vpRobotAfma4.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface for the Irisa's Afma4 robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_AFMA4

#include <signal.h>
#include <stdlib.h>
#include <sys/types.h>
#include <unistd.h>

#include <visp3/robot/vpRobotException.h>
#include <visp3/core/vpExponentialMap.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/core/vpThetaUVector.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/robot/vpRobotAfma4.h>

/* ---------------------------------------------------------------------- */
/* --- STATIC ----------------------------------------------------------- */
/* ---------------------------------------------------------------------- */

bool vpRobotAfma4::robotAlreadyCreated = false;

const double vpRobotAfma4::defaultPositioningVelocity = 15.0;


/* ---------------------------------------------------------------------- */
/* --- EMERGENCY STOP --------------------------------------------------- */
/* ---------------------------------------------------------------------- */

void emergencyStopAfma4(int signo)
{
  std::cout << "Stop the Afma4 application by signal (" 
        << signo << "): " << (char)7 ;
  switch(signo)
    {
    case SIGINT:
      std::cout << "SIGINT (stop by ^C) " << std::endl ; break ;
    case SIGBUS:
      std::cout <<"SIGBUS (stop due to a bus error) " << std::endl ; break ;
    case SIGSEGV:
      std::cout <<"SIGSEGV (stop due to a segmentation fault) " << std::endl ; break ;
    case SIGKILL:
      std::cout <<"SIGKILL (stop by CTRL \\) " << std::endl ; break ;
    case SIGQUIT:
      std::cout <<"SIGQUIT " << std::endl ; break ;
    default :
      std::cout << signo << std::endl ;
    }
  // std::cout << "Emergency stop called\n";
  //  PrimitiveESTOP_Afma4();
  PrimitiveSTOP_Afma4();
  std::cout << "Robot was stopped\n";

  // Free allocated resources
  // ShutDownConnection(); // Some times cannot exit here when Ctrl-C

  fprintf(stdout, "Application ");
  fflush(stdout);
  kill(getpid(), SIGKILL);
  exit(1) ;
}


/* ---------------------------------------------------------------------- */
/* --- CONSTRUCTOR ------------------------------------------------------ */
/* ---------------------------------------------------------------------- */

vpRobotAfma4::vpRobotAfma4 (bool verbose)
  :
  vpAfma4 (),
  vpRobot ()
{

  /*
    #define SIGHUP  1   // hangup
    #define SIGINT  2   // interrupt (rubout)
    #define SIGQUIT 3   // quit (ASCII FS)
    #define SIGILL  4   // illegal instruction (not reset when caught)
    #define SIGTRAP 5   // trace trap (not reset when caught)
    #define SIGIOT  6   // IOT instruction
    #define SIGABRT 6   // used by abort, replace SIGIOT in the future
    #define SIGEMT  7   // EMT instruction
    #define SIGFPE  8   // floating point exception
    #define SIGKILL 9   // kill (cannot be caught or ignored)
    #define SIGBUS  10  // bus error
    #define SIGSEGV 11  // segmentation violation
    #define SIGSYS  12  // bad argument to system call
    #define SIGPIPE 13  // write on a pipe with no one to read it
    #define SIGALRM 14  // alarm clock
    #define SIGTERM 15  // software termination signal from kill
  */

  signal(SIGINT, emergencyStopAfma4);
  signal(SIGBUS, emergencyStopAfma4) ;
  signal(SIGSEGV, emergencyStopAfma4) ;
  signal(SIGKILL, emergencyStopAfma4);
  signal(SIGQUIT, emergencyStopAfma4);

  setVerbose(verbose);
  if (verbose_)
    std::cout << "Open communication with MotionBlox.\n";
  try {
    this->init();
    this->setRobotState(vpRobot::STATE_STOP) ;
  }
  catch(...) {
    //    vpERROR_TRACE("Error caught") ;
    throw ;
  }
  positioningVelocity  = defaultPositioningVelocity ;

  vpRobotAfma4::robotAlreadyCreated = true;

  return ;
}


/* ------------------------------------------------------------------------ */
/* --- INITIALISATION ----------------------------------------------------- */
/* ------------------------------------------------------------------------ */

void
vpRobotAfma4::init (void)
{
  int stt;
  InitTry;

