Merge pull request #3 from mahilab/dev

Merge dev branch
mahilab · Jan 22, 2019 · 25942c4 · 25942c4
2 parents 1094f07 + 37fcd1a
commit 25942c4
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -47,6 +47,8 @@ file (GLOB SRC_BASE
 file(GLOB SRC_COMMUNICATIONS
     "${CMAKE_SOURCE_DIR}/include/MEL/Communications/*.hpp"
     "${CMAKE_SOURCE_DIR}/src/MEL/Communications/*.cpp"
+    "${CMAKE_SOURCE_DIR}/src/MEL/Communications/Detail/*.h"
+    "${CMAKE_SOURCE_DIR}/src/MEL/Communications/Detail/*.c"
 )
 
 file(GLOB SRC_CORE
@@ -256,7 +258,7 @@ endif()
 if (CMAKE_CXX_COMPILER_ID MATCHES "GNU")
     set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -O3") # all warnings
 elseif(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
-    set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} /W4") # warning level 4
+    # set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} /W4") # warning level 4
     set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} /MP") # multicore build
 endif()
 

diff --git a/LICENSE b/LICENSE
@@ -5,7 +5,7 @@
 MIT License
 
 MEL - Mechatronics Engine & Library
-Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/bindings/c#/MelNet.cs b/bindings/c#/MelNet.cs
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/bindings/c#/MelShare.cs b/bindings/c#/MelShare.cs
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/bindings/python/MelNet.py b/bindings/python/MelNet.py
@@ -1,6 +1,6 @@
 # MIT License
 #
-# Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+# Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

diff --git a/bindings/python/MelShare.py b/bindings/python/MelShare.py
@@ -1,6 +1,6 @@
 # MIT License
 #
-# Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+# Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

diff --git a/bindings/python/Mutex.py b/bindings/python/Mutex.py
@@ -1,6 +1,6 @@
 # MIT License
 #
-# Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+# Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -12,6 +12,7 @@ mel_example(ctrl_c_handling)
 mel_example(datalog)
 mel_example(filter)
 mel_example(options)
+mel_example(pid)
 mel_example(lockables)
 mel_example(ring_buffer)
 mel_example(logger)
@@ -22,6 +23,7 @@ mel_example(melshare)
 mel_example(chat)
 mel_example(comms_server)
 mel_example(virtual_daq)
+mel_example(serial)
 
 if(WIN32)
     mel_example(limiter)
@@ -34,6 +36,7 @@ if(QUANSER)
     mel_example(q8usb_loopback)
     mel_example(haptic_paddle)
     mel_example(overview)
+    mel_example(ati_sensor)
 endif()
 
 if(NI_ARM)

diff --git a/examples/ex_ati_sensor.cpp b/examples/ex_ati_sensor.cpp
@@ -0,0 +1,94 @@
+// MIT License
+//
+// MEL - Mechatronics Engine & Library
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// Author(s): Evan Pezent ([email protected])
+
+#include <MEL/Daq/Quanser/Q8Usb.hpp>
+#include <MEL/Core/Timer.hpp>
+#include <MEL/Communications/MelShare.hpp>
+#include <MEL/Core/Console.hpp>
+#include <MEL/Devices/AtiSensor.hpp>
+#include <MEL/Devices/Windows/Keyboard.hpp>
+
+using namespace mel;
+
+ctrl_bool stop(false);
+bool handler(CtrlEvent event) {
+    if (event == CtrlEvent::CtrlC)
+        stop = true;
+    return true;
+}
+
+int main(int argc, char* argv[]) {
+
+    // register CTRL-C handler
+    register_ctrl_handler(handler);
+
+    // create and open Q8
+    Q8Usb q8;
+    q8.open();
+
+    // create ATI sensor
+    AtiSensor ati;
+    ati.set_channels(q8.AI[{0, 1, 2, 3, 4, 5}]);
+    ati.load_calibration("FT12345.cal");
+
+    // alternatively, the calibration can set explicitly
+    // AtiSensor::Calibration cal;
+    // cal.Fx = { 0.01517,   0.01800, -0.02466,  -1.69832,   0.05208,   1.68355 };
+    // cal.Fy = { 0.07231,   2.01105, -0.02110,  -0.95833,  -0.05133,  -0.99616 };
+    // cal.Fz = { 1.86652,  -0.03457,  1.90079,  -0.02482,   1.89478,  -0.03528 };
+    // cal.Tx = { 0.37651,   12.19008, 10.54613, -5.96091,  -10.70737, -5.83644 };
+    // cal.Ty = { -12.07505, 0.17459,  6.36129,   10.18467,  5.70347, -10.34754 };
+    // cal.Tz = { 0.09187,   7.34562,  0.09166,   6.92461,   0.52790,   7.07804 };
+    // ati.set_calibration(cal);
+
+    // make MelShares for scoping
+    MelShare ms_volts("ati_volts");
+    MelShare ms_force("ati_force");
+    MelShare ms_torque("ati_torque");
+
+    // enable Q8Usb
+    q8.enable();
+
+    // make timer
+    Timer timer(hertz(1000));
+
+    // start sampling loop
+    while (!stop) {
+
+        // update input
+        q8.AI.update();
+
+        // zero ATI if user presses Z key
+        if (Keyboard::is_key_pressed(Key::Z))
+            ati.zero();
+
+        // write voltages, forces, and torques to MelShares for scoping
+        ms_volts.write_data({ q8.AI[0], q8.AI[1], q8.AI[2], q8.AI[3], q8.AI[4], q8.AI[5] });
+        ms_force.write_data({ ati.get_force(AxisX), ati.get_force(AxisY), ati.get_force(AxisZ) });
+        ms_torque.write_data(ati.get_torques());
+
+        // wait timer
+        timer.wait();
+    }
+
+    // disable and close Q8
+    q8.disable();
+    q8.close();
+
+    return 0;
+
+}
diff --git a/examples/ex_chat.cpp b/examples/ex_chat.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_comms_server.cpp b/examples/ex_comms_server.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_ctrl_c_handling.cpp b/examples/ex_ctrl_c_handling.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_datalog.cpp b/examples/ex_datalog.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_filter.cpp b/examples/ex_filter.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_haptic_paddle.cpp b/examples/ex_haptic_paddle.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -43,23 +43,17 @@ using namespace mel;
 class HallEffectSensor : public PositionSensor {
 public:
     /// Constructor
-    HallEffectSensor(const std::string& name,
-                     AnalogInput::Channel ai,
+    HallEffectSensor(AnalogInput::Channel ai,
                      double gain = 0.0,
                      double offset = 0.0)
-        : PositionSensor(name), ai_(ai), gain_(gain), offset_(offset) { }
+        : ai_(ai), gain_(gain), offset_(offset) { }
 
