BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- modify the code simple (using auto / range based for loop)

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This commit is contained in:
ROBOTIS-zerom
2016-07-28 17:07:38 +09:00
parent 2420333894
commit 6df646ae09
2 changed files with 140 additions and 166 deletions
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2
robotis_controller/CMakeLists.txt
View File

@ -1,6 +1,8 @@
cmake_minimum_required(VERSION 2.8.3)
project(robotis_controller)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib

304
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@ -62,14 +62,9 @@ void RobotisController::initializeSyncWrite()
return;
ROS_INFO("FIRST BULKREAD");
// bulkread twice
for (std::map<std::string, dynamixel::GroupBulkRead *>::iterator it = port_to_bulk_read_.begin();
it != port_to_bulk_read_.end(); it++)
{
it->second->txRxPacket();
}
for (std::map<std::string, dynamixel::GroupBulkRead *>::iterator it = port_to_bulk_read_.begin();
it != port_to_bulk_read_.end(); it++)
for (auto& it : port_to_bulk_read_)
it.second->txRxPacket();
for(auto& it : port_to_bulk_read_)
{
int error_count = 0;
int result = COMM_SUCCESS;
@ -81,43 +76,39 @@ void RobotisController::initializeSyncWrite()
exit(-1);
}
usleep(10 * 1000);
result = it->second->txRxPacket();
result = it.second->txRxPacket();
} while (result != COMM_SUCCESS);
}
init_pose_loaded_ = true;
ROS_INFO("FIRST BULKREAD END");
// clear syncwrite param setting
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_position_.begin();
it != port_to_sync_write_position_.end(); it++)
for (auto& it : port_to_sync_write_position_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_position_p_gain_.begin();
it != port_to_sync_write_position_p_gain_.end(); it++)
for (auto& it : port_to_sync_write_position_p_gain_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_velocity_.begin();
it != port_to_sync_write_velocity_.end(); it++)
for (auto& it : port_to_sync_write_velocity_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_current_.begin();
it != port_to_sync_write_current_.end(); it++)
for (auto& it : port_to_sync_write_current_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
// set init syncwrite param(from data of bulkread)
for (std::map<std::string, Dynamixel*>::iterator it = robot_->dxls_.begin(); it != robot_->dxls_.end(); it++)
for (auto& it : robot_->dxls_)
{
std::string joint_name = it->first;
Dynamixel *dxl = it->second;
std::string joint_name = it.first;
Dynamixel *dxl = it.second;
for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
{
@ -180,11 +171,10 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
return true;
}
for (std::map<std::string, dynamixel::PortHandler *>::iterator it = robot_->ports_.begin();
it != robot_->ports_.end(); it++)
for (auto& it : robot_->ports_)
{
std::string port_name = it->first;
dynamixel::PortHandler *port = it->second;
std::string port_name = it.first;
dynamixel::PortHandler *port = it.second;
dynamixel::PacketHandler *default_pkt_handler = dynamixel::PacketHandler::getPacketHandler(2.0);
if (port->setBaudRate(port->getBaudRate()) == false)
@ -195,8 +185,8 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
// get the default device info of the port
std::string default_device_name = robot_->port_default_device_[port_name];
std::map<std::string, Dynamixel*>::iterator dxl_it = robot_->dxls_.find(default_device_name);
std::map<std::string, Sensor*>::iterator sensor_it = robot_->sensors_.find(default_device_name);
auto dxl_it = robot_->dxls_.find(default_device_name);
auto sensor_it = robot_->sensors_.find(default_device_name);
if (dxl_it != robot_->dxls_.end())
{
Dynamixel *default_device = dxl_it->second;
@ -248,10 +238,10 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
}
// (for loop) check all dxls are connected.
