Rock Paper Scissors Revision as of 11:56, 20 November 2012 by Alexalspach (Talk | contribs)
Contents |
Rock, Paper, Scissors Commander for KIST
There are two EXEs to command the Home, Rock, Paper and Scissors positions for the Allegro Hand via TCP/IP connection to the AHAS controller
This controller is KIST specific.
To execute these motions, the following integer TCP/IP messages are sent:
0: Ready
1: Rock
2: Paper
3. Scissors
Port
6150
Message ID
1
Sampling Time
1000Hz, 1000us
Keyboard Input
tcpip_sendMessage.cpp
// kaiTest.cpp : Defines the entry point for the console application. // //#include "stdafx.h" #ifdef WIN32 #include "kai/kai.h" #else #include "kai/kai.h" #endif #include <stdio.h> #ifdef WIN32 #include <conio.h> #endif #include <string> #include <iostream> using namespace std; #include <queue> bool bTCP = true; unsigned int hExtension = -1; // rProtocol #ifdef WIN32 //#include "../../../RoboticsLab/RoboticsLab/dev/include/rProtocol/rProtocol.h" #else //#include "../../../RoboticsLab/include/rProtocol/rProtocol.h" #endif /* notice //////////////////////////////////// 1. Set include path : In the place that there is a Kai header file. ex) #include "kai.h" 2. Create a Class instance ex) mySocket sock; 3. Define kaiMsg ex) kaiMsg msg; start! //////////////////////////////////// */ class mySocket : public kaiSocket { public: mySocket(){} ~mySocket(){} protected: virtual void onMessage(kaiMsg& msg) { printf("msg id:%d, msg size:%d\n", msg.id(), msg.size()); } virtual void onSend(int len) { printf("send message: %d\n", len); } }; int main(int argc, char* argv[]) { bool bRun = true; mySocket sock; kaiMsgID id = 0; kaiMsg msg; msg.allocateMemory(); int cmd = -1; //if(argc!=2) //{ // printf("ERROR: You must input just one integer argument\n0: Ready\n1: Rock\n2: Paper\n3: Scissors\n\n"); // _getch(); // return 0; //} ////parse input //std::string s = argv[1]; //sscanf(s.c_str(), "%i", &cmd); //i is 10 after this //printf("%i",cmd); kaiInitialize(); if(bTCP) sock.create(true, kaiON_MESSAGE|kaiON_SEND); else sock.create(false, kaiON_MESSAGE|kaiON_SEND); if (kaiSUCCESS == sock.connect("127.0.0.1", 6150))//sock.connect("192.168.1.98", 5150); { sock.setBlockingMode(kaiNON_BLOCKING_SOCKET); } else { printf("[ERROR] failed to connect to the server application.\n"); bRun = false; } while (bRun) { if(bTCP && sock.isValid()) { if (kaiFAIL == sock.recv()) { printf("[ERROR] connection was closed.\n"); break; } } { int cmd = -1; if (_kbhit()) cmd = _getch(); switch (cmd) { case '0': { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 1; // msg << is send stream msg << motion;//argv[1]; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Ready\n"<<std::endl; } break; case '1': { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 10; // msg << is send stream msg << motion; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Rock\n"<<std::endl; } break; case '2': { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 11; // msg << is send stream msg << motion;//argv[1]; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Paper\n"<<std::endl; } break; case '3': { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 12; // msg << is send stream msg << motion;//argv[1]; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Scissor\n"<<std::endl; } break; case 'q': sock.close(); bRun = false; break; //default: } } } printf("Press Enter to quit.\n"); getchar(); return 0; }
Command Argument
File:Tcpip sendMessage wArg.zip
tcpip_sendMessage.cpp
// kaiTest.cpp : Defines the entry point for the console application. // //#include "stdafx.h" #ifdef WIN32 #include "kai/kai.h" #else #include "kai/kai.h" #endif #include <stdio.h> #ifdef WIN32 #include <conio.h> #endif #include <string> #include <iostream> using namespace std; #include <queue> bool bTCP = true; unsigned int hExtension = -1; // rProtocol #ifdef WIN32 //#include "../../../RoboticsLab/RoboticsLab/dev/include/rProtocol/rProtocol.h" #else //#include "../../../RoboticsLab/include/rProtocol/rProtocol.h" #endif /* notice //////////////////////////////////// 1. Set include path : In the place that there is a Kai header file. ex) #include "kai.h" 2. Create a Class instance ex) mySocket sock; 3. Define kaiMsg ex) kaiMsg msg; start! //////////////////////////////////// */ class mySocket : public kaiSocket { public: mySocket(){} ~mySocket(){} protected: virtual void onMessage(kaiMsg& msg) { printf("msg id:%d, msg size:%d\n", msg.id(), msg.size()); } virtual void onSend(int len) { printf("send message: %d\n", len); } }; int main(int argc, char* argv[]) { bool bRun = true; mySocket sock; kaiMsgID id = 0; kaiMsg msg; msg.allocateMemory(); int cmd = -1; if(argc!=2) { printf("ERROR: You must input just one integer argument\n0: Ready\n1: Rock\n2: Paper\n3: Scissors\n\n"); _getch(); return 0; } //parse input std::string s = argv[1]; sscanf(s.c_str(), "%i", &cmd); //i is 10 after this printf("%i",cmd); kaiInitialize(); if(bTCP) sock.create(true, kaiON_MESSAGE|kaiON_SEND); else sock.create(false, kaiON_MESSAGE|kaiON_SEND); if (kaiSUCCESS == sock.connect("127.0.0.1", 6150))//sock.connect("192.168.1.98", 5150); { sock.setBlockingMode(kaiNON_BLOCKING_SOCKET); } else { printf("[ERROR] failed to connect to the server application.\n"); bRun = false; } //while (bRun) //{ //if(bTCP && sock.isValid()) //{ // if (kaiFAIL == sock.recv()) // { // printf("[ERROR] connection was closed.\n"); // getchar(); // return 0; // } //} { //int cmd = -1; //if (_kbhit()) // cmd = _getch(); switch (cmd) { case 0: { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 1; // msg << is send stream msg << motion;//argv[1]; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Ready\n"<<std::endl; } break; case 1: { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 10; // msg << is send stream msg << motion; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Rock\n"<<std::endl; } break; case 2: { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 11; // msg << is send stream msg << motion;//argv[1]; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Paper\n"<<std::endl; } break; case 3: { kaiMsg msg; // define kaiMsg msg.allocateMemory(); msg.reset(); msg.begin(); //int armID; //armID = 1; int motion = 12; // msg << is send stream msg << motion;//argv[1]; cout << "\n" << motion; msg.id(1); // set the msg's id (message packet ID) msg.end(); // end message sock.send(msg); // Instance send msg std::cout<<"Scissor\n"<<std::endl; } break; case 'q': sock.close(); bRun = false; break; //default: } } //} printf("Press Enter to quit.\n"); //getchar(); return 0; }
RPS Controller
File:Control ERHand RPS KIST.zip
Debug
File:Tcpip sendMessage wArg debug.zip
File:Tcpip sendMessage debug.zip
Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.
Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).
Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804
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