private void setupRobotEnvironmentAwarenessModule(DRCNetworkModuleParameters parameters) throws IOException { if (parameters.isRobotEnvironmentAwerenessModuleEnabled()) { PacketCommunicator reaCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(NetworkPorts.REA_MODULE_PORT, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.REA_MODULE, reaCommunicator); reaCommunicator.connect(); } }
private void setupLidarScanLogger() throws IOException { PacketCommunicator lidarScanLoggerCommunicator = PacketCommunicator .createTCPPacketCommunicatorServer(NetworkPorts.LIDAR_SCAN_LOGGER_PORT, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.LIDAR_SCAN_LOGGER, lidarScanLoggerCommunicator); lidarScanLoggerCommunicator.connect(); String methodName = "setupLidarScanLogger"; printModuleConnectedDebugStatement(PacketDestination.LIDAR_SCAN_LOGGER, methodName); }
private void setupMocapModule(DRCNetworkModuleParameters params) throws IOException { if (params.isMocapModuleEnabled()) { // new MocapDetectedObjectModule(null, null, null); PacketCommunicator mocapModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MOCAP_MODULE, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.MOCAP_MODULE, mocapModuleCommunicator); mocapModuleCommunicator.connect(); String methodName = "setupMocapModule"; printModuleConnectedDebugStatement(PacketDestination.MOCAP_MODULE, methodName); } }
private void setupZeroPoseRobotConfigurationPublisherModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) { if (params.isZeroPoseRobotConfigurationPublisherEnabled()) { PacketCommunicator zeroPosePublisherCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ZERO_POSE_PRODUCER, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.ZERO_POSE_PRODUCER, zeroPosePublisherCommunicator); try { zeroPosePublisherCommunicator.connect(); new ZeroPoseMockRobotConfigurationDataPublisherModule(robotModel); } catch (IOException e) { e.printStackTrace(); } } }
private void setupDrillDetectionModule(DRCNetworkModuleParameters params) { if (params.isDrillDetectionModuleEnabled()) { PacketCommunicator drillDetectorModuleCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(NetworkPorts.DRILL_DETECTOR, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.DRILL_DETECTOR, drillDetectorModuleCommunicator); try { drillDetectorModuleCommunicator.connect(); } catch (IOException e) { e.printStackTrace(); } String methodName = "setupDrillDetectionModule"; printModuleConnectedDebugStatement(PacketDestination.DRILL_DETECTOR, methodName); } }
private void setupMocapModule(DRCNetworkModuleParameters params) throws IOException { if (params.isMocapModuleEnabled()) { // new MocapDetectedObjectModule(null, null, null); PacketCommunicator mocapModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.MOCAP_MODULE, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.MOCAP_MODULE, mocapModuleCommunicator); mocapModuleCommunicator.connect(); String methodName = "setupMocapModule"; printModuleConnectedDebugStatement(PacketDestination.MOCAP_MODULE, methodName); } }
private void setupROSAPIModule(DRCNetworkModuleParameters params) throws IOException { if(params.isROSAPICommunicatorEnabled()) { PacketCommunicator rosAPICommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ROS_API_COMMUNICATOR, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.ROS_API, rosAPICommunicator); rosAPICommunicator.connect(); String methodName = "setupROSAPIModule "; printModuleConnectedDebugStatement(PacketDestination.ROS_API, methodName); } }
private void setupROSAPIModule(DRCNetworkModuleParameters params) throws IOException { if (params.isROSAPICommunicatorEnabled()) { PacketCommunicator rosAPICommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ROS_API_COMMUNICATOR, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.ROS_API, rosAPICommunicator); rosAPICommunicator.connect(); String methodName = "setupROSAPIModule "; printModuleConnectedDebugStatement(PacketDestination.ROS_API, methodName); } }
private void addTextToSpeechEngine(DRCNetworkModuleParameters params) { if (!params.isTextToSpeechModuleEnabled()) return; PacketCommunicator ttsModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.TEXT_TO_SPEECH, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.TEXT_TO_SPEECH, ttsModuleCommunicator); try { ttsModuleCommunicator.connect(); new TextToSpeechNetworkModule(); } catch (IOException e) { e.printStackTrace(); } String methodName = "addTextToSpeechEngine"; printModuleConnectedDebugStatement(PacketDestination.TEXT_TO_SPEECH, methodName); }
private void addTextToSpeechEngine(DRCNetworkModuleParameters params) { if (!params.isTextToSpeechModuleEnabled()) return; PacketCommunicator ttsModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.TEXT_TO_SPEECH, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.TEXT_TO_SPEECH, ttsModuleCommunicator); try { ttsModuleCommunicator.connect(); new TextToSpeechNetworkModule(); } catch (IOException e) { e.printStackTrace(); } String methodName = "addTextToSpeechEngine"; printModuleConnectedDebugStatement(PacketDestination.TEXT_TO_SPEECH, methodName); }
private void setupHandModules(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (params.isHandModuleEnabled()) { for (RobotSide robotSide : RobotSide.values) { NetworkPorts port = robotSide == RobotSide.LEFT ? NetworkPorts.LEFT_HAND_PORT : NetworkPorts.RIGHT_HAND_PORT; PacketCommunicator handModuleCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(port, NET_CLASS_LIST); PacketDestination destination = robotSide == RobotSide.LEFT ? PacketDestination.LEFT_HAND : PacketDestination.RIGHT_HAND; packetRouter.attachPacketCommunicator(destination, handModuleCommunicator); handModuleCommunicator.connect(); String methodName = "setupHandModules "; printModuleConnectedDebugStatement(destination, methodName); } } }