for (std::map<std::string, Dynamixel*>::iterator it = robot_->dxls_.begin(); it != robot_->dxls_.end(); it++)
for (auto& it : robot_->dxls_)
{
std::string joint_name = it->first;
Dynamixel *dxl = it->second;
std::string joint_name = it.first;
Dynamixel *dxl = it.second;
if (ping(joint_name) != 0)
{
@ -264,10 +254,10 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
initializeDevice(init_file_path);
// [ BulkRead ] StartAddress : Present Position , Length : 10 ( Position/Velocity/Current )
for (std::map<std::string, Dynamixel*>::iterator it = robot_->dxls_.begin(); it != robot_->dxls_.end(); it++)
for (auto& it : robot_->dxls_)
{
std::string joint_name = it->first;
Dynamixel *dxl = it->second;
std::string joint_name = it.first;
Dynamixel *dxl = it.second;
if (dxl == NULL)
continue;
@ -283,7 +273,7 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
// }
// calculate bulk read start address & data length
std::map<std::string, ControlTableItem *>::iterator indirect_addr_it = dxl->ctrl_table_.find(INDIRECT_ADDRESS_1);
auto indirect_addr_it = dxl->ctrl_table_.find(INDIRECT_ADDRESS_1);
if (indirect_addr_it != dxl->ctrl_table_.end()) // INDIRECT_ADDRESS_1 exist
{
if (dxl->bulk_read_items_.size() != 0)
@ -338,10 +328,10 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
writeCtrlItem(joint_name, dxl->torque_enable_item_->item_name_, 1);
}
for (std::map<std::string, Sensor*>::iterator it = robot_->sensors_.begin(); it != robot_->sensors_.end(); it++)
for (auto& it : robot_->sensors_)
{
std::string sensor_name = it->first;
Sensor *sensor = it->second;
std::string sensor_name = it.first;
Sensor *sensor = it.second;
if (sensor == NULL)
continue;
@ -350,7 +340,7 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
int bulkread_data_length = 0;
// calculate bulk read start address & data length
std::map<std::string, ControlTableItem *>::iterator indirect_addr_it = sensor->ctrl_table_.find(INDIRECT_ADDRESS_1);
auto indirect_addr_it = sensor->ctrl_table_.find(INDIRECT_ADDRESS_1);
if (indirect_addr_it != sensor->ctrl_table_.end()) // INDIRECT_ADDRESS_1 exist
{
if (sensor->bulk_read_items_.size() != 0)
@ -427,7 +417,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)
continue;
Dynamixel *dxl = NULL;
std::map<std::string, Dynamixel*>::iterator dxl_it = robot_->dxls_.find(joint_name);
auto dxl_it = robot_->dxls_.find(joint_name);
if (dxl_it != robot_->dxls_.end())
dxl = dxl_it->second;
@ -555,14 +545,14 @@ void RobotisController::msgQueueThread()
if (gazebo_mode_ == true)
{
for (std::map<std::string, Dynamixel*>::iterator it = robot_->dxls_.begin(); it != robot_->dxls_.end(); it++)
for (auto& it : robot_->dxls_)
{
gazebo_joint_position_pub_[it->first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it->first + "_position/command", 1);
gazebo_joint_velocity_pub_[it->first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it->first + "_velocity/command", 1);
gazebo_joint_effort_pub_[it->first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it->first + "_effort/command", 1);
gazebo_joint_position_pub_[it.first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it.first + "_position/command", 1);
gazebo_joint_velocity_pub_[it.first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it.first + "_velocity/command", 1);
gazebo_joint_effort_pub_[it.first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it.first + "_effort/command", 1);
}
}
@ -629,10 +619,9 @@ void RobotisController::startTimer()
{
initializeSyncWrite();
for (std::map<std::string, dynamixel::GroupBulkRead *>::iterator it = port_to_bulk_read_.begin();
it != port_to_bulk_read_.end(); it++)
for (auto& it : port_to_bulk_read_)
{
it->second->txPacket();
it.second->txPacket();
}
usleep(8 * 1000);
@ -682,36 +671,31 @@ void RobotisController::stopTimer()
if ((error = pthread_join(this->timer_thread_, NULL)) != 0)
exit(-1);
for (std::map<std::string, dynamixel::GroupBulkRead *>::iterator it = port_to_bulk_read_.begin();
it != port_to_bulk_read_.end(); it++)
for (auto& it : port_to_bulk_read_)
{