     /// Gets the position of the hall effect sensor in [rad]
     double get_position() override {
         position_ = ai_.get_value() * gain_ + offset_;
         return position_;
     }
 
-private:
-
-    bool on_enable() override { return true; }
-    bool on_disable() override { return true; }
-
 public:
     AnalogInput::Channel ai_;  ///< voltage read from hall effect sensor
     double gain_;              ///< calibration gain   [rad/V]
@@ -85,14 +79,30 @@ class HapticPaddle : public Robot {
           // init motor
           motor_("pitman_9434", 0.0229, amp_, Limiter(1.8821, 12.0, seconds(1))),
           // init position sensor
-          position_sensor_("honeywell_ss49et", ai),
+          position_sensor_(ai),
           // init virtual velocity sensor
           velocity_sensor_("honeywell_ss49et", position_sensor_)
     {
         // create joint
         add_joint(Joint("paddle_joint_0", &motor_, 0.713 / 6.250, &position_sensor_, 1.0,
                         &velocity_sensor_, 1.0, {-50 * DEG2RAD, 50 * DEG2RAD},
                         500 * DEG2RAD, 1.0));
+        // load calibration
+        std::ifstream file;
+        file.open("calibration.txt");
+        if (file.is_open()) {
+            // read in previous calibration
+            double gain, offset;
+            file >> gain >> offset;
+            position_sensor_.offset_ = offset * DEG2RAD;
+            position_sensor_.gain_ = gain * DEG2RAD;
+            LOG(Info) << "Imported Haptic Paddle hall effect sensor calibration";
+            file.close();
+        }
+        else {
+            file.close();
+            calibrate();
+        }
     }
 
     /// Interactively calibrates the hall effect sensor in the console
@@ -120,29 +130,6 @@ class HapticPaddle : public Robot {
         file.close();
     }
 
-private:
-
-    /// Overrides the default Robot::enable function with some custom logic
-    bool on_enable() override {
-        // load calibration
-        std::ifstream file;
-        file.open("calibration.txt");
-        if (file.is_open()) {
-            // read in previous calibration
-            double gain, offset;
-            file >> gain >> offset;
-            position_sensor_.offset_ = offset * DEG2RAD;
-            position_sensor_.gain_ = gain * DEG2RAD;
-            LOG(Info) << "Imported Haptic Paddle hall effect sensor calibration";
-            file.close();
-        }
-        else {
-            file.close();
-            calibrate();
-        }
-        return true;
-    }
-
 private:
     Amplifier amp_;
     Motor motor_;

diff --git a/examples/ex_keyboard.cpp b/examples/ex_keyboard.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_limiter.cpp b/examples/ex_limiter.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_lockables.cpp b/examples/ex_lockables.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_logger.cpp b/examples/ex_logger.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_math.cpp b/examples/ex_math.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/examples/ex_melnet.cpp b/examples/ex_melnet.cpp
@@ -1,7 +1,7 @@
 // MIT License
 //
 // MEL - Mechatronics Engine & Library
-// Copyright (c) 2018 Mechatronics and Haptic Interfaces Lab - Rice University
+// Copyright (c) 2019 Mechatronics and Haptic Interfaces Lab - Rice University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal