vpRobotAfma6.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 Afma6 robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_AFMA6

#include <signal.h>
#include <stdlib.h>
#include <sys/types.h>
#include <unistd.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/core/vpRotationMatrix.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/robot/vpRobotException.h>

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

bool vpRobotAfma6::robotAlreadyCreated = false;

const double vpRobotAfma6::defaultPositioningVelocity = 15.0;

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

void emergencyStopAfma6(int signo)
{
  std::cout << "Stop the Afma6 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_Afma6();
  PrimitiveSTOP_Afma6();
  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 ------------------------------------------------------ */
/* ---------------------------------------------------------------------- */

vpRobotAfma6::vpRobotAfma6 (bool verbose)
  :
  vpAfma6 (),
  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, emergencyStopAfma6);
  signal(SIGBUS, emergencyStopAfma6) ;
  signal(SIGSEGV, emergencyStopAfma6) ;
  signal(SIGKILL, emergencyStopAfma6);
  signal(SIGQUIT, emergencyStopAfma6);

  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 ;

  vpRobotAfma6::robotAlreadyCreated = true;

  return ;
}


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

void
vpRobotAfma6::init (void)
{
  InitTry;

  // Initialise private variables used to compute the measured velocities
  q_prev_getvel.resize(6);
  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(6);
  q_prev_getdis = 0;
  first_time_getdis = true;

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

  // Connect to the servoboard using the servo board GUID
  Try( InitializeNode_Afma6() );

  Try( PrimitiveRESET_Afma6() );

  // Update the eMc matrix in the low level controller
  init(vpAfma6::defaultTool);

  // Look if the power is on or off
  UInt32 HIPowerStatus;
  UInt32 EStopStatus;
  Try( PrimitiveSTATUS_Afma6(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_Afma6(_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_Afma6();
    // 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 ;
}

void
vpRobotAfma6::init (vpAfma6::vpAfma6ToolType tool,
                    vpCameraParameters::vpCameraParametersProjType projModel)
{
  InitTry;
  // Read the robot constants from files
  // - joint [min,max], coupl_56, long_56
  // - camera extrinsic parameters relative to eMc
  vpAfma6::init(tool, projModel);

  // Set the robot constant (coupl_56, long_56) in the MotionBlox
  Try( PrimitiveROBOT_CONST_Afma6(_coupl_56, _long_56) );

  // Set the camera constant (eMc pose) in the MotionBlox
  double eMc_pose[6];
  for (unsigned int i=0; i < 3; i ++) {
    eMc_pose[i] = _etc[i];   // translation in meters
    eMc_pose[i+3] = _erc[i]; // rotation in rad
  }
  // Update the eMc pose in the low level controller
  Try( PrimitiveCAMERA_CONST_Afma6(eMc_pose) );

  // get real joint min/max from the MotionBlox
  Try( PrimitiveJOINT_MINMAX_Afma6(_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]);
//   }

  setToolType(tool);

  CatchPrint();
  return ;
}

void
vpRobotAfma6::set_eMc(const vpHomogeneousMatrix &eMc)
{
  InitTry;
  // Set camera extrinsic parameters equal to eMc
  this->vpAfma6::set_eMc(eMc);

  // Set the camera constant (eMc pose) in the MotionBlox
  double eMc_pose[6];
  for (unsigned int i=0; i < 3; i ++) {
    eMc_pose[i] = _etc[i];   // translation in meters
    eMc_pose[i+3] = _erc[i]; // rotation in rad
  }
  // Update the eMc pose in the low level controller
  Try( PrimitiveCAMERA_CONST_Afma6(eMc_pose) );

  CatchPrint();
}

void
vpRobotAfma6::init(vpAfma6::vpAfma6ToolType tool, const vpHomogeneousMatrix &eMc)
{
  InitTry;
  // Read the robot constants from files
  // - joint [min,max], coupl_56, long_56
  // ans set camera extrinsic parameters equal to eMc
  vpAfma6::init(tool, eMc);