if (it->second != NULL)
it->second->rxPacket();
if (it.second != NULL)
it.second->rxPacket();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_position_.begin();
it != port_to_sync_write_position_.end(); it++)
for (auto& it : port_to_sync_write_position_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_position_p_gain_.begin();
it != port_to_sync_write_position_p_gain_.end(); it++)
for (auto& it : port_to_sync_write_position_p_gain_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_velocity_.begin();
it != port_to_sync_write_velocity_.end(); it++)
for (auto& it : port_to_sync_write_velocity_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_current_.begin();
it != port_to_sync_write_current_.end(); it++)
for (auto& it : port_to_sync_write_current_)
{
if (it->second != NULL)
it->second->clearParam();
if (it.second != NULL)
it.second->clearParam();
}
}
else
@ -752,7 +736,7 @@ void RobotisController::loadOffset(const std::string path)
std::string joint_name = it->first.as<std::string>();
double offset = it->second.as<double>();
std::map<std::string, Dynamixel*>::iterator dxl_it = robot_->dxls_.find(joint_name);
auto dxl_it = robot_->dxls_.find(joint_name);
if (dxl_it != robot_->dxls_.end())
dxl_it->second->dxl_state_->position_offset_ = offset;
}
@ -786,21 +770,19 @@ void RobotisController::process()
if (gazebo_mode_ == false)
{
// BulkRead Rx
for (std::map<std::string, dynamixel::GroupBulkRead *>::iterator it = port_to_bulk_read_.begin();
it != port_to_bulk_read_.end(); it++)
for (auto& it : port_to_bulk_read_)
{
robot_->ports_[it->first]->setPacketTimeout(0.0);
it->second->rxPacket();
robot_->ports_[it.first]->setPacketTimeout(0.0);
it.second->rxPacket();
}
if (robot_->dxls_.size() > 0)
{
for (std::map<std::string, Dynamixel *>::iterator dxl_it = robot_->dxls_.begin();
dxl_it != robot_->dxls_.end(); dxl_it++)
for (auto& dxl_it : robot_->dxls_)
{
Dynamixel *dxl = dxl_it->second;
std::string port_name = dxl_it->second->port_name_;
std::string joint_name = dxl_it->first;
Dynamixel *dxl = dxl_it.second;
std::string port_name = dxl_it.second->port_name_;
std::string joint_name = dxl_it.first;
if (dxl->bulk_read_items_.size() > 0)
{
@ -838,12 +820,11 @@ void RobotisController::process()
if (robot_->sensors_.size() > 0)
{
for (std::map<std::string, Sensor *>::iterator sensor_it = robot_->sensors_.begin();
sensor_it != robot_->sensors_.end(); sensor_it++)
for (auto& sensor_it : robot_->sensors_)
{
Sensor *sensor = sensor_it->second;
std::string port_name = sensor_it->second->port_name_;
std::string sensor_name = sensor_it->first;
Sensor *sensor = sensor_it.second;
std::string port_name = sensor_it.second->port_name_;
std::string sensor_name = sensor_it.first;
if (sensor->bulk_read_items_.size() > 0)
{
@ -877,12 +858,12 @@ void RobotisController::process()
// -> for loop : call SensorModule list -> Process()
if (sensor_modules_.size() > 0)
{
for (std::list<SensorModule*>::iterator module_it = sensor_modules_.begin(); module_it != sensor_modules_.end(); module_it++)
for (auto module_it = sensor_modules_.begin(); module_it != sensor_modules_.end(); module_it++)
{
(*module_it)->process(robot_->dxls_, robot_->sensors_);
for (std::map<std::string, double>::iterator it = (*module_it)->result_.begin(); it != (*module_it)->result_.end(); it++)
sensor_result_[it->first] = it->second;
for (auto& it : (*module_it)->result_)
sensor_result_[it.first] = it.second;
}
}
@ -900,7 +881,7 @@ void RobotisController::process()
{
queue_mutex_.lock();
for (std::list<MotionModule*>::iterator module_it = motion_modules_.begin(); module_it != motion_modules_.end(); module_it++)
for (auto module_it = motion_modules_.begin(); module_it != motion_modules_.end(); module_it++)
{
if ((*module_it)->getModuleEnable() == false)
continue;
@ -908,11 +889,11 @@ void RobotisController::process()
(*module_it)->process(robot_->dxls_, sensor_result_);
// for loop : joint list
for (std::map<std::string, Dynamixel *>::iterator dxl_it = robot_->dxls_.begin(); dxl_it != robot_->dxls_.end(); dxl_it++)