  // Initialise private variables used to compute the measured velocities
  q_prev_getvel.resize(4);
  q_prev_getvel = 0;
  time_prev_getvel = 0;
  first_time_getvel = true;

  // Initialise private variables used to compute the measured displacement
  q_prev_getdis.resize(4);
  q_prev_getdis = 0;
  first_time_getdis = true;

  // Initialize the firewire connection
  Try( stt = InitializeConnection(verbose_) );

  if (stt != SUCCESS) {
    vpERROR_TRACE ("Cannot open connection with the motionblox.");
    throw vpRobotException (vpRobotException::constructionError,
          "Cannot open connection with the motionblox");
  }

  // Connect to the servoboard using the servo board GUID
  Try( stt = InitializeNode_Afma4() );

  if (stt != SUCCESS) {
    vpERROR_TRACE ("Cannot open connection with the motionblox.");
    throw vpRobotException (vpRobotException::constructionError,
          "Cannot open connection with the motionblox");
  }
  Try( PrimitiveRESET_Afma4() );

  // Look if the power is on or off
  UInt32 HIPowerStatus;
  UInt32 EStopStatus;
  Try( PrimitiveSTATUS_Afma4(NULL, NULL, &EStopStatus, NULL, NULL, NULL, 
                 &HIPowerStatus));
  CAL_Wait(0.1);

  // Print the robot status
  if (verbose_) {
    std::cout << "Robot status: ";
    switch(EStopStatus) {
    case ESTOP_AUTO:
    case ESTOP_MANUAL:
      if (HIPowerStatus == 0)
        std::cout << "Power is OFF" << std::endl;
      else
        std::cout << "Power is ON" << std::endl;
      break;
    case ESTOP_ACTIVATED:
      std::cout << "Emergency stop is activated" << std::endl;
      break;
    default:
      std::cout << "Sorry there is an error on the emergency chain." << std::endl;
      std::cout << "You have to call Adept for maintenance..." << std::endl;
      // Free allocated resources
    }
    std::cout << std::endl;
  }
  // get real joint min/max from the MotionBlox
  Try( PrimitiveJOINT_MINMAX_Afma4(_joint_min, _joint_max) );
//   for (unsigned int i=0; i < njoint; i++) {
//     printf("axis %d: joint min %lf, max %lf\n", i, _joint_min[i], _joint_max[i]);
//   }

  // If an error occur in the low level controller, goto here
  // CatchPrint();
  Catch();

  // Test if an error occurs
  if (TryStt == -20001)
    printf("No connection detected. Check if the robot is powered on \n"
       "and if the firewire link exist between the MotionBlox and this computer.\n");
  else if (TryStt == -675) 
    printf(" Timeout enabling power...\n");

  if (TryStt < 0) {
    // Power off the robot
    PrimitivePOWEROFF_Afma4();
    // Free allocated resources
    ShutDownConnection();

    std::cout << "Cannot open connection with the motionblox..." << std::endl;
    throw vpRobotException (vpRobotException::constructionError,
          "Cannot open connection with the motionblox");
  }
  return ;
}


/* ------------------------------------------------------------------------ */
/* --- DESTRUCTOR --------------------------------------------------------- */
/* ------------------------------------------------------------------------ */

vpRobotAfma4::~vpRobotAfma4 (void)
{
  InitTry;

  setRobotState(vpRobot::STATE_STOP) ;

  // Look if the power is on or off
  UInt32 HIPowerStatus;
  Try( PrimitiveSTATUS_Afma4(NULL, NULL, NULL, NULL, NULL, NULL,
                 &HIPowerStatus));
  CAL_Wait(0.1);

//   if (HIPowerStatus == 1) {
//     fprintf(stdout, "Power OFF the robot\n");
//     fflush(stdout);

//     Try( PrimitivePOWEROFF_Afma4() );
//   }

  // Free allocated resources
  ShutDownConnection();

  vpRobotAfma4::robotAlreadyCreated = false;

