[🛑 Do not Merge ] Comparing v3 and v2

.gitignore

@@ -80,3 +80,13 @@ Debug/
 # Libbarrett generated files
 Doxyfile
 include/barrett/config.h
+*.json
+*.opendb
+*.vsidx
+*.db
+*.lock
+*.db-shm
+*.db-wal
+*.sqlite
+.vs/uwarl-libbarrett/v17/.suo
+.vs/CMake Overview

CHANGELOG.md

@@ -0,0 +1,28 @@
+# Change Log
+All notable changes to this project will be documented in this file.
+This project adheres to [Semantic Versioning](http://semver.org/). 
+
+## [Unreleased]
+
+- Added wamudpd script that makes PCs findable by the wamdiscover script.
+- Updated wamudpd script to run using python3
+
+## [dev-3.0.1]
+
+- Increased enumeration timeout from 1 ms to 5 ms
+
+## [dev-3.0.0]
+
+- Python3 support
+- Clang support
+- Updated dependencies (Boost, Eigen, Freeglut)
+- Allowed WAM loop to run while reading BHand sensors
+- Converted ex10 haptics visualization from vpython to OpenGL
+- Based WAM loop on a (100x) more accurate timer_fd instead of sleep()
+- More robust installation script
+- Improved mutex handling for non-rt operation
+- Offered Top10 tactile values from BHand for higher update rates
+
+[dev-3.0.1]: https://git.barrett.com/software/libbarrett/-/tags/dev-3.0.1
+[dev-3.0.0]: https://git.barrett.com/software/libbarrett/-/tags/dev-3.0.0
+

CMakeLists.txt

@@ -1,9 +1,9 @@
 cmake_minimum_required(VERSION 2.6)
 
 project(libbarrett)
-set(libbarrett_VERSION_MAJOR 1)
-set(libbarrett_VERSION_MINOR 2)
-set(libbarrett_VERSION_PATCH 4)
+set(libbarrett_VERSION_MAJOR 3)
+set(libbarrett_VERSION_MINOR 0)
+set(libbarrett_VERSION_PATCH 1)
 set(libbarrett_VERSION "${libbarrett_VERSION_MAJOR}.${libbarrett_VERSION_MINOR}.${libbarrett_VERSION_PATCH}")
 set(libbarrett_SOVERSION "${libbarrett_VERSION_MAJOR}.${libbarrett_VERSION_MINOR}")
 
@@ -29,6 +29,7 @@ option(CONFIG_DEBIAN "Set to ON to copy standard barrett-config.cmake, required
 
 if (OPTIMIZE_FOR_PROCESSOR)
 	# TODO(dc): Does this turn on sse2 if supported by processor? What about -mfpmath=sse?
+	# WARNING: This option results in frequent segfaults (why?)
 	set(NEW_FLAGS "-march=native -mtune=native")
 
 	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${NEW_FLAGS}")
@@ -80,31 +81,41 @@ find_package(GSL REQUIRED)
 include_directories(${GSL_INCLUDE_DIRS})
 set(exported_include_dirs ${exported_include_dirs} ${GSL_INCLUDE_DIRS})
 
+## Python
+if (WITH_PYTHON)
+	find_package(PythonLibs REQUIRED)
+	include_directories(${PYTHON_INCLUDE_PATH})
+endif()
 
 ## Boost
-# Python snippet to generate version list:
-#for minor in range(45, 60):
-#	print '"1.%d" "1.%d.0"' % (minor, minor),
-set(Boost_ADDITIONAL_VERSIONS "1.45" "1.45.0" "1.46" "1.46.0" "1.47" "1.47.0" "1.48" "1.48.0" "1.49" "1.49.0" "1.50" "1.50.0" "1.51" "1.51.0" "1.52" "1.52.0" "1.53" "1.53.0" "1.54" "1.54.0" "1.55" "1.55.0" "1.56" "1.56.0" "1.57" "1.57.0" "1.58" "1.58.0" "1.59" "1.59.0")
 set(boost_components system thread)
 if (WITH_PYTHON)
-	set(boost_components ${boost_components} python)
+	# Extract major/minor python version
+	string(REPLACE "." ";" VERSION_LIST ${PYTHONLIBS_VERSION_STRING})
+	list(GET VERSION_LIST 0 PYTHONLIBS_VERSION_MAJOR)                                                                                                                             
+	list(GET VERSION_LIST 1 PYTHONLIBS_VERSION_MINOR)
+
+	set(boost_components ${boost_components} python${PYTHONLIBS_VERSION_MAJOR}${PYTHONLIBS_VERSION_MINOR})
 endif()
-find_package(Boost 1.45.0 REQUIRED ${boost_components})
+message(STATUS "Boost components: ${boost_components}")
+find_package(Boost REQUIRED ${boost_components})
+
+## Translate cmake's new "Boost::blah" library naming format to a normal "libboost_blah" name that can be passed to the linker.
+## TODO(bz): Hunt down anyone who makes stupid changes like this and make them suffer.
+set(boost_libraries "")
+foreach (prop ${Boost_LIBRARIES}) 
+	get_target_property(lib ${prop} LOCATION)
+	message(STATUS "The name ${prop} has location: ${lib}.")
+	set(boost_libraries ${boost_libraries} ${lib})
+endforeach(prop)
+set(Boost_LIBRARIES ${boost_libraries})
+
 include_directories(${Boost_INCLUDE_DIRS})
 link_directories(${Boost_LIBRARY_DIRS})
 