for (auto& dxl_it : robot_->dxls_)
{
std::string joint_name = dxl_it->first;
Dynamixel *dxl = dxl_it->second;
DynamixelState *dxl_state = dxl_it->second->dxl_state_;
std::string joint_name = dxl_it.first;
Dynamixel *dxl = dxl_it.second;
DynamixelState *dxl_state = dxl_it.second->dxl_state_;
if (dxl->ctrl_module_name_ == (*module_it)->getModuleName())
{
@ -1017,47 +998,42 @@ void RobotisController::process()
{
if (port_to_sync_write_position_p_gain_.size() > 0)
{
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_position_p_gain_.begin();
it != port_to_sync_write_position_p_gain_.end(); it++)
for (auto& it : port_to_sync_write_position_p_gain_)
{
it->second->txPacket();
it->second->clearParam();
it.second->txPacket();
it.second->clearParam();
}
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_position_.begin();
it != port_to_sync_write_position_.end(); it++)
for (auto& it : port_to_sync_write_position_)
{
if (it->second != NULL)
it->second->txPacket();
if (it.second != NULL)
it.second->txPacket();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_velocity_.begin();
it != port_to_sync_write_velocity_.end(); it++)
for (auto& it : port_to_sync_write_velocity_)
{
if (it->second != NULL)
it->second->txPacket();
if (it.second != NULL)
it.second->txPacket();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_current_.begin();
it != port_to_sync_write_current_.end(); it++)
for (auto& it : port_to_sync_write_current_)
{
if (it->second != NULL)
it->second->txPacket();
if (it.second != NULL)
it.second->txPacket();
}
}
else if (gazebo_mode_ == true)
{
for (std::list<MotionModule*>::iterator module_it = motion_modules_.begin(); module_it != motion_modules_.end(); module_it++)
for (auto module_it = motion_modules_.begin(); module_it != motion_modules_.end(); module_it++)
{
if ((*module_it)->getModuleEnable() == false)
continue;
std_msgs::Float64 joint_msg;
for (std::map<std::string, Dynamixel *>::iterator dxl_it = robot_->dxls_.begin(); dxl_it != robot_->dxls_.end();
dxl_it++)
for (auto& dxl_it : robot_->dxls_)
{
std::string joint_name = dxl_it->first;
Dynamixel *dxl = dxl_it->second;
DynamixelState *dxl_state = dxl_it->second->dxl_state_;
std::string joint_name = dxl_it.first;
Dynamixel *dxl = dxl_it.second;
DynamixelState *dxl_state = dxl_it.second->dxl_state_;
if (dxl->ctrl_module_name_ == (*module_it)->getModuleName())
{
@ -1085,11 +1061,10 @@ void RobotisController::process()
{
queue_mutex_.lock();
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_position_.begin();
it != port_to_sync_write_position_.end(); it++)
for (auto& it : port_to_sync_write_position_)
{
it->second->txPacket();
it->second->clearParam();
it.second->txPacket();
it.second->clearParam();
}
if (direct_sync_write_.size() > 0)
@ -1110,8 +1085,8 @@ void RobotisController::process()
// BulkRead Tx
if (gazebo_mode_ == false)
{
for (std::map<std::string, dynamixel::GroupBulkRead *>::iterator it = port_to_bulk_read_.begin(); it != port_to_bulk_read_.end(); it++)
it->second->txPacket();
for (auto& it : port_to_bulk_read_)
it.second->txPacket();
}
if (DEBUG_PRINT)
@ -1121,10 +1096,10 @@ void RobotisController::process()
}
// publish present & goal position
for (std::map<std::string, Dynamixel *>::iterator dxl_it = robot_->dxls_.begin(); dxl_it != robot_->dxls_.end(); dxl_it++)
for (auto& dxl_it : robot_->dxls_)
{
std::string joint_name = dxl_it->first;
Dynamixel *dxl = dxl_it->second;
std::string joint_name = dxl_it.first;
Dynamixel *dxl = dxl_it.second;
present_state.name.push_back(joint_name);
present_state.position.push_back(dxl->dxl_state_->present_position_);
@ -1153,7 +1128,7 @@ void RobotisController::process()
void RobotisController::addMotionModule(MotionModule *module)
{
// check whether the module name already exists
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
if ((*m_it)->getModuleName() == module->getModuleName())
{
@ -1175,7 +1150,7 @@ void RobotisController::removeMotionModule(MotionModule *module)
void RobotisController::addSensorModule(SensorModule *module)
{