  // Set the robot constant (coupl_56, long_56) in the MotionBlox
  Try( PrimitiveROBOT_CONST_Afma6(_coupl_56, _long_56) );

  // Set the camera constant (eMc pose) in the MotionBlox
  double eMc_pose[6];
  for (unsigned int i=0; i < 3; i ++) {
    eMc_pose[i] = _etc[i];   // translation in meters
    eMc_pose[i+3] = _erc[i]; // rotation in rad
  }
  // Update the eMc pose in the low level controller
  Try( PrimitiveCAMERA_CONST_Afma6(eMc_pose) );

  // get real joint min/max from the MotionBlox
  Try( PrimitiveJOINT_MINMAX_Afma6(_joint_min, _joint_max) );

  setToolType(tool);

  CatchPrint();
}

void
vpRobotAfma6::init (vpAfma6::vpAfma6ToolType tool, const std::string &filename)
{
  InitTry;
  // Read the robot constants from files
  // - joint [min,max], coupl_56, long_56
  // ans set camera extrinsic parameters from file name
  vpAfma6::init(tool, filename);

  // Set the robot constant (coupl_56, long_56) in the MotionBlox
  Try( PrimitiveROBOT_CONST_Afma6(_coupl_56, _long_56) );

  // Set the camera constant (eMc pose) in the MotionBlox
  double eMc_pose[6];
  for (unsigned int i=0; i < 3; i ++) {
    eMc_pose[i] = _etc[i];   // translation in meters
    eMc_pose[i+3] = _erc[i]; // rotation in rad
  }
  // Update the eMc pose in the low level controller
  Try( PrimitiveCAMERA_CONST_Afma6(eMc_pose) );

  // get real joint min/max from the MotionBlox
  Try( PrimitiveJOINT_MINMAX_Afma6(_joint_min, _joint_max) );

  setToolType(tool);

  CatchPrint();
}

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

vpRobotAfma6::~vpRobotAfma6 (void)
{
  InitTry;

  setRobotState(vpRobot::STATE_STOP) ;

  // Look if the power is on or off
  UInt32 HIPowerStatus;
  Try( PrimitiveSTATUS_Afma6(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_Afma6() );
//   }

  // Free allocated resources
  ShutDownConnection();

  vpRobotAfma6::robotAlreadyCreated = false;

  CatchPrint();
  return;
}




vpRobot::vpRobotStateType
vpRobotAfma6::setRobotState(vpRobot::vpRobotStateType newState)
{
  InitTry;

  switch (newState) {
  case vpRobot::STATE_STOP: {
    if (vpRobot::STATE_STOP != getRobotState ()) {
      Try( PrimitiveSTOP_Afma6() );
    }
    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_Afma6() );
    }
    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
vpRobotAfma6::stopMotion(void)
{
  InitTry;
  Try( PrimitiveSTOP_Afma6() );
  setRobotState (vpRobot::STATE_STOP);

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

void
vpRobotAfma6::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_Afma6(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 Afma6 robot\n");
    fflush(stdout);

    Try( PrimitivePOWERON_Afma6() );
  }

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

void
vpRobotAfma6::powerOff(void)
{
  InitTry;

  // Look if the power is on or off
  UInt32 HIPowerStatus;
  Try( PrimitiveSTATUS_Afma6(NULL, NULL, NULL, NULL, NULL, NULL, 
                 &HIPowerStatus));
  CAL_Wait(0.1);

  if (HIPowerStatus == 1) {
    fprintf(stdout, "Power OFF the Afma6 robot\n");
    fflush(stdout);

    Try( PrimitivePOWEROFF_Afma6() );
  }

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

bool
vpRobotAfma6::getPowerState(void)
{
  InitTry;
  bool status = false;
  // Look if the power is on or off
  UInt32 HIPowerStatus;
  Try( PrimitiveSTATUS_Afma6(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
vpRobotAfma6::get_cVe(vpVelocityTwistMatrix &cVe) const
{
  vpHomogeneousMatrix cMe ;
  vpAfma6::get_cMe(cMe) ;

  cVe.buildFrom(cMe) ;
}

void
vpRobotAfma6::get_cMe(vpHomogeneousMatrix &cMe) const
{
  vpAfma6::get_cMe(cMe) ;
}


void
vpRobotAfma6::get_eJe(vpMatrix &eJe)
{

  double position[6];
  double timestamp;

