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feat(extension): add GetMode, GetTemperature, GetVoltages, `Get…
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…Currents`, `GetRobotSN`(X)
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@jo-bru
jo-bru committed Nov 3, 2021
1 parent 5cb684b commit d73658f
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Showing 3 changed files with 294 additions and 30 deletions.
54 changes: 48 additions & 6 deletions protos/xapi.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -12,10 +12,15 @@ service XAPI {
rpc Disconnect (Empty) returns (Empty);

// Read services
rpc GetMode (Empty) returns (Mode);
rpc GetCollisionSensitivity (Empty) returns (CollisionSensitivity);
rpc GetTeachSensitivity (Empty) returns (TeachSensitivity);
rpc GetTemperatures (Empty) returns (Temperatures);
rpc GetVoltages (Empty) returns (Voltages);
rpc GetCurrents (Empty) returns (Currents);

rpc GetVersion (Empty) returns (Version);
rpc GetRobotSN (Empty) returns (RobotSN);
rpc GetState (Empty) returns (State);
rpc GetCmdnum (Empty) returns (Cmdnum);
rpc GetServoAngles (Empty) returns (ServoAngles);
Expand All @@ -41,7 +46,6 @@ service XAPI {
rpc GetSimulationRobot (Empty) returns (SimulationRobot);
rpc SetSimulationRobot (SimulationRobot) returns (SimulationRobot);


}

message Empty {
Expand All @@ -64,6 +68,11 @@ message InitParam {
string report_type = 14;
}

message Mode {
int32 status_code = 1;
int32 mode = 2;
}

message CollisionSensitivity{
int32 status_code = 1;
int32 collision_sensitivity = 2;
Expand All @@ -74,11 +83,49 @@ message TeachSensitivity{
int32 teach_sensitivity = 2;
}

message Temperatures {
int32 status_code = 1;
float servo_1 = 2;
float servo_2 = 3;
float servo_3 = 4;
float servo_4 = 5;
float servo_5 = 6;
float servo_6 = 7;
float servo_7 = 8;
}

message Voltages {
int32 status_code = 1;
float servo_1 = 2;
float servo_2 = 3;
float servo_3 = 4;
float servo_4 = 5;
float servo_5 = 6;
float servo_6 = 7;
float servo_7 = 8;
}

message Currents {
int32 status_code = 1;
float servo_1 = 2;
float servo_2 = 3;
float servo_3 = 4;
float servo_4 = 5;
float servo_5 = 6;
float servo_6 = 7;
float servo_7 = 8;
}

message Version {
int32 status_code = 1;
string version = 2;
}

message RobotSN {
int32 status_code = 1;
string robot_sn = 2;
}

message State {
int32 status_code = 1;
int32 state = 2;
Expand Down Expand Up @@ -121,11 +168,6 @@ message MotionEnable {
int32 servo_id = 3;
}

message Mode {
int32 status_code = 1;
int32 mode = 2;
}

message MoveCircleMsg {
int32 status_code = 1;
Position pose_1 = 2;
Expand Down
188 changes: 169 additions & 19 deletions tools/xarm-commander/xarm_commander.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -42,18 +42,22 @@ using grpc::ClientContext;
using grpc::Status;
using xapi::Cmdnum;
using xapi::CollisionSensitivity;
using xapi::Currents;
using xapi::Empty;
using xapi::InitParam;
using xapi::Mode;
using xapi::MotionEnable;
using xapi::MoveCircleMsg;
using xapi::Position;
using xapi::ResetMsg;
using xapi::RobotSN;
using xapi::ServoAngles;
using xapi::SimulationRobot;
using xapi::State;
using xapi::TeachSensitivity;
using xapi::SimulationRobot;
using xapi::Temperatures;
using xapi::Version;
using xapi::Voltages;
using xapi::XAPI;

class XAPIClient {
Expand Down Expand Up @@ -96,6 +100,15 @@ class XAPIClient {
}

// ===== Read methods =====
// Get the xArm mode
Mode GetMode() {
Empty empty;
Mode mode;
ClientContext context;
Status status = stub_->GetMode(&context, empty, &mode);
return mode;
}

// Get the xArm collision sensitivity
CollisionSensitivity GetCollisionSensitivity() {
Empty empty;
Expand All @@ -118,17 +131,48 @@ class XAPIClient {
return teach_sensitivity;
}

// Get the xArm motor temperatures
Temperatures GetTemperatures() {
Empty empty;
Temperatures temperatures;
ClientContext context;
Status status = stub_->GetTemperatures(&context, empty, &temperatures);

return temperatures;
}

// Get the xArm motor voltages
Voltages GetVoltages() {
Empty empty;
Voltages voltages;
ClientContext context;
Status status = stub_->GetVoltages(&context, empty, &voltages);

return voltages;
}

// Get the xArm motor currents
Currents GetCurrents() {
Empty empty;
Currents currents;
ClientContext context;
Status status = stub_->GetCurrents(&context, empty, &currents);

return currents;
}

// Get is_simulation_robot
SimulationRobot GetSimulationRobot() {
Empty empty;
SimulationRobot simulation_robot;
ClientContext context;
Status status = stub_->GetSimulationRobot(&context, empty,
&simulation_robot);
Status status =
stub_->GetSimulationRobot(&context, empty, &simulation_robot);

return simulation_robot;
}

// Get the xArm version
// Get the xArm robot_sn
Version GetVersion() {
Empty empty;
Version version;
Expand All @@ -142,6 +186,16 @@ class XAPIClient {
return version;
}