// check whether the module name already exists
for (std::list<SensorModule *>::iterator m_it = sensor_modules_.begin(); m_it != sensor_modules_.end(); m_it++)
for (auto m_it = sensor_modules_.begin(); m_it != sensor_modules_.end(); m_it++)
{
if ((*m_it)->getModuleName() == module->getModuleName())
{
@ -1301,7 +1276,7 @@ void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs
for (unsigned int idx = 0; idx < msg->joint_name.size(); idx++)
{
Dynamixel *dxl = NULL;
std::map<std::string, Dynamixel*>::iterator dxl_it = robot_->dxls_.find((std::string) (msg->joint_name[idx]));
auto dxl_it = robot_->dxls_.find((std::string) (msg->joint_name[idx]));
if (dxl_it != robot_->dxls_.end())
dxl = dxl_it->second;
else
@ -1315,7 +1290,7 @@ void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs
}
// check whether the module is using this joint
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
if ((*m_it)->getModuleName() == msg->module_name[idx])
{
@ -1328,15 +1303,15 @@ void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs
}
}
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
// set all modules -> disable
(*m_it)->setModuleEnable(false);
// set all used modules -> enable
for (std::map<std::string, Dynamixel*>::iterator d_it = robot_->dxls_.begin(); d_it != robot_->dxls_.end(); d_it++)
for (auto& d_it : robot_->dxls_)
{
if (d_it->second->ctrl_module_name_ == (*m_it)->getModuleName())
if (d_it.second->ctrl_module_name_ == (*m_it)->getModuleName())
{
(*m_it)->setModuleEnable(true);
break;
@ -1350,10 +1325,10 @@ void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs
queue_mutex_.unlock();
robotis_controller_msgs::JointCtrlModule current_module_msg;
for (std::map<std::string, Dynamixel *>::iterator dxl_iter = robot_->dxls_.begin(); dxl_iter != robot_->dxls_.end(); ++dxl_iter)
for (auto& dxl_iter : robot_->dxls_)
{
current_module_msg.joint_name.push_back(dxl_iter->first);
current_module_msg.module_name.push_back(dxl_iter->second->ctrl_module_name_);
current_module_msg.joint_name.push_back(dxl_iter.first);
current_module_msg.module_name.push_back(dxl_iter.second->ctrl_module_name_);
}
if (current_module_msg.joint_name.size() == current_module_msg.module_name.size())
@ -1365,7 +1340,7 @@ bool RobotisController::getCtrlModuleCallback(robotis_controller_msgs::GetJointM
{
for (unsigned int idx = 0; idx < req.joint_name.size(); idx++)
{
std::map<std::string, Dynamixel*>::iterator d_it = robot_->dxls_.find((std::string) (req.joint_name[idx]));
auto d_it = robot_->dxls_.find((std::string) (req.joint_name[idx]));
if (d_it != robot_->dxls_.end())
{
res.joint_name.push_back(req.joint_name[idx]);
@ -1387,7 +1362,7 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if (ctrl_module == "" || ctrl_module == "none")
{
// enqueue all modules in order to stop
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
if ((*m_it)->getModuleEnable() == true)
stop_modules.push_back(*m_it);
@ -1395,24 +1370,22 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
}
else
{
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
// if it exist
if ((*m_it)->getModuleName() == ctrl_module)
{
// enqueue the module which lost control of joint in order to stop
for (std::map<std::string, DynamixelState*>::iterator result_it = (*m_it)->result_.begin();
result_it != (*m_it)->result_.end(); result_it++)
for (auto& result_it : (*m_it)->result_)
{
std::map<std::string, Dynamixel*>::iterator d_it = robot_->dxls_.find(result_it->first);
auto d_it = robot_->dxls_.find(result_it.first);
if (d_it != robot_->dxls_.end())
{
// enqueue
if (d_it->second->ctrl_module_name_ != ctrl_module)
{
for (std::list<MotionModule *>::iterator stop_m_it = motion_modules_.begin();
stop_m_it != motion_modules_.end(); stop_m_it++)
for (auto stop_m_it = motion_modules_.begin(); stop_m_it != motion_modules_.end(); stop_m_it++)
{
if (((*stop_m_it)->getModuleName() == d_it->second->ctrl_module_name_) &&
((*stop_m_it)->getModuleEnable() == true))
@ -1431,13 +1404,13 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
// stop the module