  CatchPrint();
  return;
}





vpRobot::vpRobotStateType
vpRobotAfma4::setRobotState(vpRobot::vpRobotStateType newState)
{
  InitTry;

  switch (newState) {
  case vpRobot::STATE_STOP: {
    if (vpRobot::STATE_STOP != getRobotState ()) {
      Try( PrimitiveSTOP_Afma4() );
    }
    break;
  }
  case vpRobot::STATE_POSITION_CONTROL: {
    if (vpRobot::STATE_VELOCITY_CONTROL  == getRobotState ()) {
      std::cout << "Change the control mode from velocity to position control.\n";
      Try( PrimitiveSTOP_Afma4() );
    }
    else {
      //std::cout << "Change the control mode from stop to position control.\n";
    }
    this->powerOn();
    break;
  }
  case vpRobot::STATE_VELOCITY_CONTROL: {
    if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState ()) {
      std::cout << "Change the control mode from stop to velocity control.\n";
    }
    this->powerOn();
    break;
  }
  default:
    break ;
  }

  CatchPrint();

  return vpRobot::setRobotState (newState);
}

/* ------------------------------------------------------------------------ */
/* --- STOP --------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */

void
vpRobotAfma4::stopMotion(void)
{
  InitTry;
  Try( PrimitiveSTOP_Afma4() );
  setRobotState (vpRobot::STATE_STOP);

  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot stop robot motion");
    throw vpRobotException (vpRobotException::lowLevelError,
                  "Cannot stop robot motion.");
  }
}


void
vpRobotAfma4::powerOn(void)
{
  InitTry;

  // Look if the power is on or off
  UInt32 HIPowerStatus;
  UInt32 EStopStatus;
  bool firsttime = true;
  unsigned int nitermax = 10;

  for (unsigned int i=0; i<nitermax; i++) {
    Try( PrimitiveSTATUS_Afma4(NULL, NULL, &EStopStatus, NULL, NULL, NULL,
                                  &HIPowerStatus));
    if (EStopStatus == ESTOP_AUTO) {
      break; // exit for loop
    }
    else if (EStopStatus == ESTOP_MANUAL) {
      break; // exit for loop
    }
    else if (EStopStatus == ESTOP_ACTIVATED) {
      if (firsttime) {
        std::cout << "Emergency stop is activated! \n"
            << "Check the emergency stop button and push the yellow button before continuing." << std::endl;
        firsttime = false;
      }
      fprintf(stdout, "Remaining time %us  \r", nitermax-i);
      fflush(stdout);
      CAL_Wait(1);
    }
    else {
      std::cout << "Sorry there is an error on the emergency chain." << std::endl;
      std::cout << "You have to call Adept for maintenance..." << std::endl;
      // Free allocated resources
      ShutDownConnection();
      exit(0);
    }
  }

  if (EStopStatus == ESTOP_ACTIVATED)
    std::cout << std::endl;

  if (EStopStatus == ESTOP_ACTIVATED) {
    std::cout << "Sorry, cannot power on the robot." << std::endl;
    throw vpRobotException (vpRobotException::lowLevelError,
                  "Cannot power on the robot.");
  }

  if (HIPowerStatus == 0) {
    fprintf(stdout, "Power ON the Afma4 robot\n");
    fflush(stdout);

    Try( PrimitivePOWERON_Afma4() );
  }

  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot power on the robot");
    throw vpRobotException (vpRobotException::lowLevelError,
                  "Cannot power off the robot.");
  }
}

void
vpRobotAfma4::powerOff(void)
{
  InitTry;

  // Look if the power is on or off
  UInt32 HIPowerStatus;
  Try( PrimitiveSTATUS_Afma4(NULL, NULL, NULL, NULL, NULL, NULL, 
                 &HIPowerStatus));
  CAL_Wait(0.1);

  if (HIPowerStatus == 1) {
    fprintf(stdout, "Power OFF the Afma4 robot\n");
    fflush(stdout);