  InitTry;
  Try( PrimitiveACQ_POS_Afma6(position, &timestamp) );
  CatchPrint();

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

  try
    {
      vpAfma6::get_eJe(q, eJe) ;
    }
  catch(...)
    {
      vpERROR_TRACE("catch exception ") ;
      throw ;
    }
}
  void
  vpRobotAfma6::get_fJe(vpMatrix &fJe)
{

  double position[6];
  double timestamp;

  InitTry;
  Try( PrimitiveACQ_POS_Afma6(position, &timestamp) );
  CatchPrint();

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

  try
    {
      vpAfma6::get_fJe(q, fJe) ;
    }
  catch(...)
    {
      vpERROR_TRACE("Error caught");
      throw ;
    }
}

void
vpRobotAfma6::setPositioningVelocity (const double velocity)
{
  positioningVelocity = velocity;
}

double
vpRobotAfma6::getPositioningVelocity (void)
{
  return positioningVelocity;
}

void
vpRobotAfma6::setPosition (const vpRobot::vpControlFrameType frame,
               const vpPoseVector & pose )

{
  vpColVector position(6);
  vpRxyzVector rxyz;
  vpRotationMatrix R;

  R.buildFrom(pose[3], pose[4], pose[5]); //thetau
  rxyz.buildFrom(R);

  for (unsigned int i=0; i < 3; i++) {
    position[i] = pose[i];
    position[i+3] =  rxyz[i];
  }
  if (frame == vpRobot::ARTICULAR_FRAME) {
    throw vpRobotException (vpRobotException::lowLevelError,
                "Positionning error: "
                "Joint frame not implemented for pose positionning.");
  }
  setPosition (frame, position);
}
void
vpRobotAfma6::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) ;
    }

  double _destination[6];
  int error = 0;
  double timestamp;

  InitTry;
  switch(frame) {
  case vpRobot::CAMERA_FRAME : {
    double _q[njoint];
    Try( PrimitiveACQ_POS_Afma6(_q, &timestamp) );

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

    // Get fMc from the inverse kinematics
    vpHomogeneousMatrix fMc;
    vpAfma6::get_fMc(q, fMc);

    // Set cMc from the input position
    vpTranslationVector txyz;
    vpRxyzVector rxyz;
    for (unsigned int i=0; i < 3; i++) {
      txyz[i] = position[i];
      rxyz[i] = position[i+3];
    }

    // Compute cMc2
    vpRotationMatrix cRc2(rxyz);
    vpHomogeneousMatrix cMc2(txyz, cRc2);

    // Compute the new position to reach: fMc*cMc2
    vpHomogeneousMatrix fMc2 = fMc * cMc2;

    // Compute the corresponding joint position from the inverse kinematics
    bool nearest = true;
    int solution = this->getInverseKinematics(fMc2, q, nearest);
    if (solution) { // Position is reachable
      for (unsigned int i=0; i < njoint; i ++) {
    _destination[i] = q[i];
      }
      Try( PrimitiveMOVE_Afma6(_destination, positioningVelocity) );
      Try( WaitState_Afma6(ETAT_ATTENTE_AFMA6, 1000) );
    }
    else {
      // Cartesian position is out of range
      error = -1;
    }

    break ;
  }
  case vpRobot::ARTICULAR_FRAME: {
    for (unsigned int i=0; i < njoint; i ++) {
      _destination[i] = position[i];
    }
    Try( PrimitiveMOVE_Afma6(_destination, positioningVelocity) );
    Try( WaitState_Afma6(ETAT_ATTENTE_AFMA6, 1000) );
    break ;

