default_value(""), "scene pk of the binpicking task on the mujin controller, e.g. officeboltpicking.mujin.dae.")
        ("robotname", bpo::value<string>()->default_value(""), "robot name.")
        ("taskparameters", bpo::value<string>()->default_value("{}"), "binpicking task parameters, e.g. {'robotname': 'robot', 'robots':{'robot': {'externalCollisionIO':{}, 'gripperControlInfo':{}, 'robotControllerUri': '', robotDeviceIOUri': '', 'toolname': 'tool'}}}")
        ("zmq_port", bpo::value<unsigned int>()->default_value(11000), "port of the binpicking task on the mujin controller")
        ("heartbeat_port", bpo::value<unsigned int>()->default_value(11001), "port of the binpicking task's heartbeat signal on the mujin controller")
        ("jointmode", bpo::value<bool>()->default_value(true), "mode to do jogging. true indicates joint mode and tool mode otherwise")
        ("axis", bpo::value<unsigned int>()->default_value(0), "axis to do jogging on. For joint mode, 0 indicates J1 and 5 indicates J6. For tool mode, 0 indicates translation in X, 5 indicates rotation in Z")
        ("move_in_positive", bpo::value<bool>()->default_value(true), "whether to move in increasing or decreasing direction")
        ("jog_duration", bpo::value<double>()->default_value(1.0), "duration of jogging")
        ("speed", bpo::value<double>()->default_value(0.1), "speed to move at, a value between 0 and 1.")
        ;

    try {
        bpo::store(bpo::parse_command_line(argc, argv, desc, bpo::command_line_style::unix_style ^ bpo::command_line_style::allow_short), opts);
    }
    catch (const exception& ex) {
        stringstream errss;
        errss << "Caught exception " << ex.what();
        cerr << errss.str() << endl;
        return false;
    }

    bool badargs = false;
    try {
        bpo::notify(opts);
    }
    catch(const exception& ex) {
        stringstream errss;
        errss << "Caught exception " << ex.what();
        cerr << errss.str() << endl;
        badargs = true;
    }

    if(opts.count("help") || badargs) {
        cout << "Usage: " << argv[0] << " [OPTS]" << endl;
        cout << endl;
        cout << desc << endl;
        return false;
    }
    return true;
}

void InitializeTask(const bpo::variables_map& opts,
                    BinPickingTaskResourcePtr& pBinpickingTask)
{
    const string controllerUsernamePass = opts["controller_username_password"].as<string>();
    const double controllerCommandTimeout = opts["controller_command_timeout"].as<double>();
    const string taskparameters = opts["taskparameters"].as<string>();
    const string locale = opts["locale"].as<string>();
    const unsigned int taskZmqPort = opts["zmq_port"].as<unsigned int>();
    const string hostname = opts["controller_hostname"].as<string>();
    const unsigned int controllerPort = opts["controller_port"].as<unsigned int>();
    stringstream urlss;
    urlss << "http://" << hostname << ":" << controllerPort;

    const unsigned int heartbeatPort = opts["heartbeat_port"].as<unsigned int>();
    string slaverequestid = opts["slave_request_id"].as<string>();
    string taskScenePk = opts["task_scenepk"].as<string>();
    
    const bool needtoobtainfromheatbeat = taskScenePk.empty() || slaverequestid.empty();
    if (needtoobtainfromheatbeat) {
        stringstream endpoint;
        endpoint << "tcp:\/\/" << hostname << ":" << heartbeatPort;
        cout << "connecting to heartbeat at " << endpoint.str() << endl;
        string heartbeat;
        const size_t num_try_heartbeat(5);
        for (size_t it_try_heartbeat = 0; it_try_heartbeat < num_try_heartbeat; ++it_try_heartbeat) {
            heartbeat = utils::GetHeartbeat(endpoint.str());
            if (!heartbeat.empty()) {
                break;
            }
            cout << "Failed to get heart beat " << it_try_heartbeat << "/" << num_try_heartbeat << "\n";
            boost::this_thread::sleep(boost::posix_time::seconds(1));
        }
        if (heartbeat.empty()) {
            throw MujinException(boost::str(boost::format("Failed to obtain heartbeat from %s. Is controller running?")%endpoint.str()));
        }
        
        if (taskScenePk.empty()) {
            taskScenePk = utils::GetScenePkFromHeatbeat(heartbeat);
            cout << "task_scenepk: " << taskScenePk << " is obtained from heatbeat\n";
        }
        if (slaverequestid.empty()) {
            slaverequestid = utils::GetSlaveRequestIdFromHeatbeat(heartbeat);
            cout << "slave_request_id: " << slaverequestid << " is obtained from heatbeat\n";
        }
    }

    //    cout << taskparameters << endl;
    const string tasktype = "realtimeitlplanning";

    // connect to mujin controller
    ControllerClientPtr controllerclient = CreateControllerClient(controllerUsernamePass, urlss.str());

    cout << "connected to mujin controller at " << urlss.str() << endl;

    SceneResourcePtr scene(new SceneResource(controllerclient, taskScenePk));