    Try( PrimitivePOWEROFF_Afma4() );
  }

  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot power off the robot");
    throw vpRobotException (vpRobotException::lowLevelError,
                  "Cannot power off the robot.");
  }
}

bool
vpRobotAfma4::getPowerState(void)
{
  InitTry;
  bool status = false;
  // Look if the power is on or off
  UInt32 HIPowerStatus;
  Try( PrimitiveSTATUS_Afma4(NULL, NULL, NULL, NULL, NULL, NULL, 
                 &HIPowerStatus));
  CAL_Wait(0.1);

  if (HIPowerStatus == 1) {
    status = true;
  }

  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot get the power status");
    throw vpRobotException (vpRobotException::lowLevelError,
                  "Cannot get the power status.");
  }
  return status;
}

void
vpRobotAfma4::get_cVe(vpVelocityTwistMatrix &cVe) const
{
  vpHomogeneousMatrix cMe ;
  vpAfma4::get_cMe(cMe) ;

  cVe.buildFrom(cMe) ;
}

void
vpRobotAfma4::get_cVf(vpVelocityTwistMatrix &cVf) const
{
  double position[this->njoint];
  double timestamp;

  InitTry;
  Try( PrimitiveACQ_POS_Afma4(position, &timestamp) );
  CatchPrint();

  vpColVector q(this->njoint);
  for (unsigned int i=0; i < njoint; i++)
    q[i] = position[i];

  try {
    vpAfma4::get_cVf(q, cVf) ;
  }
  catch(...) {
    vpERROR_TRACE("catch exception ") ;
    throw ;
  }}

void
vpRobotAfma4::get_cMe(vpHomogeneousMatrix &cMe) const
{
  vpAfma4::get_cMe(cMe) ;
}

void
vpRobotAfma4::get_eJe(vpMatrix &eJe)
{

  double position[this->njoint];
  double timestamp;

  InitTry;
  Try( PrimitiveACQ_POS_Afma4(position, &timestamp) );
  CatchPrint();

  vpColVector q(this->njoint);
  for (unsigned int i=0; i < njoint; i++)
    q[i] = position[i];

  try {
    vpAfma4::get_eJe(q, eJe) ;
  }
  catch(...) {
    vpERROR_TRACE("catch exception ") ;
    throw ;
  }
}

void vpRobotAfma4::get_fJe(vpMatrix &fJe)
{
  double position[6];
  double timestamp;

  InitTry;
  Try( PrimitiveACQ_POS_Afma4(position, &timestamp) );
  CatchPrint();

  vpColVector q(6);
  for (unsigned int i=0; i < njoint; i++)
    q[i] = position[i];

  try {
    vpAfma4::get_fJe(q, fJe) ;
  }
  catch(...) {
    vpERROR_TRACE("Error caught");
    throw ;
  }
}
void
vpRobotAfma4::setPositioningVelocity (const double velocity)
{
  positioningVelocity = velocity;
}

double
vpRobotAfma4::getPositioningVelocity (void)
{
  return positioningVelocity;
}


void
vpRobotAfma4::setPosition (const vpRobot::vpControlFrameType frame,
               const vpColVector & position )
{

  if (vpRobot::STATE_POSITION_CONTROL != getRobotState ()) {
    vpERROR_TRACE ("Robot was not in position-based control\n"
           "Modification of the robot state");
    setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
  }
  
  int error = 0;
  
  switch(frame) {
  case vpRobot::REFERENCE_FRAME:
    vpERROR_TRACE ("Positionning error. Reference frame not implemented");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Positionning error: "
                "Reference frame not implemented.");
    break ;
  case vpRobot::CAMERA_FRAME : 
    vpERROR_TRACE ("Positionning error. Camera frame not implemented");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Positionning error: "
                "Camera frame not implemented.");
    break ;
  case vpRobot::MIXT_FRAME:
    vpERROR_TRACE ("Positionning error. Mixt frame not implemented");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Positionning error: "
                "Mixt frame not implemented.");
    break ;
    
  case vpRobot::ARTICULAR_FRAME: {
    break ;
    
  }
  }
  if (position.getRows() != this->njoint) {
    vpERROR_TRACE ("Positionning error: bad vector dimension.");
    throw vpRobotException (vpRobotException::positionOutOfRangeError,
                "Positionning error: bad vector dimension."); 
  }

  InitTry;

  Try( PrimitiveMOVE_Afma4(position.data, positioningVelocity) );
  Try( WaitState_Afma4(ETAT_ATTENTE_AFMA4, 1000) );