  }
  case vpRobot::REFERENCE_FRAME: {
    // Set fMc from the input position
    vpTranslationVector txyz;
    vpRxyzVector rxyz;
    for (unsigned int i=0; i < 3; i++) {
      txyz[i] = position[i];
      rxyz[i] = position[i+3];
    }
    // Compute fMc from the input position
    vpRotationMatrix fRc(rxyz);
    vpHomogeneousMatrix fMc(txyz, fRc);

    // Compute the corresponding joint position from the inverse kinematics
    vpColVector q(6);
    bool nearest = true;
    int solution = this->getInverseKinematics(fMc, q, nearest);
    if (solution) { // Position is reachable
      for (unsigned int i=0; i < njoint; i ++) {
    _destination[i] = q[i];
      }
      Try( PrimitiveMOVE_Afma6(_destination, positioningVelocity) );
      Try( WaitState_Afma6(ETAT_ATTENTE_AFMA6, 1000) );
    }
    else {
      // Cartesian position is out of range
      error = -1;
    }

    break ;
  }
  case vpRobot::MIXT_FRAME:
    {
      vpERROR_TRACE ("Positionning error. Mixt frame not implemented");
      throw vpRobotException (vpRobotException::lowLevelError,
                  "Positionning error: "
            "Mixt frame not implemented.");
    }
  }

  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 vpRobotAfma6::setPosition (const vpRobot::vpControlFrameType frame,
                const double pos1,
                const double pos2,
                const double pos3,
                const double pos4,
                const double pos5,
                const double pos6)
{
  try{
    vpColVector position(6) ;
    position[0] = pos1 ;
    position[1] = pos2 ;
    position[2] = pos3 ;
    position[3] = pos4 ;
    position[4] = pos5 ;
    position[5] = pos6 ;

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

void vpRobotAfma6::setPosition(const std::string &filename)
{
  vpColVector q;
  bool ret;

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

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

void
vpRobotAfma6::getPosition (const vpRobot::vpControlFrameType frame,
                           vpColVector & position, double &timestamp)
{

  InitTry;

  position.resize (6);

  switch (frame) {
  case vpRobot::CAMERA_FRAME : {
    position = 0;
    return;
  }
  case vpRobot::ARTICULAR_FRAME : {
    double _q[njoint];
    Try( PrimitiveACQ_POS_Afma6(_q, &timestamp) );
    for (unsigned int i=0; i < njoint; i ++) {
      position[i] = _q[i];
    }

    return;
  }
  case vpRobot::REFERENCE_FRAME : {
    double _q[njoint];
    Try( PrimitiveACQ_POS_Afma6(_q, &timestamp) );

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

    // Compute fMc
    vpHomogeneousMatrix fMc;
    vpAfma6::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;
}
double vpRobotAfma6::getTime() const
{
  double timestamp;
  PrimitiveACQ_TIME_Afma6(&timestamp);
  return timestamp;
}

void vpRobotAfma6::getPosition(const vpRobot::vpControlFrameType frame,
                               vpColVector &position)
{
  double timestamp;
  getPosition(frame, position, timestamp);
}

void 
vpRobotAfma6::getPosition (const vpRobot::vpControlFrameType frame,   
                            vpPoseVector &position, double &timestamp)
{
  vpColVector posRxyz;
  //recupere  position en Rxyz
  this->getPosition(frame, posRxyz, timestamp);
  vpRxyzVector RxyzVect;
  for(unsigned int j=0;j<3;j++)
    RxyzVect[j]=posRxyz[j+3];
  //recupere le vecteur thetaU correspondant
  vpThetaUVector RtuVect(RxyzVect);

  //remplit le vpPoseVector avec translation et rotation ThetaU
  for(unsigned int j=0;j<3;j++)
  {
    position[j]=posRxyz[j];
    position[j+3]=RtuVect[j];
  }
}

void vpRobotAfma6::getPosition(const vpRobot::vpControlFrameType frame,
                               vpPoseVector &position)
{
  double timestamp;
  getPosition(frame, position, timestamp);
}

void
vpRobotAfma6::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) ");
  }

  vpColVector vel_max(6);

  for (unsigned int i=0; i<3; i++)
    vel_max[i] = getMaxTranslationVelocity();
  for (unsigned int i=3; i<6; i++)
    vel_max[i] = getMaxRotationVelocity();

