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Add stop start sync mode #361

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merged 2 commits into from
Oct 10, 2014
Merged

Add stop start sync mode #361

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97912ee
(AutoBalancer, ImpedanceController) : Enable onDeactivated function f…
snozawa Oct 10, 2014
02769b5
(ImpedanceController, AutoBalancer, Stabilizer) : Move to idling mode…
snozawa Oct 10, 2014
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15 changes: 10 additions & 5 deletions rtc/AutoBalancer/AutoBalancer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -268,12 +268,17 @@ RTC::ReturnCode_t AutoBalancer::onActivated(RTC::UniqueId ec_id)
return RTC::RTC_OK;
}

/*
RTC::ReturnCode_t AutoBalancer::onDeactivated(RTC::UniqueId ec_id)
{
return RTC::RTC_OK;
RTC::ReturnCode_t AutoBalancer::onDeactivated(RTC::UniqueId ec_id)
{
std::cout << "AutoBalancer::onDeactivated(" << ec_id << ")" << std::endl;
Guard guard(m_mutex);
if (control_mode == MODE_ABC) {
stopABCparam();
control_mode = MODE_IDLE;
transition_count = 1; // sync in one controller loop
}
*/
return RTC::RTC_OK;
}

#define DEBUGP ((m_debugLevel==1 && loop%200==0) || m_debugLevel > 1 )
//#define DEBUGP2 ((loop%200==0))
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2 changes: 1 addition & 1 deletion rtc/AutoBalancer/AutoBalancer.h
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Expand Up @@ -64,7 +64,7 @@ class AutoBalancer

// The deactivated action (Active state exit action)
// former rtc_active_exit()
// virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

// The execution action that is invoked periodically
// former rtc_active_do()
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14 changes: 9 additions & 5 deletions rtc/ImpedanceController/ImpedanceController.cpp
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Expand Up @@ -206,12 +206,16 @@ RTC::ReturnCode_t ImpedanceController::onActivated(RTC::UniqueId ec_id)
return RTC::RTC_OK;
}

/*
RTC::ReturnCode_t ImpedanceController::onDeactivated(RTC::UniqueId ec_id)
{
return RTC::RTC_OK;
RTC::ReturnCode_t ImpedanceController::onDeactivated(RTC::UniqueId ec_id)
{
std::cout << "ImpedanceController::onDeactivated(" << ec_id << ")" << std::endl;
Guard guard(m_mutex);
for ( std::map<std::string, ImpedanceParam>::iterator it = m_impedance_param.begin(); it != m_impedance_param.end(); it++ ) {
deleteImpedanceController(it->first);
m_impedance_param[it->first].transition_count = 1;
}
*/
return RTC::RTC_OK;
}

#define DEBUGP ((m_debugLevel==1 && loop%200==0) || m_debugLevel > 1 )
RTC::ReturnCode_t ImpedanceController::onExecute(RTC::UniqueId ec_id)
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2 changes: 1 addition & 1 deletion rtc/ImpedanceController/ImpedanceController.h
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Expand Up @@ -63,7 +63,7 @@ class ImpedanceController

// The deactivated action (Active state exit action)
// former rtc_active_exit()
// virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

// The execution action that is invoked periodically
// former rtc_active_do()
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7 changes: 7 additions & 0 deletions rtc/Stabilizer/Stabilizer.cpp
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Expand Up @@ -301,6 +301,11 @@ RTC::ReturnCode_t Stabilizer::onActivated(RTC::UniqueId ec_id)
RTC::ReturnCode_t Stabilizer::onDeactivated(RTC::UniqueId ec_id)
{
std::cout << m_profile.instance_name<< ": onDeactivated(" << ec_id << ")" << std::endl;
if ( (control_mode == MODE_ST || control_mode == MODE_AIR) ) {
sync_2_idle ();
control_mode = MODE_IDLE;
transition_count = 1; // sync in one controller loop
}
return RTC::RTC_OK;
}

Expand Down Expand Up @@ -1275,6 +1280,7 @@ RTC::ReturnCode_t Stabilizer::onRateChanged(RTC::UniqueId ec_id)

void Stabilizer::sync_2_st ()
{
std::cerr << "Sync IDLE => ST" << std::endl;
pangx_ref = pangy_ref = pangx = pangy = 0;
rdx = rdy = rx = ry = 0;
d_rpy[0] = d_rpy[1] = 0;
Expand All @@ -1292,6 +1298,7 @@ void Stabilizer::sync_2_st ()

void Stabilizer::sync_2_idle ()
{
std::cerr << "Sync ST => IDLE" << std::endl;
transition_count = MAX_TRANSITION_COUNT;
for (int i = 0; i < m_robot->numJoints(); i++ ) {
transition_joint_q[i] = m_robot->joint(i)->q;
Expand Down