  CatchPrint();
  if (TryStt == InvalidPosition || TryStt == -1023)
    std::cout << " : Position out of range.\n";
  else if (TryStt < 0)
    std::cout << " : Unknown error (see Fabien).\n";
  else if (error == -1)
    std::cout << "Position out of range.\n";
  
  if (TryStt < 0 || error < 0) {
    vpERROR_TRACE ("Positionning error.");
    throw vpRobotException (vpRobotException::positionOutOfRangeError,
                "Position out of range.");
  }
  
  return ;
}


void vpRobotAfma4::setPosition (const vpRobot::vpControlFrameType frame,
                const double q1,
                const double q2,
                const double q4,
                const double q5)
{
  try {
    vpColVector position(this->njoint) ;
    position[0] = q1 ;
    position[1] = q2 ;
    position[2] = q4 ;
    position[3] = q5 ;

    setPosition(frame, position) ;
  }
  catch(...)  {
    vpERROR_TRACE("Error caught");
    throw ;
  }
}

void vpRobotAfma4::setPosition(const char *filename)
{
  vpColVector q;
  bool ret;

  ret = this->readPosFile(filename, q);

  if (ret == false) {
    vpERROR_TRACE ("Bad position in \"%s\"", filename);
    throw vpRobotException (vpRobotException::lowLevelError,
                "Bad position in filename.");
  }
  this->setRobotState(vpRobot::STATE_POSITION_CONTROL);
  this->setPosition(vpRobot::ARTICULAR_FRAME, q);
}

double vpRobotAfma4::getTime() const
{
  double timestamp;
  PrimitiveACQ_TIME_Afma4(&timestamp);
  return timestamp;
}

void
vpRobotAfma4::getPosition (const vpRobot::vpControlFrameType frame,
                           vpColVector & position, double &timestamp)
{

  InitTry;

  position.resize (this->njoint);

  switch (frame) {
  case vpRobot::CAMERA_FRAME : {
    position = 0;
    return;
  }
  case vpRobot::ARTICULAR_FRAME : {
    double _q[njoint];
    Try( PrimitiveACQ_POS_Afma4(_q, &timestamp) );
    for (unsigned int i=0; i < this->njoint; i ++) {
      position[i] = _q[i];
    }

    return;
  }
  case vpRobot::REFERENCE_FRAME : {
    double _q[njoint];
    Try( PrimitiveACQ_POS_Afma4(_q, &timestamp) );

    vpColVector q(this->njoint);
    for (unsigned int i=0; i < this->njoint; i++)
      q[i] = _q[i];

    // Compute fMc
    vpHomogeneousMatrix fMc;
    vpAfma4::get_fMc(q, fMc);

    // From fMc extract the pose
    vpRotationMatrix fRc;
    fMc.extract(fRc);
    vpRxyzVector rxyz;
    rxyz.buildFrom(fRc);

    for (unsigned int i=0; i < 3; i++) {
      position[i] = fMc[i][3]; // translation x,y,z
      position[i+3] = rxyz[i]; // Euler rotation x,y,z
    }
    break ;
  }
  case vpRobot::MIXT_FRAME: {
    vpERROR_TRACE ("Cannot get position in mixt frame: not implemented");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Cannot get position in mixt frame: "
          "not implemented");
  }
  }

  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot get position.");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Cannot get position.");
  }

  return;
}

void vpRobotAfma4::getPosition(const vpRobot::vpControlFrameType frame,
                               vpColVector &position)
{
  double timestamp;
  getPosition(frame, position, timestamp);
}

void
vpRobotAfma4::setVelocity (const vpRobot::vpControlFrameType frame,
                           const vpColVector & vel)
{

  if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState ())
  {
    vpERROR_TRACE ("Cannot send a velocity to the robot "
                   "use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first) ");
    throw vpRobotException (vpRobotException::wrongStateError,
                            "Cannot send a velocity to the robot "
                            "use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first) ");
  }