 set(exported_include_dirs ${exported_include_dirs} ${Boost_INCLUDE_DIRS})
 set(exported_link_dirs ${exported_link_dirs} ${Boost_LIBRARY_DIRS})
 
-
-## Python
-if (WITH_PYTHON)
-	find_package(PythonLibs 2.7 REQUIRED)
-	include_directories(${PYTHON_INCLUDE_PATH})
-endif()
-
-
 ## Eigen3
 find_package(Eigen3 REQUIRED)
 include_directories(${Eigen_INCLUDE_DIRS})

README.txt

@@ -0,0 +1,132 @@
+libbarrett -- README
+Barrett Technology
+Updated October 7, 2016
+
+Libbarrett is a real-time controls library written in C++ that runs Barrett
+Technology's products, including the WAM Arm, Proficio and the BH8-280/282 BarrettHand. For
+support, please email:
+    [email protected]
+
+To build and install libbarrett
+
+Source based install
+
+Pre-requisites:
+
+$ sudo apt-get install git g++ cmake libncurses5-dev python-dev python-argparse
+$ sudo apt-get install libeigen3-dev libboost-all-dev libgsl0-dev
+$ sudo apt-get install libxenomai-dev libxenomai1
+$ wget http://web.barrett.com/support/WAM_Installer/libconfig-1.4.5-PATCHED.tar.gz
+$ tar -xf libconfig-1.4.5-PATCHED.tar.gz
+$ cd libconfig-1.4.5
+$ ./configure && make && sudo make install
+$ cd ../
+$ rm -rf libconfig-1.4.5 libconfig-1.4.5-PATCHED.tar.gz
+
+Download and install libbarrett:
+
+$ cd ~/
+$ git clone https://git.barrett.com/software/libbarrett.git
+$ cd libbarrett
+$ git checkout devel-14.04
+$ cmake .
+$ make
+$ sudo make install
+
+Configuration Files for the robots:
+
+Upon installation of libbarrett, the configuration files of the robot are 
+installed to the /etc/barrett directory. However, to give an additional 
+flexibility of each user maintaining their own configurations for the same 
+robot, by default, the configuration files are read from ~/.barrett directory 
+if it exists. If not, then libbarrett reads the necessary configuration files 
+from /etc/barrett/ directory. It is upto the user to maintain and populate the 
+~/.barrett directory
+
+For Proficio support only:
+
+In addition to the above, there are two different configuration files for the 
+Proficio to account for its variant.. So, the right set of configuration files 
+have to be copied either to the /etc/barrett/ or ~/.barrett folder depending on 
+the configuration of the robot in use. In order to ease this process, there is a 
+bash aliases that copies the corresponding configuration files to the 
+/etc/barrett directory. As before, copying it to the ~/.barrett directory has to 
+be done manually by the user.
+
+To set it up for the first time after installing libbarrett,
+
+Copy the bash_aliases to the existing aliases
+
+$ cat .bash_aliases >> ~/libbarrett/.bash_aliases
+
+or if no bash aliases exist then create a new one
+
+$ mv libbarrett/.bash_aliases .
+
+Rerun the bash script
+
+$ . ~/.bashrc
+
+- Before running the Proficio in a particular configuration or immediately after 
+switching the configuration of the proficio, type either of the following based 
+on the configuration of the robot
+
+$ leftConfig
+or
+$ rightConfig
+
+The above bash aliases copies the particular configuration of the proficio from 
+~/libbarrett/proficio_sandbox/configurations into /etc/barrett directory.
+
+- Hit E-STOP and shift+idle.
+
+- If the outer elbow of the proficio is swapped, do gravity calibration before 
+running the examples.
+
+P.S Some of the examples above may not work with any robot if the libbarrett is 
+not installed from this source.
+
+Headers and shared libraries will be installed to their typical locations for
+your system. Configuration files will be installed to the /etc/barrett/
+directory. A copy of the examples/ directory will be placed in your home
+folder.
+
+To get started, look through libbarrett's example code. For additional
+documentation, see:
+    http://support.barrett.com/            - Barrett product support site
+    http://barrett.com/support.htm         - File download area
+    http://web.barrett.com/libbarrett/     - API documentation for libbarrett
+
+It is possible to use CMake to generate several output formats, including
+Eclipse CDT4 project files. For details, see:
+    http://www.paraview.org/Wiki/Eclipse_CDT4_Generator
+To generate Eclipse project files, run:
+    cmake . -G"Eclipse CDT4 - Unix Makefiles"
+Then import the generated project into your Eclipse workspace using:
+    File -> Import -> General -> Existing Projects into Workspace
+
+In order to use libbarrett as a hard real time library, you must have the
+Xenomai (http://www.xenomai.org/) real time co-kernel and its RTSocketCAN
+driver installed on your system. If a hard real time guarantee is not important
+for your application, you may use the SocketCAN driver from the standard Linux
+kernel. To use the Linux SocketCAN driver, add "-DNON_REALTIME=true" to your
+cmake command.
+
+Additional Makefile targets include:
+    make install_config      # Update or install configuration files only
+    make package             # Package the library as a tar-ball
+
+This version of libbarrett is free software: you can redistribute it and/or
+modify it under the terms of the GNU General Public License as published by the
+Free Software Foundation.
+
+
+Contact us at:
+[email protected]
+http://www.barrett.com/
++1-617-252-9000
+
+Barrett Technology 
+73 Chapel Street
+Newton, MA 02458
+USA

