Difference between revisions of "Rock Paper Scissors"
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Alexalspach (Talk | contribs) m (Alexalspach moved page Internal:Rock Paper Scissors to Rock Paper Scissors) |
Latest revision as of 15:02, 6 December 2013
Contents |
[edit] 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:
01: Ready
10: Rock
11: Paper
12: Scissors
[edit] Message
Message ID | Data Size | Reserved | Flag | Checksum | Data |
2 bytes | 2 bytes | 2 bytes | 1 byte | 1 byte | 4 bytes |
1 | 4 | 0 | 0 | 0 | int: 1, 10, 11, 12 |
[edit] Header
8 bytes total
- Message ID: 1 (2 bytes)
- Data Size: 4 (2 bytes)
- Reserved: 0 (2 bytes)
- Flag: 0 (1 byte)
- Checksum: 0 (1 byte)
[edit] Data
- Integer: 1, 10, 11 or 12 (4 bytes)
[edit] Port
6150
[edit] Sampling Time
1000Hz, 1000us
[edit] MATLAB Sys Cmd
[edit] TCP/IP Comm. Programs
Input:
0: Ready
1: Rock
2: Paper
3: Scissors
[edit] Keyboard Input
[edit] 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; }
[edit] Command Argument
[edit] 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; }
Note: Shift-Right-click folder to start command prompt at that path.
[edit] Source
[edit] AHAS Installer
[edit] RPS Controller Patch
IMPORTANT: Please download this file and move it to your Allegro Hand Application Studio controls directory.
Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\controls
Use this new controller file to overwrite the original located in the controls folder.
File:Control ERHand patch 20121119.zip- File:Control ERHand patch 20121119.zip < Updated. Korean style scissors! --Alex Alspach (talk) 18:03, 20 November 2012 (KST)
[edit] Device Offsets / Directions Patch
IMPORTANT: Please download this file and overwrite your Allegro Hand Application Studio devices directory.
Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\models\Etc\ERHand\devices
- File:KIST AR010devices patch 20131206.zip < Updated. AHv2.0! --Alex Alspach (talk) 14:16, 6 December 2013 (KST)
[edit] Debug
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