  // Check the dimension of the velocity vector to see if it is
  // compatible with the requested frame
  switch(frame) {
    case vpRobot::CAMERA_FRAME : {
        //if (vel.getRows() != 2) {
        if (vel.getRows() != 6) {
          vpERROR_TRACE ("Bad dimension of the velocity vector in camera frame");
          throw vpRobotException (vpRobotException::wrongStateError,
                                  "Bad dimension of the velocity vector "
                                  "in camera frame");
        }
        break ;
      }
    case vpRobot::ARTICULAR_FRAME : {
        if (vel.getRows() != this->njoint) {
          vpERROR_TRACE ("Bad dimension of the articular velocity vector");
          throw vpRobotException (vpRobotException::wrongStateError,
                                  "Bad dimension of the articular "
                                  "velocity vector ");
        }
        break ;
      }
    case vpRobot::REFERENCE_FRAME : {
        vpERROR_TRACE ("Cannot send a velocity to the robot "
                       "in the reference frame: "
                       "functionality not implemented");
        throw vpRobotException (vpRobotException::wrongStateError,
                                "Cannot send a velocity to the robot "
                                "in the reference frame:"
                                "functionality not implemented");
      }
    case vpRobot::MIXT_FRAME : {
        vpERROR_TRACE ("Cannot send a velocity to the robot "
                       "in the mixt frame: "
                       "functionality not implemented");
        throw vpRobotException (vpRobotException::wrongStateError,
                                "Cannot send a velocity to the robot "
                                "in the mixt frame:"
                                "functionality not implemented");
      }
    default: {
        vpERROR_TRACE ("Error in spec of vpRobot. "
                       "Case not taken in account.");
        throw vpRobotException (vpRobotException::wrongStateError,
                                "Cannot send a velocity to the robot ");
      }
  }


  //
  // Velocities saturation with normalization
  //
  vpColVector joint_vel(this->njoint);

  // Case of the camera frame where we control only 2 dof
  if (frame == vpRobot::CAMERA_FRAME) {
    vpColVector vel_max(6);

    for (unsigned int i=0; i<3; i++) {
      vel_max[i]   = getMaxTranslationVelocity();
      vel_max[i+3] = getMaxRotationVelocity();
    }

    vpColVector velocity = vpRobot::saturateVelocities(vel, vel_max, true);

#if 0 // ok 
    vpMatrix eJe(4,6);
    eJe = 0;
    eJe[2][4] = -1;
    eJe[3][3] =  1;

    joint_vel = eJe * velocity; // Compute the articular velocity
#endif
    vpColVector q;
    getPosition(vpRobot::ARTICULAR_FRAME, q);
    vpMatrix fJe_inverse;
    get_fJe_inverse(q, fJe_inverse);
    vpHomogeneousMatrix fMe;
    get_fMe(q, fMe);
    vpTranslationVector t;
    t=0;
    vpRotationMatrix fRe;
    fMe.extract(fRe);
    vpVelocityTwistMatrix fVe(t, fRe);
    // compute the inverse jacobian in the end-effector frame
    vpMatrix eJe_inverse = fJe_inverse * fVe;

    // Transform the velocities from camera to end-effector frame
    vpVelocityTwistMatrix eVc;
    eVc.buildFrom(this->_eMc);
    joint_vel = eJe_inverse * eVc * velocity;

    //     printf("Vitesse art: %f %f %f %f\n", joint_vel[0], joint_vel[1],
    //     joint_vel[2], joint_vel[3]);
  }

  // Case of the joint control where we control all the joints
  else if (frame == vpRobot::ARTICULAR_FRAME) {

    vpColVector vel_max(4);

    vel_max[0] = getMaxRotationVelocity();
    vel_max[1] = getMaxTranslationVelocity();
    vel_max[2] = getMaxRotationVelocity();
    vel_max[3] = getMaxRotationVelocity();

    joint_vel = vpRobot::saturateVelocities(vel, vel_max, true);
  }

  InitTry;

  // Send a joint velocity to the low level controller
  Try( PrimitiveMOVESPEED_Afma4(joint_vel.data) );

