Merge pull request #81 from robotology/feature/paexo

This PR add the wearable device implementation for an Adaptive Paexo

CMakeLists.txt

@@ -69,3 +69,6 @@ add_subdirectory(msgs)
 add_subdirectory(devices)
 add_subdirectory(wrappers)
 add_subdirectory(app)
+
+# Flag to enable Paexo wearable device
+option(ENABLE_Paexo "Flag that enables building Paexo wearable device" OFF)

devices/CMakeLists.txt

@@ -7,6 +7,10 @@ find_package(iDynTree)
 add_subdirectory(IWearRemapper)
 add_subdirectory(IAnalogSensorToIWear)
 
+if(ENABLE_Paexo)
+    add_subdirectory(Paexo)
+endif()
+
 if(XSENS_MVN_USE_SDK)
   add_subdirectory(XsensSuit)
 endif()

devices/Paexo/CMakeLists.txt

@@ -0,0 +1,30 @@
+#/*
+# * Copyright (C) 2020 iCub Facility
+#* Authors: Yeshasvi Tirupachuri
+#* CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+#*/
+
+# Compile the plugin by default
+yarp_prepare_plugin(paexo  TYPE wearable::devices::Paexo
+                    INCLUDE Paexo.h
+                    CATEGORY device
+                    ADVANCED
+                    DEFAULT ON
+                    )
+
+yarp_add_plugin(Paexo src/Paexo.cpp include/Paexo.h)
+
+target_include_directories(Paexo PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+
+target_link_libraries(Paexo
+    PUBLIC
+    YARP::YARP_dev
+    YARP::YARP_init
+    Wearable::IWear)
+
+yarp_install(TARGETS Paexo
+             COMPONENT runtime
+             LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+             ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
+             YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR})

devices/Paexo/conf/Paexo.xml

@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<robot name="PaexoWearableDevice" build=0 portprefix="">
+<!--Following the example in https://github.com/robotology/robots-configuration/blob/devel/experimentalSetups/battery/hardware/battery/icubbattery.xml-->
+
+    <!--Serial Device-->
+    <device type="serialport" name="SerialportDevice">
+        <param name="verbose"> 0 </param>
+        <!--param name="comport"> COM2 </param-->        <!--  //windows     -->
+        <param name="comport">  /dev/ttyACM1 </param>   <!--    //linux     -->
+        <param name="baudrate"> 115200 </param>
+        <param name="xonlim"> 0 </param>
+        <param name="xofflim"> 0 </param>
+        <param name="readmincharacters"> 0 </param>
+        <param name="readtimeoutmsec"> 50 </param>
+        <param name="parityenb"> 0 </param>
+        <param name="paritymode"> none </param>
+        <param name="ctsenb"> 0 </param>
+        <param name="rtsenb"> 0 </param>
+        <param name="xinenb"> 0 </param>
+        <param name="xoutenb"> 0 </param>
+        <param name="modem"> 0 </param>
+        <param name="rcvenb"> 0 </param>
+        <param name="dsrenb"> 0 </param>
+        <param name="dtrdisable"> 0 </param>
+        <param name="databits"> 8 </param>
+        <param name="stopbits"> 1 </param>
+        <param name="line_terminator_char1"> 10 </param>
+        <param name="line_terminator_char2">  13 </param>
+    </device>
+
+    <!--Paexo Device-->
+    <device type="paexo" name="PaexoWearableDevice">
+        <param name="period">0.01</param>
+        <param name="portsPrefixName">/wearable/paexo</param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="PaexoWearableDeviceLabel">SerialportDevice</elem>
+            </paramlist>
+        </action>
+        <action phase="shutdown" level="5" type="detach"/>
+    </device>
+
+    <device type="iwear_wrapper" name="PaexoWearableDeviceWrapper">
+        <param name="period">0.01</param>
+        <param name="dataPortName">/Paexo/WearableData/data:o</param>
+        <param name="rpcPortName">/Paexo/WearableData/metadataRpc:o</param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="PaexoWearableDeviceWrapperLabel"> PaexoWearableDevice </elem>
+            </paramlist>
+        </action>
+        <action phase="shutdown" level="4" type="detach"/>
+    </device>
+
+</robot>

