static int Main(string[] args)
{
var now = RobotRaconteurNode.s.NowUTC;
bool shouldShowHelp = false;
string robot_info_file = null;
bool left_arm = false;
bool right_arm = false;
bool left_electric_gripper = false;
bool right_electric_gripper = false;
string left_gripper_info_file = null;
string right_gripper_info_file = null;
var options = new OptionSet {
{ "robot-info-file=", n => robot_info_file = n },
{ "left-arm", n => left_arm = n != null },
{ "right-arm", n => right_arm = n != null },
{ "left-electric-gripper", n => left_electric_gripper = n != null },
{ "right-electric-gripper", n => right_electric_gripper = n != null },
{ "left-gripper-info-file=", n => left_gripper_info_file = n },
{ "right-gripper-info-file=", n => right_gripper_info_file = n },
{ "h|help", "show this message and exit", h => shouldShowHelp = h != null }
};
List <string> extra;
try
{
// parse the command line
extra = options.Parse(args);
}
catch (OptionException e)
{
// output some error message
Console.Write("BaxterRobotRaconteurDriver: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `BaxterRobotRaconteurDriver --help' for more information.");
return(1);
}
if (shouldShowHelp)
{
Console.WriteLine("Usage: BaxterRobotRaconteurDriver [Options+]");
Console.WriteLine();
Console.WriteLine("Options:");
options.WriteOptionDescriptions(Console.Out);
return(0);
}
if (robot_info_file == null)
{
Console.WriteLine("error: robot-info-file must be specified");
return(1);
}
string nodename = "baxter_robot";
BaxterRobotArmSelection arm_selection;
if ((!left_arm && !right_arm) || right_arm && left_arm)
{
arm_selection = BaxterRobotArmSelection.both;
}
else if (left_arm)
{
arm_selection = BaxterRobotArmSelection.left;
nodename = "baxter_robot_left_arm";
}
else if (right_arm)
{
arm_selection = BaxterRobotArmSelection.right;
nodename = "baxter_robot_right_arm";
}
else
{
throw new ArgumentException("Invalid arm selection");
}
ushort port = 58660;
if (arm_selection == BaxterRobotArmSelection.right)
{
port = 58661;
}
Tuple <RobotInfo, LocalIdentifierLocks> robot_info = null;
Tuple <ToolInfo, LocalIdentifierLocks> left_tool_info = null;
Tuple <ToolInfo, LocalIdentifierLocks> right_tool_info = null;
BaxterRobot robot = null;
BaxterElectricGripper left_gripper = null;
BaxterElectricGripper right_gripper = null;
try
{
robot_info = RobotInfoParser.LoadRobotInfoYamlWithIdentifierLocks(robot_info_file);
if (left_electric_gripper)
{
left_tool_info = ToolInfoParser.LoadToolInfoYamlWithIdentifierLocks(left_gripper_info_file);
left_tool_info.Item1.device_info.parent_device = robot_info.Item1.device_info.device;
left_tool_info.Item1.device_info.device_origin_pose = new NamedPose
{
parent_frame = new Identifier {
name = "left_hand"
},
pose = new Pose {
orientation = new Quaternion {
w = 1
}
}
};
}
if (right_electric_gripper)
{
right_tool_info = ToolInfoParser.LoadToolInfoYamlWithIdentifierLocks(right_gripper_info_file);
right_tool_info.Item1.device_info.parent_device = robot_info.Item1.device_info.device;
right_tool_info.Item1.device_info.device_origin_pose = new NamedPose
{
parent_frame = new Identifier {
name = "right_hand"
},
pose = new Pose {
orientation = new Quaternion {
w = 1
}
}
};
}
ros_csharp_interop.ros_csharp_interop.init_ros(args, "baxter_robotraconteur_driver", true);
robot = new BaxterRobot(robot_info.Item1, arm_selection, "");
robot._start_robot();
if (left_tool_info != null)
{
left_gripper = new BaxterElectricGripper(left_tool_info.Item1, "left_gripper", "");
left_gripper._start_tool();
}
if (right_tool_info != null)
{
right_gripper = new BaxterElectricGripper(right_tool_info.Item1, "right_gripper", "");
right_gripper._start_tool();
}
using (var node_setup = new ServerNodeSetup(nodename, port, args))
{
RobotRaconteurNode.s.RegisterService("robot", "com.robotraconteur.robotics.robot", robot);
if (left_gripper != null)
{
RobotRaconteurNode.s.RegisterService("left_gripper", "com.robotraconteur.robotics.tool", left_gripper);
}
if (right_gripper != null)
{
RobotRaconteurNode.s.RegisterService("right_gripper", "com.robotraconteur.robotics.tool", right_gripper);