  Catch();
  if (TryStt < 0) {
    if (TryStt == VelStopOnJoint) {
      UInt32 axisInJoint[njoint];
      PrimitiveSTATUS_Afma4(NULL, NULL, NULL, NULL, NULL, axisInJoint, NULL);
      for (unsigned int i=0; i < njoint; i ++) {
        if (axisInJoint[i])
          std::cout << "\nWarning: Velocity control stopped: axis "
                    << i+1 << " on joint limit!" <<std::endl;
      }
    }
    else {
      printf("\n%s(%d): Error %d", __FUNCTION__, TryLine, TryStt);
      if (TryString != NULL) {
        // The statement is in TryString, but we need to check the validity
        printf(" Error sentence %s\n", TryString); // Print the TryString
      }
      else {
        printf("\n");
      }
    }
  }

  return;
}

/* ------------------------------------------------------------------------ */
/* --- GET ---------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */


void
vpRobotAfma4::getVelocity (const vpRobot::vpControlFrameType frame,
                           vpColVector & velocity, double &timestamp)
{

  switch (frame) {
  case vpRobot::ARTICULAR_FRAME: 
    velocity.resize (this->njoint);
    break;
  default:
    velocity.resize (6);
  }

  velocity = 0;

  double q[4];
  vpColVector q_cur(4);
  vpHomogeneousMatrix fMc_cur;
  vpHomogeneousMatrix cMc; // camera displacement
  double time_cur;

  InitTry;

  // Get the current joint position
  Try( PrimitiveACQ_POS_Afma4(q, &timestamp) );
  time_cur = timestamp;

  for (unsigned int i=0; i < this->njoint; i ++) {
    q_cur[i] = q[i];
  }

  // Get the camera pose from the direct kinematics
  vpAfma4::get_fMc(q_cur, fMc_cur);

  if ( ! first_time_getvel ) {

    switch (frame) {
    case vpRobot::CAMERA_FRAME: {
      // Compute the displacement of the camera since the previous call
      cMc = fMc_prev_getvel.inverse() * fMc_cur;

      // Compute the velocity of the camera from this displacement
      velocity = vpExponentialMap::inverse(cMc, time_cur - time_prev_getvel);

      break ;
    }

    case vpRobot::ARTICULAR_FRAME: {
      velocity = (q_cur - q_prev_getvel) / (time_cur - time_prev_getvel);
      break ;
    }

    case vpRobot::REFERENCE_FRAME: {
      // Compute the displacement of the camera since the previous call
      cMc = fMc_prev_getvel.inverse() * fMc_cur;

      // Compute the velocity of the camera from this displacement
      vpColVector v;
      v = vpExponentialMap::inverse(cMc, time_cur - time_prev_getvel);

      // Express this velocity in the reference frame
      vpVelocityTwistMatrix fVc(fMc_cur);
      velocity = fVc * v;

      break ;
    }

    case vpRobot::MIXT_FRAME: {
      vpERROR_TRACE ("Cannot get a velocity in the mixt frame: "
             "functionality not implemented");
      throw vpRobotException (vpRobotException::wrongStateError,
                  "Cannot get a displacement in the mixt frame:"
                  "functionality not implemented");

      break ;
    }
    }
  }
  else {
    first_time_getvel = false;
  }

  // Memorize the camera pose for the next call
  fMc_prev_getvel = fMc_cur;

  // Memorize the joint position for the next call
  q_prev_getvel = q_cur;

  // Memorize the time associated to the joint position for the next call
  time_prev_getvel = time_cur;


  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot get velocity.");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Cannot get velocity.");
  }
}

void vpRobotAfma4::getVelocity(const vpRobot::vpControlFrameType frame,
                               vpColVector & velocity)
{
  double timestamp;
  getVelocity(frame, velocity, timestamp);
}



vpColVector
vpRobotAfma4::getVelocity (vpRobot::vpControlFrameType frame, double &timestamp)
{
  vpColVector velocity;
  getVelocity (frame, velocity, timestamp);

  return velocity;
}

vpColVector vpRobotAfma4::getVelocity (vpRobot::vpControlFrameType frame)
{
  vpColVector velocity;
  double timestamp;
  getVelocity (frame, velocity, timestamp);

  return velocity;
}

bool
vpRobotAfma4::readPosFile(const std::string &filename, vpColVector &q)
{
  std::ifstream fd(filename.c_str(), std::ios::in);

  if(! fd.is_open()) {
    return false;
  }

  std::string line;
  std::string key("R:");
  std::string id("#AFMA4 - Position");
  bool pos_found = false;
  int lineNum = 0;

  q.resize(njoint);