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

  InitTry;

  switch(frame) {
    case vpRobot::CAMERA_FRAME : {
        Try( PrimitiveMOVESPEED_CART_Afma6(vel_sat.data, REPCAM_AFMA6) );
        break ;
      }
    case vpRobot::ARTICULAR_FRAME : {
        //Try( PrimitiveMOVESPEED_CART(vel_sat.data, REPART_AFMA6) );
        Try( PrimitiveMOVESPEED_Afma6(vel_sat.data) );
        break ;
      }
    case vpRobot::REFERENCE_FRAME : {
        Try( PrimitiveMOVESPEED_CART_Afma6(vel_sat.data, REPFIX_AFMA6) );
        break ;
      }
    case vpRobot::MIXT_FRAME : {
        Try( PrimitiveMOVESPEED_CART_Afma6(vel_sat.data, REPMIX_AFMA6) );
        break ;
      }
    default: {
        vpERROR_TRACE ("Error in spec of vpRobot. "
                       "Case not taken in account.");
        return;
      }
  }

  Catch();
  if (TryStt < 0) {
    if (TryStt == VelStopOnJoint) {
      Int32 axisInJoint[njoint];
      PrimitiveSTATUS_Afma6(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
vpRobotAfma6::getVelocity (const vpRobot::vpControlFrameType frame,
                           vpColVector & velocity, double &timestamp)
{
  velocity.resize (6);
  velocity = 0;

  double q[6];
  vpColVector q_cur(6);
  vpHomogeneousMatrix fMc_cur;
  vpHomogeneousMatrix cMc; // camera displacement
  double time_cur;

  InitTry;

  // Get the current joint position
  Try( PrimitiveACQ_POS_Afma6(q, &timestamp) );
  time_cur = timestamp;
  for (unsigned int i=0; i < njoint; i ++) {
    q_cur[i] = q[i];
  }

  // Get the camera pose from the direct kinematics
  vpAfma6::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: {
      // Compute the displacement of the camera since the previous call
      cMc = fMc_prev_getvel.inverse() * fMc_cur;

      // Compute the ThetaU representation for the rotation
      vpRotationMatrix cRc;
      cMc.extract(cRc);
      vpThetaUVector thetaU;
      thetaU.buildFrom(cRc);

      for (unsigned int i=0; i < 3; i++) {
        // Compute the translation displacement in the reference frame
        velocity[i] = fMc_prev_getvel[i][3] - fMc_cur[i][3];
        // Update the rotation displacement in the camera frame
        velocity[i+3] = thetaU[i];
      }

      // Compute the velocity
      velocity /= (time_cur - time_prev_getvel);
      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 vpRobotAfma6::getVelocity(const vpRobot::vpControlFrameType frame,
                               vpColVector & velocity)
{
  double timestamp;
  getVelocity(frame, velocity, timestamp);
}


vpColVector
vpRobotAfma6::getVelocity (vpRobot::vpControlFrameType frame, double &timestamp)
{
  vpColVector velocity;
  getVelocity (frame, velocity, timestamp);

  return velocity;
}

vpColVector vpRobotAfma6::getVelocity (vpRobot::vpControlFrameType frame)
{
  vpColVector velocity;
  double timestamp;
  getVelocity (frame, velocity, timestamp);

  return velocity;
}

bool
vpRobotAfma6::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("#AFMA6 - 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 Afma6 position file
        std::cout << "Error: this position file " << filename << " is not for Afma6 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[3] = vpMath::rad(q[3]);
  q[4] = vpMath::rad(q[4]);
  q[5] = vpMath::rad(q[5]);

  fd.close();

  if (!pos_found) {
    std::cout << "Error: unable to find a position for Afma6 robot in " << filename << std::endl;
    return false;
  }

  return true;
}

bool
vpRobotAfma6::savePosFile(const std::string &filename, const vpColVector &q)
{