    // initialize binpicking task
    pBinpickingTask = scene->GetOrCreateBinPickingTaskFromName_UTF8(tasktype+string("task1"), tasktype, TRO_EnableZMQ);
    const string userinfo = "{\"username\": \"" + controllerclient->GetUserName() + "\", ""\"locale\": \"" + locale + "\"}";
    cout << "initialzing binpickingtask with userinfo=" + userinfo << " taskparameters=" << taskparameters << endl;

    s_robotname = opts["robotname"].as<string>();
    if (s_robotname.empty()) {
        vector<SceneResource::InstObjectPtr> instobjects;
        scene->GetInstObjects(instobjects);
        for (vector<SceneResource::InstObjectPtr>::const_iterator it = instobjects.begin();
             it != instobjects.end(); ++it) {
            if (!(**it).dofvalues.empty()) {
                s_robotname = (**it).name;
                cout << "robot name: " << s_robotname << " is obtained from scene\n";
                break;
            }
        }
        if (s_robotname.empty()) {
            throw MujinException("Robot name was not given by command line option. Also, failed to obtain robot name from scene.\n");
        }
    }

    
    boost::shared_ptr<zmq::context_t> zmqcontext(new zmq::context_t(1));
    pBinpickingTask->Initialize(taskparameters, taskZmqPort, heartbeatPort, zmqcontext, false, 10, controllerCommandTimeout, userinfo, slaverequestid);
}

string ConvertStateToString(const BinPickingTaskResource::ResultGetBinpickingState& state)
{
    if (state.currentJointValues.empty() || state.currentToolValues.size() < 6) {
        stringstream ss;
        ss << "Failed to obtain robot state: joint values have "
           << state.currentJointValues.size() << " elements and tool values have "
           << state.currentToolValues.size() << " elements\n";

        throw std::runtime_error(ss.str());
    }

    stringstream ss;
    ss << state.timestamp << " (ms): joint:";
    for (size_t i = 0; i < state.currentJointValues.size(); ++i) {
        ss << state.jointNames[i] << "=" << state.currentJointValues[i] << " ";
    }

    ss << "X=" << state.currentToolValues[0] << " ";
    ss << "Y=" << state.currentToolValues[1] << " ";
    ss << "Z=" << state.currentToolValues[2] << " ";
    ss << "RX=" << state.currentToolValues[3] << " ";
    ss << "RY=" << state.currentToolValues[4] << " ";
    ss << "RZ=" << state.currentToolValues[5];
    return ss.str();
}

void Run(BinPickingTaskResourcePtr& pTask,
         const string& mode,
         unsigned int axis,
         bool moveInPositive,
         double duration,
         double speed,
         double acc,
         const string& robotname,
         double timeout)
{
    // print state
    BinPickingTaskResource::ResultGetBinpickingState result;
    pTask->GetPublishedTaskState(result, robotname, "mm", timeout);
    cout << "Starting:\n" << ConvertStateToString(result) << endl;

    const size_t dof = mode == "joints" ? result.currentJointValues.size() : 6;
    // when exiting this function, make sure to send zero velocities
    const vector<int> stopjoints(dof, 0);  
    boost::shared_ptr<void> setdisconnectfn((void*)0,
                                            boost::bind(&BinPickingTaskResource::SetJogModeVelocities, pTask, mode,
                                                        stopjoints, robotname, "", speed, acc, timeout));

    // start moving
    vector<int> movejointsigns(dof, 0);
    movejointsigns[axis] = moveInPositive ? 1 : -1;
    pTask->SetJogModeVelocities(mode, movejointsigns, robotname, "", speed, acc, timeout);
    
    // let it jog for specified duration
    unsigned long long previoustimestamp = result.timestamp;
    for (unsigned int it_sleep = 0; it_sleep < duration*1000; it_sleep++) {
        if (s_sigintreceived) {
            break;
        }
        
        boost::this_thread::sleep(boost::posix_time::milliseconds(1));
        pTask->GetPublishedTaskState(result, robotname, "mm", timeout);
        if (previoustimestamp == result.timestamp) {
            continue;
        }

        // value updated, print it
        cout << ConvertStateToString(result) << endl;
        previoustimestamp = result.timestamp;
    }

    
    pTask->SetJogModeVelocities(mode, stopjoints, robotname, "", speed, acc, timeout);
    
    // print state
    pTask->GetPublishedTaskState(result, robotname, "mm", timeout);
    cout << "Finished:\n" << ConvertStateToString(result) << endl;
}

int main(int argc, char ** argv)
{
    // parsing options
    bpo::variables_map opts;
    if (!ParseOptions(argc, argv, opts)) {
        // parsing option failed
        return 1;
    }
    const unsigned int axis = opts["axis"].as<unsigned int>();
    const bool moveinpositive = opts["move_in_positive"].as<bool>();
    const double speed = opts["speed"].as<double>();
    const double acc = speed * 0.7;
    const double timeout = opts["controller_command_timeout"].as<double>();
    const double jogduration = opts["jog_duration"].as<double>();
    const string mode =  opts["jointmode"].as<bool>() ? "joints" : "tool";

    // initializing
    BinPickingTaskResourcePtr pBinpickingTask;
    InitializeTask(opts, pBinpickingTask);

    // add a signal handler
    signal(SIGINT,sigint_handler); // control C
    cout << "Ctrl-C to stop jogging before jogduration passed.\n";

    // do interesting part
    Run(pBinpickingTask, mode, axis, moveinpositive, jogduration, speed, acc, s_robotname, timeout);
    return 0;
}

void sigint_handler(int sig)
{
    s_sigintreceived = true;
    cout << "Sigint received. Stopping jogging\n";
    
#ifndef _WIN32
    // have to let the default sigint properly shutdown the program
    signal(SIGINT, SIG_DFL);
    kill(0 /*getpid()*/, SIGINT);
#endif
}