  while(std::getline(fd, line)) {
    lineNum ++;
    if (lineNum == 1) {
      if(! (line.compare(0, id.size(), id) == 0)) { // check if Afma4 position file
        std::cout << "Error: this position file " << filename << " is not for Afma4 robot" << std::endl;
        return false;
      }
    }
    if((line.compare(0, 1, "#") == 0)) { // skip comment
      continue;
    }
    if((line.compare(0, key.size(), key) == 0)) { // decode position
      // check if there are at least njoint values in the line
      std::vector<std::string> chain = vpIoTools::splitChain(line, std::string(" "));
      if (chain.size() < njoint+1) // try to split with tab separator
        chain = vpIoTools::splitChain(line, std::string("\t"));
      if(chain.size() < njoint+1)
        continue;

      std::istringstream ss(line);
      std::string key_;
      ss >> key_;
      for (unsigned int i=0; i< njoint; i++)
        ss >> q[i];
      pos_found = true;
      break;
    }
  }

  // converts rotations from degrees into radians
  q[0] = vpMath::rad(q[0]);
  q[2] = vpMath::rad(q[2]);
  q[3] = vpMath::rad(q[3]);

  fd.close();

  if (!pos_found) {
    std::cout << "Error: unable to find a position for Afma4 robot in " << filename << std::endl;
    return false;
  }

  return true;
}

bool
vpRobotAfma4::savePosFile(const std::string &filename, const vpColVector &q)
{

  FILE * fd ;
  fd = fopen(filename.c_str(), "w") ;
  if (fd == NULL)
    return false;

  fprintf(fd, "\
#AFMA4 - Position - Version 2.01\n\
#\n\
# R: X Y A B\n\
# Joint position: X : rotation of the turret in degrees (joint 1)\n\
#                 Y : vertical translation in meters (joint 2)\n\
#                 A : pan rotation of the camera in degrees (joint 4)\n\
#                 B : tilt rotation of the camera in degrees (joint 5)\n\
#\n\n");

  // Save positions in mm and deg
  fprintf(fd, "R: %lf %lf %lf %lf\n",
      vpMath::deg(q[0]),
      q[1],
      vpMath::deg(q[2]),
      vpMath::deg(q[3]));

  fclose(fd) ;
  return (true);
}

void
vpRobotAfma4::move(const char *filename)
{
  vpColVector q;

  this->readPosFile(filename, q)  ;
  this->setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
  this->setPositioningVelocity(10);
  this->setPosition ( vpRobot::ARTICULAR_FRAME,  q) ;
}

void
vpRobotAfma4::getCameraDisplacement(vpColVector &displacement)
{
  getDisplacement(vpRobot::CAMERA_FRAME, displacement);
}
void
vpRobotAfma4::getArticularDisplacement(vpColVector  &displacement)
{
  getDisplacement(vpRobot::ARTICULAR_FRAME, displacement);
}

void
vpRobotAfma4::getDisplacement(vpRobot::vpControlFrameType frame,
                  vpColVector &displacement)
{
  displacement.resize (6);
  displacement = 0;

  double q[6];
  vpColVector q_cur(6);
  double timestamp;

  InitTry;

  // Get the current joint position
  Try( PrimitiveACQ_POS_Afma4(q, &timestamp) );
  for (unsigned int i=0; i < njoint; i ++) {
    q_cur[i] = q[i];
  }

  if ( ! first_time_getdis ) {
    switch (frame) {
    case vpRobot::CAMERA_FRAME: {
      std::cout << "getDisplacement() CAMERA_FRAME not implemented\n";
      return;
    }

    case vpRobot::ARTICULAR_FRAME: {
      displacement = q_cur - q_prev_getdis;
      break ;
    }

    case vpRobot::REFERENCE_FRAME: {
      std::cout << "getDisplacement() REFERENCE_FRAME not implemented\n";
      return;
    }

    case vpRobot::MIXT_FRAME: {
      std::cout << "getDisplacement() MIXT_FRAME not implemented\n";
      return;
    }
    }
  }
  else {
    first_time_getdis = false;
  }

  // Memorize the joint position for the next call
  q_prev_getdis = q_cur;

  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot get velocity.");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Cannot get velocity.");
  }
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_robot.a(vpRobotAfma4.cpp.o) has no symbols
void dummy_vpRobotAfma4() {};
#endif