}
Console.WriteLine("Press enter to exit");
Console.ReadKey();
}
}
finally
{
robot_info?.Item2?.Dispose();
left_tool_info?.Item2?.Dispose();
right_tool_info?.Item2?.Dispose();
robot?.Dispose();
left_gripper?.Dispose();
right_gripper?.Dispose();
}
return(0);
}
static int Main(string[] args)
{
bool shouldShowHelp = false;
string robot_info_file = null;
string robot_name = null;
bool wait_signal = false;
bool electric_gripper = false;
bool vacuum_gripper = false;
string gripper_info_file = null;
string gripper_name = null;
var options = new OptionSet {
{ "robot-info-file=", "the robot info YAML file", n => robot_info_file = n },
{ "robot-name=", "override the robot device name", n => robot_name = n },
{ "h|help", "show this message and exit", h => shouldShowHelp = h != null },
{ "electric-gripper", "rethink electric gripper is attached", n => electric_gripper = n != null },
{ "vacuum-gripper", "rethink vacuum gripper is attached", n => vacuum_gripper = n != null },
{ "gripper-info-file=", "gripper info file", n => gripper_info_file = n },
{ "gripper-name=", "override the gripper device name", n => gripper_name = n },
{ "wait-signal", "wait for POSIX sigint or sigkill to exit", n => wait_signal = n != null }
};
List <string> extra;
try
{
// parse the command line
extra = options.Parse(args);
}
catch (OptionException e)
{
// output some error message
Console.Write("SawyerRobotRaconteurDriver: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `SawyerRobotRaconteurDriver --help' for more information.");
return(1);
}
if (shouldShowHelp)
{
Console.WriteLine("Usage: SawyerRobotRaconteurDriver [Options+]");
Console.WriteLine();
Console.WriteLine("Options:");
options.WriteOptionDescriptions(Console.Out);
return(0);
}
if (robot_info_file == null)
{
Console.WriteLine("error: robot-info-file must be specified");
return(1);
}
if (vacuum_gripper && electric_gripper)
{
throw new ArgumentException("--vacuum-gripper and --electric-gripper are mutually exclusive");
}
Tuple <RobotInfo, LocalIdentifierLocks> robot_info = null;
Tuple <ToolInfo, LocalIdentifierLocks> tool_info = null;
SawyerRobot robot = null;
ISawyerGripper gripper = null;
try
{
robot_info = RobotInfoParser.LoadRobotInfoYamlWithIdentifierLocks(robot_info_file, robot_name);
ros_csharp_interop.ros_csharp_interop.init_ros(args, "sawyer_robotraconteur_driver", false);
if (electric_gripper || vacuum_gripper)
{
tool_info = ToolInfoParser.LoadToolInfoYamlWithIdentifierLocks(gripper_info_file, gripper_name);
tool_info.Item1.device_info.parent_device = robot_info.Item1.device_info.device;
tool_info.Item1.device_info.device_origin_pose = new NamedPose
{
parent_frame = new Identifier {
name = "right_hand", uuid = new com.robotraconteur.uuid.UUID
{
uuid_bytes = new byte[16]
}
},
pose = new Pose {
orientation = new Quaternion {
w = 1
}
}
};
}
robot = new SawyerRobot(robot_info.Item1, "");
if (electric_gripper)
{
gripper = new SawyerElectricGripper(tool_info.Item1, "right_gripper", "");
gripper._start_tool();
}
else if (vacuum_gripper)
{
gripper = new SawyerVacuumGripper(tool_info.Item1, "right_vacuum_gripper", "");
gripper._start_tool();
}
robot._start_robot();
using (var node_setup = new ServerNodeSetup("sawyer_robot", 58653, args))
{
var robot_service_ctx = RobotRaconteurNode.s.RegisterService("robot", "com.robotraconteur.robotics.robot", robot);
robot_service_ctx.SetServiceAttributes(AttributesUtil.GetDefaultServiceAtributesFromDeviceInfo(robot_info.Item1.device_info));
if (gripper != null)
{
var tool_service_ctx = RobotRaconteurNode.s.RegisterService("gripper", "com.robotraconteur.robotics.tool", gripper);
tool_service_ctx.SetServiceAttributes(AttributesUtil.GetDefaultServiceAtributesFromDeviceInfo(tool_info.Item1.device_info));
}
if (!wait_signal)
{
Console.WriteLine("Press enter to exit");
Console.ReadKey();
}
else
{
UnixSignal[] signals = new UnixSignal[] {
new UnixSignal(Mono.Unix.Native.Signum.SIGINT),
new UnixSignal(Mono.Unix.Native.Signum.SIGTERM),
};
Console.WriteLine("Press Ctrl-C to exit");
// block until a SIGINT or SIGTERM signal is generated.
