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cpp_device_routing.md

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Device routing

Table of Contents

Overview

Device routing is a mechanism that allows users to send commands to specific devices using the connection with the base. This is done by specifying a device_identifier when sending a command through a service. This service doesn't need to be implemented by the base.

In other words, you can send a command to a sub device with a service known only by the sub device (e.g.: ActuatorConfigClient) as long as the device_identifier is specified as an additional command parameter.

The Device Manager service is used to obtain the device_identifier.

Device Manager service

Service description

The Device Manager service contains a method ReadAllDevices() which returns a device handle list containing handles for all current devices in the robot.

Good to know

  • The device handle list returned by ReadAllDevices() is not in any particular order with respect to the location of devices in the robot.
  • Device handles also have a device_type field and an order field.

Example

namespace k_api = Kinova::Api;

/* API initialisation */
auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router);
auto allDevicesInfo = device_manager->ReadAllDevices();

Device Config service

Service description

The Device Config service provides information about the device being interrogated, including:

  • device type
  • firmware and bootloader version
  • part and serial numbers
  • MAC address and
  • hardware revision

Example

namespace k_api = Kinova::Api;

/* API initialisation */
auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router);
auto device_config = new k_api::DeviceConfig::DeviceConfigClient(router);

// Get all device routing information (from DeviceManagerClient service)
auto allDevicesInfo = device_manager->ReadAllDevices();

k_api::RouterClientSendOptions options;
options.timeout_ms = 4000;  // (milliseconds)

// Use device routing information to route to every device (base, actuator, interconnect, etc.) in the arm base system and request general device information
for (auto device : allDevicesInfo.device_handle())
{

	std::cout << "-----------------------------\n";
	std::cout << "-- " << k_api::Common::DeviceTypes_Name(device.device_type()) << ": id = " << device.device_identifier() << " --\n";

	std::string str;
	google::protobuf::TextFormat::PrintToString(device_config->GetDeviceType(device.device_identifier(), options), &str);
	std::cout << str;
	google::protobuf::TextFormat::PrintToString(device_config->GetFirmwareVersion(device.device_identifier(), options), &str);
	std::cout << str; 
	google::protobuf::TextFormat::PrintToString(device_config->GetBootloaderVersion(device.device_identifier(), options), &str); 
	std::cout << str;
	google::protobuf::TextFormat::PrintToString(device_config->GetModelNumber(device.device_identifier(), options), &str);
	std::cout << str;
	google::protobuf::TextFormat::PrintToString(device_config->GetPartNumber(device.device_identifier(), options), &str);     
	std::cout << str;
	google::protobuf::TextFormat::PrintToString(device_config->GetPartNumberRevision(device.device_identifier(), options), &str);
	std::cout << str;
	google::protobuf::TextFormat::PrintToString(device_config->GetSerialNumber(device.device_identifier(), options), &str);   
	std::cout << str;
	std::cout << std::endl;
}

Other Services

The device_identifier can be used by other services to directly interrogate a device.

Example

namespace k_api = Kinova::Api;

/* API initialisation */
auto device_manager = new k_api::DeviceManager::DeviceManagerClient(router);
auto vision_config = new k_api::VisionConfig::VisionConfigClient(router);

auto allDevicesInfo = device_manager->ReadAllDevices();

// uses device routing information to route to every device (base, actuator, interconnect, etc.)
for (auto dev : allDevicesInfo.device_handle())
{	
    if (dev.device_type() == k_api::Common::DeviceTypes::VISION)
	{
	    std::cout << "-- Using Vision Config Service to get intrinsic parameters --" << std::endl;
	    k_api::VisionConfig::SensorIdentifier sensor_id;
		sensor_id.set_sensor(k_api::VisionConfig::SENSOR_COLOR);

		// We can now use the Vision service with the base connection by specifing the device_identifier
	    auto intrinsic_value = vision_config->GetIntrinsicParameters(sensor_id, dev.device_identifier());

	    std::cout << "Width: " << intrinsic_value.width() << std::endl;
	    std::cout << "Height: " << intrinsic_value.height() << std::endl;
	    std::cout << "Principal point x: " << intrinsic_value.principal_point_x() << std::endl;
	    std::cout << "Principal point y: " << intrinsic_value.principal_point_y() << std::endl;
	    std::cout << "Focal length x: " << intrinsic_value.focal_length_x() << std::endl;
	    std::cout << "Focal length y: " << intrinsic_value.focal_length_y() << std::endl;

	    break;
	}
}