private void setupUiModule(DRCNetworkModuleParameters params) throws IOException { if (params.isUiModuleEnabled()) { new UiConnectionModule(); PacketCommunicator uiModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.UI_MODULE, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.UI, uiModuleCommunicator); uiModuleCommunicator.connect(); String methodName = "setupUiModule "; printModuleConnectedDebugStatement(PacketDestination.UI, methodName); } }
private void setupHandModules(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (params.isHandModuleEnabled()) { for(RobotSide robotSide : RobotSide.values) { NetworkPorts port = robotSide == RobotSide.LEFT ? NetworkPorts.LEFT_HAND_PORT : NetworkPorts.RIGHT_HAND_PORT; PacketCommunicator handModuleCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(port, NET_CLASS_LIST); PacketDestination destination = robotSide == RobotSide.LEFT ? PacketDestination.LEFT_HAND : PacketDestination.RIGHT_HAND; packetRouter.attachPacketCommunicator(destination, handModuleCommunicator); handModuleCommunicator.connect(); String methodName = "setupHandModules "; printModuleConnectedDebugStatement(destination, methodName); } } }
private void setupUiModule(DRCNetworkModuleParameters params) throws IOException { if (params.isUiModuleEnabled()) { new UiConnectionModule(); PacketCommunicator uiModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.UI_MODULE, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.UI, uiModuleCommunicator); uiModuleCommunicator.connect(); String methodName = "setupUiModule "; printModuleConnectedDebugStatement(PacketDestination.UI, methodName); } }
private void setupKinematicsToolboxModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (!params.isKinematicsToolboxEnabled()) return; new KinematicsToolboxModule(robotModel, params.isKinematicsToolboxVisualizerEnabled()); PacketCommunicator kinematicsToolboxCommunicator = PacketCommunicator .createIntraprocessPacketCommunicator(NetworkPorts.KINEMATICS_TOOLBOX_MODULE_PORT, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.KINEMATICS_TOOLBOX_MODULE, kinematicsToolboxCommunicator); kinematicsToolboxCommunicator.connect(); String methodName = "setupWholeBodyInverseKinematicsModule"; printModuleConnectedDebugStatement(PacketDestination.KINEMATICS_TOOLBOX_MODULE, methodName); }
private void setupKinematicsToolboxModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (!params.isKinematicsToolboxEnabled()) return; new KinematicsToolboxModule(robotModel, robotModel.getLogModelProvider(), params.isKinematicsToolboxVisualizerEnabled()); PacketCommunicator kinematicsToolboxCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.KINEMATICS_TOOLBOX_MODULE_PORT, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.KINEMATICS_TOOLBOX_MODULE, kinematicsToolboxCommunicator); kinematicsToolboxCommunicator.connect(); String methodName = "setupWholeBodyInverseKinematicsModule"; printModuleConnectedDebugStatement(PacketDestination.KINEMATICS_TOOLBOX_MODULE, methodName); }
private void setupRosModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (params.isRosModuleEnabled()) { new RosModule(robotModel, params.getRosUri(), params.getSimulatedSensorCommunicator()); PacketCommunicator rosModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ROS_MODULE, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.ROS_MODULE, rosModuleCommunicator); rosModuleCommunicator.connect(); String methodName = "setupRosModule "; printModuleConnectedDebugStatement(PacketDestination.ROS_MODULE, methodName); } }
private void setupRosModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (params.isRosModuleEnabled()) { new RosModule(robotModel, params.getRosUri(), params.getSimulatedSensorCommunicator()); PacketCommunicator rosModuleCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(NetworkPorts.ROS_MODULE, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.ROS_MODULE, rosModuleCommunicator); rosModuleCommunicator.connect(); String methodName = "setupRosModule "; printModuleConnectedDebugStatement(PacketDestination.ROS_MODULE, methodName); } }
private void setupHeightQuadTreeToolboxModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (params.isHeightQuadTreeToolboxEnabled()) { new HeightQuadTreeToolboxModule(robotModel.createFullRobotModel(), robotModel.getLogModelProvider()); PacketCommunicator heightQuadTreeToolboxCommunicator = PacketCommunicator .createIntraprocessPacketCommunicator(NetworkPorts.HEIGHT_QUADTREE_TOOLBOX_MODULE_PORT, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.HEIGHT_QUADTREE_TOOLBOX_MODULE, heightQuadTreeToolboxCommunicator); heightQuadTreeToolboxCommunicator.connect(); String methodName = "setupHeightQuadTreeToolboxModule"; printModuleConnectedDebugStatement(PacketDestination.HEIGHT_QUADTREE_TOOLBOX_MODULE, methodName); } }
private void setupFootstepPlanningToolboxModule(DRCRobotModel robotModel, DRCNetworkModuleParameters params) throws IOException { if (!params.isFootstepPlanningToolboxEnabled()) return; FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel(); new FootstepPlanningToolboxModule(robotModel, fullRobotModel, null, params.isFootstepPlanningToolboxVisualizerEnabled()); PacketCommunicator footstepPlanningToolboxCommunicator = PacketCommunicator .createIntraprocessPacketCommunicator(NetworkPorts.FOOTSTEP_PLANNING_TOOLBOX_MODULE_PORT, NET_CLASS_LIST); packetRouter.attachPacketCommunicator(PacketDestination.FOOTSTEP_PLANNING_TOOLBOX_MODULE, footstepPlanningToolboxCommunicator); footstepPlanningToolboxCommunicator.connect(); String methodName = "setupFootstepPlanningModule"; printModuleConnectedDebugStatement(PacketDestination.FOOTSTEP_PLANNING_TOOLBOX_MODULE, methodName); }