stop_modules.unique();
for (std::list<MotionModule *>::iterator stop_m_it = stop_modules.begin(); stop_m_it != stop_modules.end(); stop_m_it++)
for (auto stop_m_it = stop_modules.begin(); stop_m_it != stop_modules.end(); stop_m_it++)
{
(*stop_m_it)->stop();
}
// wait to stop
for (std::list<MotionModule *>::iterator stop_m_it = stop_modules.begin(); stop_m_it != stop_modules.end(); stop_m_it++)
for (auto stop_m_it = stop_modules.begin(); stop_m_it != stop_modules.end(); stop_m_it++)
{
while ((*stop_m_it)->isRunning())
usleep(CONTROL_CYCLE_MSEC * 1000);
@ -1453,15 +1426,15 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if ((ctrl_module == "") || (ctrl_module == "none"))
{
// set all modules -> disable
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
(*m_it)->setModuleEnable(false);
}
// set dxl's control module to "none"
for (std::map<std::string, Dynamixel*>::iterator d_it = robot_->dxls_.begin(); d_it != robot_->dxls_.end(); d_it++)
for (auto& d_it : robot_->dxls_)
{
Dynamixel *dxl = d_it->second;
Dynamixel *dxl = d_it.second;
dxl->ctrl_module_name_ = "none";
if (gazebo_mode_ == true)
@ -1486,16 +1459,15 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
else
{
// check whether the module exist
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
// if it exist
if ((*m_it)->getModuleName() == ctrl_module)
{
ControlMode mode = (*m_it)->getControlMode();
for (std::map<std::string, DynamixelState*>::iterator result_it = (*m_it)->result_.begin();
result_it != (*m_it)->result_.end(); result_it++)
for (auto& result_it : (*m_it)->result_)
{
std::map<std::string, Dynamixel*>::iterator d_it = robot_->dxls_.find(result_it->first);
auto d_it = robot_->dxls_.find(result_it.first);
if (d_it != robot_->dxls_.end())
{
Dynamixel *dxl = d_it->second;
@ -1563,15 +1535,15 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
}
}
for (std::list<MotionModule *>::iterator m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
for (auto m_it = motion_modules_.begin(); m_it != motion_modules_.end(); m_it++)
{
// set all modules -> disable
(*m_it)->setModuleEnable(false);
// set all used modules -> enable
for (std::map<std::string, Dynamixel*>::iterator d_it = robot_->dxls_.begin(); d_it != robot_->dxls_.end(); d_it++)
for (auto& d_it : robot_->dxls_)
{
if (d_it->second->ctrl_module_name_ == (*m_it)->getModuleName())
if (d_it.second->ctrl_module_name_ == (*m_it)->getModuleName())
{
(*m_it)->setModuleEnable(true);
break;
@ -1586,10 +1558,10 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
// publish current module
robotis_controller_msgs::JointCtrlModule current_module_msg;
for (std::map<std::string, Dynamixel *>::iterator dxl_iter = robot_->dxls_.begin(); dxl_iter != robot_->dxls_.end(); ++dxl_iter)
for (auto& dxl_iter : robot_->dxls_)
{
current_module_msg.joint_name.push_back(dxl_iter->first);
current_module_msg.module_name.push_back(dxl_iter->second->ctrl_module_name_);
current_module_msg.joint_name.push_back(dxl_iter.first);
current_module_msg.module_name.push_back(dxl_iter.second->ctrl_module_name_);
}
if (current_module_msg.joint_name.size() == current_module_msg.module_name.size())
@ -1602,7 +1574,7 @@ void RobotisController::gazeboJointStatesCallback(const sensor_msgs::JointState:
for (unsigned int i = 0; i < msg->name.size(); i++)
{
std::map<std::string, Dynamixel*>::iterator d_it = robot_->dxls_.find((std::string) msg->name[i]);
auto d_it = robot_->dxls_.find((std::string) msg->name[i]);
if (d_it != robot_->dxls_.end())
{
d_it->second->dxl_state_->present_position_ = msg->position[i];
@ -1613,8 +1585,8 @@ void RobotisController::gazeboJointStatesCallback(const sensor_msgs::JointState:
if (init_pose_loaded_ == false)
{
for (std::map<std::string, Dynamixel*>::iterator it = robot_->dxls_.begin(); it != robot_->dxls_.end(); it++)
it->second->dxl_state_->goal_position_ = it->second->dxl_state_->present_position_;
for (auto& it : robot_->dxls_)
it.second->dxl_state_->goal_position_ = it.second->dxl_state_->present_position_;
init_pose_loaded_ = true;
}