Skip to content

Commit

Permalink
Update HumanStateVisualizer nws/nwc naming convention
Browse files Browse the repository at this point in the history
  • Loading branch information
@davidegorbani
davidegorbani committed Oct 9, 2023
1 parent 1c2e7c1 commit a98f5f9
Showing 1 changed file with 39 additions and 39 deletions.
78 changes: 39 additions & 39 deletions modules/HumanStateVisualizer/src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -185,18 +185,18 @@ int main(int argc, char* argv[])
std::string humanStateDataPortName = rf.find("humanStateDataPortName").asString();

// Visualize Wrenches Options
std::string humanWrenchWrapperPortName;
std::string humanWrenchServerPortName;
std::vector<std::string> wrenchSourceLinks;
if (visualizeWrenches)
{
if( !(rf.check("humanWrenchWrapperPortName") && rf.find("humanWrenchWrapperPortName").isString()) )
if( !(rf.check("humanWrenchServerPortName") && rf.find("humanWrenchServerPortName").isString()) )
{
yError() << LogPrefix << "'humanWrenchWrapperPortName' option not found or not valid. Wrench Visualization will be disabled";
yError() << LogPrefix << "'humanWrenchServerPortName' option not found or not valid. Wrench Visualization will be disabled";
visualizeWrenches = false;
}
else
{
humanWrenchWrapperPortName = rf.find("humanWrenchWrapperPortName").asString();
humanWrenchServerPortName = rf.find("humanWrenchServerPortName").asString();
}
}

Expand Down Expand Up @@ -308,17 +308,17 @@ int main(int argc, char* argv[])
}
}

std::string wearableTargetsWrapperPortName;
std::string wearableTargetsServerPortName;
if (visualizeTargets)
{
if( !(rf.check("wearableTargetsWrapperPortName") && rf.find("wearableTargetsWrapperPortName").isString()) )
if( !(rf.check("wearableTargetsServerPortName") && rf.find("wearableTargetsServerPortName").isString()) )
{
yError() << LogPrefix << "'wearableTargetsWrapperPortName' option not found or not valid. Wrench Visualization will be disabled";
yError() << LogPrefix << "'wearableTargetsServerPortName' option not found or not valid. Wrench Visualization will be disabled";
visualizeTargets = false;
}
else
{
wearableTargetsWrapperPortName = rf.find("wearableTargetsWrapperPortName").asString();
wearableTargetsServerPortName = rf.find("wearableTargetsServerPortName").asString();
}
}

Expand Down Expand Up @@ -379,20 +379,20 @@ int main(int argc, char* argv[])
}


// initialize iHumanState interface from remapper
yarp::dev::PolyDriver humanStateRemapperDevice;
// initialize iHumanState interface from client
yarp::dev::PolyDriver humanStateClientDevice;
hde::interfaces::IHumanState* iHumanState{nullptr};

yarp::os::Property remapperOptions;
remapperOptions.put("device", "human_state_remapper");
remapperOptions.put("humanStateDataPort", humanStateDataPortName);
yarp::os::Property clientOptions;
clientOptions.put("device", "human_state_nwc_yarp");
clientOptions.put("humanStateDataPort", humanStateDataPortName);

if(!humanStateRemapperDevice.open(remapperOptions))
if(!humanStateClientDevice.open(clientOptions))
{
yError() << LogPrefix << "Failed to connect remapper device";
yError() << LogPrefix << "Failed to connect client device";
return EXIT_FAILURE;
}
if(!humanStateRemapperDevice.view(iHumanState) || !iHumanState )
if(!humanStateClientDevice.view(iHumanState) || !iHumanState )
{
yError() << LogPrefix << "Failed to view iHumanState interface";
return EXIT_FAILURE;
Expand All @@ -402,7 +402,7 @@ int main(int argc, char* argv[])
while (iHumanState->getBaseName().empty())
{
std::this_thread::sleep_for(std::chrono::seconds(1));
yInfo() << LogPrefix << "Waiting for data from HumanStateRemapper";
yInfo() << LogPrefix << "Waiting for data from HumanStateClient";
}

// compare the iHumanState base and joint names with the visualization model
Expand All @@ -429,23 +429,23 @@ int main(int argc, char* argv[])
}
}