config/calibration_data/wam7w/zerocal.conf

@@ -1 +1,2 @@
-home = ( 0, -2, 0, 3.13, 0, 0, 0 );
+home = ( -0.0001095700572, -1.868457755, -0.003420908008, 3.087304199, 0.001106996437, 0.137188488, -0.006267436993 );
+zeroangle = ( 4.667903538, 4.980835618, 4.649495768, 5.850602725, 2.110757564, 0.788466125, 4.420932631 );

config/calibration_data/wam7w/zerocal.conf.1

@@ -0,0 +1,2 @@
+home = ( -0.002812298112, -1.868322004, -0.003694580653, 3.084918007, 0.001897708183, 0.1407466909, -0.008938803402 );
+zeroangle = ( 4.566660806, 5.045262811, 4.709321019, 5.815321167, 2.2196702, 0.8590292412, 4.425534573 );

config/calibration_data/wam7w/zerocal.conf.2

@@ -0,0 +1,2 @@
+home = ( 0.002081831068, -1.866991649, 0.1780696678, 3.078696863, -0.006325693979, 0.1336302852, -0.6402032348 );
+zeroangle = ( 4.664835576, 4.92561231, 4.724660827, 5.792311455, 2.090815814, 0.8651651644, 4.621884114 );

config/calibration_data/wam7w/zerocal.conf.3

@@ -0,0 +1,2 @@
+home = ( 0.0003287101676, -1.873914925, -0.001778872162, 3.088497296, -0.01692123138, 0.1405885486, -0.03051522436 );
+zeroangle = ( 4.641825864, 5.194058948, 4.600408383, 5.921165841, 2.030990563, 0.8344855486, 4.466952054 );

config/calibration_data/wam7w/zerocal.conf.4

@@ -0,0 +1,2 @@
+home = ( 0.007195100361, -1.876548485, 0.0380404977, 3.095570652, -0.006167551634, 0.1119647834, 0.1957289615 );
+zeroangle = ( 4.855049194, 5.169515255, 4.512971478, 5.9963309, 1.909806081, 0.8943107993, 4.697049173 );

config/calibration_data/wam7w/zerocal.conf.5

@@ -0,0 +1,2 @@
+home = ( -0.00102265386, -1.864466689, -0.03521254697, 3.084236238, -0.03819137736, 0.141221118, -0.006883906139 );
+zeroangle = ( 4.855049194, 5.052932715, 4.67250548, 5.803049321, 2.093883775, 1.049242859, 4.902602598 );

examples/CMakeLists.txt

@@ -11,14 +11,16 @@ endif()
 ## libbarrett
 find_package(Barrett REQUIRED)
 include_directories(${BARRETT_INCLUDE_DIRS})
+message(STATUS "BARRETT_INCLUDE_DIRS: ${BARRETT_INCLUDE_DIRS}")
 link_directories(${BARRETT_LIBRARY_DIRS})
+message(STATUS "BARRETT_LIBRARY_DIRS: ${BARRETT_LIBRARY_DIRS}")
 add_definitions(${BARRETT_DEFINITIONS})
+message(STATUS "BARRETT_DEFINITIONS: ${BARRETT_DEFINITIONS}")
 
 ## curses
 find_package(Curses REQUIRED)
 include_directories(${CURSES_INCLUDE_DIR})
 
-
 function(add_programs)
 	foreach (prog ${ARGV})
 		add_executable(${prog} ${prog}.cpp)
@@ -35,6 +37,9 @@ add_programs(
 	ex06_realtime_move
 	ex07_realtime_data_logging
 	ex08_teach_and_play
+	ex08_3_read_tmp_file
+	ex08_4_play_custom_traj_from_file
+	ex08_5_play_and_record
 	ex09_torque_control
 	ex10_haptics
 	ex11_master_master