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

  fprintf(fd, "\
#AFMA6 - Position - Version 2.01\n\
#\n\
# R: X Y Z A B C\n\
# Joint position: X, Y, Z: translations in meters\n\
#                 A, B, C: rotations in degrees\n\
#\n\
#\n\n");

  // Save positions in mm and deg
  fprintf(fd, "R: %lf %lf %lf %lf %lf %lf\n",
      q[0],
      q[1],
      q[2],
      vpMath::deg(q[3]),
      vpMath::deg(q[4]),
      vpMath::deg(q[5]));

  fclose(fd) ;
  return (true);
}

void
vpRobotAfma6::move(const std::string &filename)
{
  vpColVector q;

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

void
vpRobotAfma6::move(const std::string &filename, const double velocity)
{
  vpColVector q;

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

void
vpRobotAfma6::openGripper()
{
  InitTry;
  Try( PrimitiveGripper_Afma6(1) );
  std::cout << "Open the gripper..." << std::endl; 
  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot open the gripper");
    throw vpRobotException (vpRobotException::lowLevelError,
                  "Cannot open the gripper.");
  }
}

void
vpRobotAfma6::closeGripper()
{
  InitTry;
  Try( PrimitiveGripper_Afma6(0) );
  std::cout << "Close the gripper..." << std::endl; 
  CatchPrint();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot close the gripper");
    throw vpRobotException (vpRobotException::lowLevelError,
                  "Cannot close the gripper.");
  }
}

void
vpRobotAfma6::getCameraDisplacement(vpColVector &displacement)
{
  getDisplacement(vpRobot::CAMERA_FRAME, displacement);
}
void
vpRobotAfma6::getArticularDisplacement(vpColVector  &displacement)
{
  getDisplacement(vpRobot::ARTICULAR_FRAME, displacement);
}

void
vpRobotAfma6::getDisplacement(vpRobot::vpControlFrameType frame,
                              vpColVector &displacement)
{
  displacement.resize (6);
  displacement = 0;

  double q[6];
  vpColVector q_cur(6);
  vpHomogeneousMatrix fMc_cur, c_prevMc_cur;  
  double timestamp;

  InitTry;

  // Get the current joint position
  Try( PrimitiveACQ_POS_Afma6(q, &timestamp) );
  for (unsigned int i=0; i < njoint; i ++) {
    q_cur[i] = q[i];
  }

  // Compute the camera pose in the reference frame
  fMc_cur = get_fMc(q_cur);

  if ( ! first_time_getdis ) {
    switch (frame) {
    case vpRobot::CAMERA_FRAME: {
      // Compute the camera dispacement from the previous pose
      c_prevMc_cur = fMc_prev_getdis.inverse() * fMc_cur;

      vpTranslationVector t;
      vpRotationMatrix R;
      c_prevMc_cur.extract(t);
      c_prevMc_cur.extract(R);
      
      vpRxyzVector rxyz;
      rxyz.buildFrom(R);
      
      for (unsigned int i=0; i<3; i++) {
    displacement[i]   = t[i];
    displacement[i+3] = rxyz[i];
      }
      break ;
    }

    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;

  // Memorize the pose for the next call
  fMc_prev_getdis = fMc_cur;

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

bool
vpRobotAfma6::checkJointLimits(vpColVector& jointsStatus)
{
  Int32 axisInJoint[njoint];
  bool status = true;
  jointsStatus.resize(6);
  InitTry;

  Try (PrimitiveSTATUS_Afma6(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;
          jointsStatus[i] = axisInJoint[i];
          status = false;
        }
        else{
          jointsStatus[i] = 0;
        }
  }

  Catch();
  if (TryStt < 0) {
    vpERROR_TRACE ("Cannot check joint limits.");
    throw vpRobotException (vpRobotException::lowLevelError,
                "Cannot check joint limits.");
  }

  return status;

}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_robot.a(vpRobotAfma6.cpp.o) has no symbols
void dummy_vpRobotAfma6() {};
#endif