// initialize iWearableTargets interface from remapper
// initialize iWearableTargets interface from client
std::unordered_map<hde::TargetName, std::shared_ptr<hde::WearableSensorTarget>> targets;
yarp::dev::PolyDriver wearableTargetsRemapperDevice;
yarp::dev::PolyDriver wearableTargetsClientDevice;
if (visualizeTargets) {
hde::interfaces::IWearableTargets* iWearableTargets{nullptr};

yarp::os::Property wearableTargetsRemapperOptions;
wearableTargetsRemapperOptions.put("device", "wearable_targets_remapper");
wearableTargetsRemapperOptions.put("wearableTargetsDataPort", wearableTargetsWrapperPortName);
std::cerr << "my wrapper port name is: " << wearableTargetsWrapperPortName << std::endl;
yarp::os::Property wearableTargetsClientOptions;
wearableTargetsClientOptions.put("device", "wearable_targets_nwc_yarp");
wearableTargetsClientOptions.put("wearableTargetsDataPort", wearableTargetsServerPortName);
std::cerr << "my server port name is: " << wearableTargetsServerPortName << std::endl;

if(!wearableTargetsRemapperDevice.open(wearableTargetsRemapperOptions))
if(!wearableTargetsClientDevice.open(wearableTargetsClientOptions))
{
yError() << LogPrefix << "Failed to connect remapper device";
yError() << LogPrefix << "Failed to connect client device";
return EXIT_FAILURE;
}
if(!wearableTargetsRemapperDevice.view(iWearableTargets) || !iWearableTargets )
if(!wearableTargetsClientDevice.view(iWearableTargets) || !iWearableTargets )
{
yError() << LogPrefix << "Failed to view iWearableTargets interface";
return EXIT_FAILURE;
Expand All @@ -456,7 +456,7 @@ int main(int argc, char* argv[])
while (iWearableTargets->getAllTargetsName().empty())
{
std::this_thread::sleep_for(std::chrono::seconds(1));
yInfo() << LogPrefix << "Waiting for data from WearableTargetsRemapper";
yInfo() << LogPrefix << "Waiting for data from WearableTargetsClient";
}

// Verify the selected targets exist, and that the associated link exists in the visualized model
Expand Down Expand Up @@ -487,20 +487,20 @@ int main(int argc, char* argv[])
}

// initialize iHumanWrench
yarp::dev::PolyDriver humanWrenchRemapperDevice;
yarp::dev::PolyDriver humanWrenchClientDevice;
hde::interfaces::IHumanWrench* iHumanWrench{nullptr};
if (visualizeWrenches)
{
yarp::os::Property humanWrenchRemapperOptions;
humanWrenchRemapperOptions.put("device", "human_wrench_remapper");
humanWrenchRemapperOptions.put("humanWrenchDataPort", humanWrenchWrapperPortName);
yarp::os::Property humanWrenchClientOptions;
humanWrenchClientOptions.put("device", "human_wrench_nwc_yarp");
humanWrenchClientOptions.put("humanWrenchDataPort", humanWrenchServerPortName);

if(!humanWrenchRemapperDevice.open(humanWrenchRemapperOptions))
if(!humanWrenchClientDevice.open(humanWrenchClientOptions))
{
yError() << LogPrefix << "Failed to connect remapper device";
yError() << LogPrefix << "Failed to connect client device";
return EXIT_FAILURE;
}
if(!humanWrenchRemapperDevice.view(iHumanWrench) || !iHumanWrench )
if(!humanWrenchClientDevice.view(iHumanWrench) || !iHumanWrench )
{
yError() << LogPrefix << "Failed to view iHumanWrench interface";
return EXIT_FAILURE;
Expand All @@ -510,12 +510,12 @@ int main(int argc, char* argv[])
while (iHumanWrench->getWrenchSourceNames().empty())
{
std::this_thread::sleep_for(std::chrono::seconds(1));
yInfo() << LogPrefix << "Waiting for data from HumanWrenchRemapper";
yInfo() << LogPrefix << "Waiting for data from HumanWrenchClient";
}

if(iHumanWrench->getNumberOfWrenchSources() != wrenchSourceLinks.size() )
{
yError() << LogPrefix << "expected " << wrenchSourceLinks.size() << " wrench sources in port " << humanWrenchWrapperPortName
yError() << LogPrefix << "expected " << wrenchSourceLinks.size() << " wrench sources in port " << humanWrenchServerPortName
<< ", received " << iHumanWrench->getNumberOfWrenchSources();
return EXIT_FAILURE;
}
Expand Down Expand Up @@ -740,9 +740,9 @@ int main(int argc, char* argv[])
}

viz.close();
humanStateRemapperDevice.close();
wearableTargetsRemapperDevice.close();
humanWrenchRemapperDevice.close();
humanStateClientDevice.close();
wearableTargetsClientDevice.close();
humanWrenchClientDevice.close();

return 0;
}

0 comments on commit a98f5f9

Please sign in to comment.