devices/Paexo/include/Paexo.h

@@ -0,0 +1,214 @@
+/*
+ * Copyright (C) 2020 iCub Facility
+ * Authors: Yeshasvi Tirupachuri
+ * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+ */
+
+#ifndef WEARABLE_PAEXO_H
+#define WEARABLE_PAEXO_H
+
+#include "Wearable/IWear/IWear.h"
+
+#include <yarp/dev/DeviceDriver.h>
+#include <yarp/dev/PolyDriver.h>
+#include <yarp/dev/Wrapper.h>
+#include <yarp/dev/SerialInterfaces.h>
+#include <yarp/dev/PreciselyTimed.h>
+
+#include <yarp/os/PeriodicThread.h>
+
+namespace wearable {
+    namespace devices {
+        class Paexo;
+    } // namespace devices
+} // namespace wearable
+
+class wearable::devices::Paexo :
+        public yarp::dev::DeviceDriver,
+        public yarp::os::PeriodicThread,
+        public yarp::dev::IWrapper,
+        public yarp::dev::IMultipleWrapper,
+        public yarp::dev::IPreciselyTimed,
+        public wearable::IWear
+{
+
+private:
+    class PaexoImpl;
+    std::unique_ptr<PaexoImpl> pImpl;
+
+public:
+    Paexo();
+    ~Paexo() override;
+
+    // DeviceDriver
+    bool open(yarp::os::Searchable& config) override;
+    bool close() override;
+
+    // PeriodicThread
+    void run() override;
+    void threadRelease() override;
+
+    // IWrapper interface
+    bool attach(yarp::dev::PolyDriver* poly) override;
+    bool detach() override;
+
+    // IMultipleWrapper interface
+    bool attachAll(const yarp::dev::PolyDriverList& driverList) override;
+    bool detachAll() override;
+
+    // ================
+    // IPRECISELY TIMED
+    // ================
+
+    yarp::os::Stamp getLastInputStamp() override;
+
+    // =====
+    // IWEAR
+    // =====
+
+    // GENERIC
+    // -------
+
+    WearableName getWearableName() const override;
+    WearStatus getStatus() const override;
+    TimeStamp getTimeStamp() const override;
+
+    SensorPtr<const sensor::ISensor> getSensor(const sensor::SensorName name) const override;
+
+    VectorOfSensorPtr<const sensor::ISensor> getSensors(const sensor::SensorType) const override;
+
+    // IMPLEMENTED SENSORS
+    // -------------------
+
+    SensorPtr<const sensor::IVirtualJointKinSensor>
+    getVirtualJointKinSensor(const sensor::SensorName name) const override;
+
+    SensorPtr<const sensor::IForce3DSensor>
+    getForce3DSensor(const sensor::SensorName name) const override;
+
+    SensorPtr<const sensor::ITorque3DSensor>
+    getTorque3DSensor(const sensor::SensorName name) const override;
+
+    // UNIMPLEMENTED SENSORS
+    // ---------------------
+
+    inline SensorPtr<const sensor::IForceTorque6DSensor>
+    getForceTorque6DSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IVirtualLinkKinSensor>
+    getVirtualLinkKinSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IFreeBodyAccelerationSensor>
+    getFreeBodyAccelerationSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IMagnetometer>
+    getMagnetometer(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IOrientationSensor>
+    getOrientationSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IPoseSensor>
+    getPoseSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IPositionSensor>
+    getPositionSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IVirtualSphericalJointKinSensor>
+    getVirtualSphericalJointKinSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IAccelerometer>
+    getAccelerometer(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IEmgSensor>
+    getEmgSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::IGyroscope>
+    getGyroscope(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::ISkinSensor>
+    getSkinSensor(const sensor::SensorName /*name*/) const override;
+
+    inline SensorPtr<const sensor::ITemperatureSensor>
+    getTemperatureSensor(const sensor::SensorName /*name*/) const override;
+
+};
+
+inline wearable::SensorPtr<const wearable::sensor::IForceTorque6DSensor>
+wearable::devices::Paexo::getForceTorque6DSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IVirtualLinkKinSensor>
+wearable::devices::Paexo::getVirtualLinkKinSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IFreeBodyAccelerationSensor>
+wearable::devices::Paexo::getFreeBodyAccelerationSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IMagnetometer>
+wearable::devices::Paexo::getMagnetometer(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IOrientationSensor>
+wearable::devices::Paexo::getOrientationSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IPoseSensor>
+wearable::devices::Paexo::getPoseSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IPositionSensor>
+wearable::devices::Paexo::getPositionSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IVirtualSphericalJointKinSensor>
+wearable::devices::Paexo::getVirtualSphericalJointKinSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IAccelerometer>
+wearable::devices::Paexo::getAccelerometer(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IEmgSensor>
+wearable::devices::Paexo::getEmgSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::IGyroscope>
+wearable::devices::Paexo::getGyroscope(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::ISkinSensor>
+wearable::devices::Paexo::getSkinSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+inline wearable::SensorPtr<const wearable::sensor::ITemperatureSensor>
+wearable::devices::Paexo::getTemperatureSensor(const sensor::SensorName /*name*/) const
+{
+    return nullptr;
+}
+
+#endif // WEARABLE_PAEXO_H