int which = UnixSignal.WaitAny(signals, -1);
Console.WriteLine("Got a {0} signal, exiting", signals[which].Signum);
}
}
}
finally
{
robot_info?.Item2?.Dispose();
tool_info?.Item2?.Dispose();
robot?.Dispose();
gripper?.Dispose();
}
return(0);
}
static int Main(string[] args)
{
bool shouldShowHelp = false;
string tool_info_file = null;
string robot_url = null;
bool wait_signal = false;
var options = new OptionSet {
{ "tool-info-file=", n => tool_info_file = n },
{ "robot-url=", "url for the robot with signals", n => robot_url = n },
{ "wait-signal", "wait for POSIX sigint or sigkill to exit", n => wait_signal = n != null },
{ "h|help", "show this message and exit", h => shouldShowHelp = h != null }
};
List <string> extra;
try
{
// parse the command line
extra = options.Parse(args);
}
catch (OptionException e)
{
// output some error message
Console.Write("RobotSignalToolRobotRaconteurDriver: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `RobotSignalToolRobotRaconteurDriver --help' for more information.");
return(1);
}
if (shouldShowHelp)
{
Console.WriteLine("Usage: RobotSignalToolRobotRaconteurDriver [Options+]");
Console.WriteLine();
Console.WriteLine("Options:");
options.WriteOptionDescriptions(Console.Out);
Console.WriteLine("Also supports standard --robotraconteur- node options");
return(0);
}
if (tool_info_file == null)
{
Console.WriteLine("error: robot-info-file must be specified");
return(1);
}
if (robot_url == null)
{
Console.WriteLine("error: robot-url must be specified");
return(1);
}
Tuple <ToolInfo, LocalIdentifierLocks> tool_info = null;
tool_info = ToolInfoParser.LoadToolInfoYamlWithIdentifierLocks(tool_info_file);
using (tool_info.Item2)
using (var node_setup = new ServerNodeSetup("robot_signal_tool", 58323, args))
{
using (var tool = new UR_CB2_SoftGripper(robot_url, tool_info.Item1))
{
var tool_service_ctx = RobotRaconteurNode.s.RegisterService("tool", "com.robotraconteur.robotics.tool", tool);
tool_service_ctx.SetServiceAttributes(AttributesUtil.GetDefaultServiceAtributesFromDeviceInfo(tool_info.Item1.device_info));
if (!wait_signal)
{
Console.WriteLine("Press enter to exit");
Console.ReadKey();
}
else
{
UnixSignal[] signals = new UnixSignal[] {
new UnixSignal(Mono.Unix.Native.Signum.SIGINT),
new UnixSignal(Mono.Unix.Native.Signum.SIGTERM),
};
Console.WriteLine("Press Ctrl-C to exit");
// block until a SIGINT or SIGTERM signal is generated.
int which = UnixSignal.WaitAny(signals, -1);
Console.WriteLine("Got a {0} signal, exiting", signals[which].Signum);
}
}
}
return(0);
}
