org.cogchar.bundle.app.puma.SillyDemoMotionComputer Maven / Gradle / Ivy

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/*
 *  Copyright 2013 by The Friendularity Project (www.friendularity.org).
 * 
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 * 
 *       http://www.apache.org/licenses/LICENSE-2.0
 * 
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 */
package org.cogchar.bundle.app.puma;

import org.cogchar.bind.mio.robot.motion.CogcharMotionComputer;
import org.cogchar.bind.mio.robot.motion.CogcharMotionSource;
import org.jflux.api.common.rk.position.NormalizedDouble;
import org.mechio.api.motion.Joint;
import org.mechio.api.motion.Robot;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

/**
 * @author Stu B. 
 */
public class SillyDemoMotionComputer extends CogcharMotionComputer {

	long myCycleCount = 0;
	static Logger theLogger = LoggerFactory.getLogger(SillyDemoMotionComputer.class);

	@Override public void notifySourceComputingCycle(CogcharMotionSource source, long currentTimeUTC, long moveLengthMilliSec) {
		myCycleCount++;
		Robot srcBot = source.getRobot();
		Robot.Id srcBotID = srcBot.getRobotId();
		String robotIdString = srcBotID.getRobtIdString();
		Robot.RobotPositionMap rpm = srcBot.getCurrentPositions();
		// if (robotIdString.equals("Avatar_ZenoR50")) {
		if (robotIdString.equals("Sinbad")) {
			int waistJointNum = 100;
			Joint.Id waistJointId = new Joint.Id(waistJointNum);
			Robot.JointId waistRJID = new Robot.JointId(srcBotID, waistJointId);
			NormalizedDouble oldWaistPos = rpm.get(waistRJID);
			double zeroToTwoCycle = (myCycleCount % 250) / 125.0;
			NormalizedDouble nextWaistPos = new NormalizedDouble (0.5 + 0.5 * Math.sin(Math.PI * zeroToTwoCycle));
			Robot.RobotPositionHashMap goalPosMap = new Robot.RobotPositionHashMap();
			goalPosMap.put(waistRJID, nextWaistPos);
			source.move(goalPosMap, moveLengthMilliSec);
			if ((myCycleCount % 200) == 1) {
				theLogger.info("heatbeat cycle={} currentTime={} moveLen={} src={} botID={}", 
							myCycleCount, currentTimeUTC, moveLengthMilliSec, source, srcBotID);
			
				theLogger.debug("more detail:  waistRJID={} oldWaistPos={} nextWaistPos={} curPosMap={}", waistRJID, oldWaistPos , nextWaistPos, rpm);
			}
		}

	}
}