// Get the xArm robot_sn
RobotSN GetRobotSN() {
Empty empty;
std::cout << "This is called. ";
RobotSN robot_sn;
ClientContext context;
Status status = stub_->GetRobotSN(&context, empty, &robot_sn);
return robot_sn;
}

// Get the xArm state
State GetState() {
Empty empty;
Expand Down Expand Up @@ -353,19 +407,20 @@ class XAPIClient {
}

// Set the simulation robot
SimulationRobot SetSimulationRobot(const SimulationRobot &simulation_robot) {
SimulationRobot SetSimulationRobot(
const SimulationRobot &simulation_robot) {
// Context for the client. It could be used to convey extra information
// to the server and/or tweak certain RPC behaviors.
ClientContext context;
// Container for the data we expect from the server.
SimulationRobot simulation_robot_res;

Status status = stub_->SetSimulationRobot(&context, simulation_robot, &simulation_robot_res);
Status status = stub_->SetSimulationRobot(&context, simulation_robot,
&simulation_robot_res);

return simulation_robot_res;
}


private:
// Out of the passed in Channel comes the stub, stored here, our view of the
// server's exposed services.
Expand Down Expand Up @@ -445,6 +500,20 @@ int main(int argc, char **argv) {
#pragma endregion initialize

// ----- Read methods -----
#pragma region get_mode
// Subcommand: get_mode
auto *get_mode = app.add_subcommand("get_mode", "send a get_mode command");
get_mode->callback([&]() {
XAPIClient client(
grpc::CreateChannel(fmt::format("{}:{}", server_ip, server_port),
grpc::InsecureChannelCredentials()));
Mode mode;
mode = client.GetMode(); // The actual RPC call!
std::cout << "Mode: " << mode.mode() << std::endl;
std::cout << "Response code: " << mode.status_code() << std::endl;
});
#pragma endregion get_mode

#pragma region get_collision_sensitivity
// Subcommand: get_collision_sensitivity
auto *get_collision_sensitivity =
Expand Down Expand Up @@ -482,20 +551,84 @@ int main(int argc, char **argv) {
});
#pragma endregion get_teach_sensitivity

#pragma region get_temperatures
// Subcommand: get_temperatures
auto *get_temperatures = app.add_subcommand(
"get_temperatures", "send a get_temperatures command");
get_temperatures->callback([&]() {
XAPIClient client(
grpc::CreateChannel(fmt::format("{}:{}", server_ip, server_port),
grpc::InsecureChannelCredentials()));
Temperatures temperatures;
temperatures = client.GetTemperatures(); // The actual RPC call!
std::cout << "Temperatures: \n"
<< " \"servo_1\": " << temperatures.servo_1() << "\n"
<< " \"servo_2\": " << temperatures.servo_2() << "\n"
<< " \"servo_3\": " << temperatures.servo_3() << "\n"
<< " \"servo_4\": " << temperatures.servo_4() << "\n"
<< " \"servo_5\": " << temperatures.servo_5() << "\n"
<< " \"servo_6\": " << temperatures.servo_6() << "\n"
<< " \"servo_7\": " << temperatures.servo_7() << std::endl;
std::cout << "Response code: " << temperatures.status_code()
<< std::endl;
});
#pragma endregion get_temperatures

#pragma region get_voltages
// Subcommand: get_voltages
auto *get_voltages =
app.add_subcommand("get_voltages", "send a get_voltages command");
get_voltages->callback([&]() {
XAPIClient client(
grpc::CreateChannel(fmt::format("{}:{}", server_ip, server_port),
grpc::InsecureChannelCredentials()));
Voltages voltages;
voltages = client.GetVoltages(); // The actual RPC call!
std::cout << "Voltages: \n"
<< " \"servo_1\": " << voltages.servo_1() << "\n"
<< " \"servo_2\": " << voltages.servo_2() << "\n"
<< " \"servo_3\": " << voltages.servo_3() << "\n"
<< " \"servo_4\": " << voltages.servo_4() << "\n"
<< " \"servo_5\": " << voltages.servo_5() << "\n"
<< " \"servo_6\": " << voltages.servo_6() << "\n"
<< " \"servo_7\": " << voltages.servo_7() << std::endl;
std::cout << "Response code: " << voltages.status_code() << std::endl;
});
#pragma endregion get_voltages

#pragma region get_currents
// Subcommand: get_currents
auto *get_currents =
app.add_subcommand("get_currents", "send a get_currents command");
get_currents->callback([&]() {
XAPIClient client(
grpc::CreateChannel(fmt::format("{}:{}", server_ip, server_port),
grpc::InsecureChannelCredentials()));
Currents currents;
currents = client.GetCurrents(); // The actual RPC call!
std::cout << "Currents: \n"
<< " \"servo_1\": " << currents.servo_1() << "\n"
<< " \"servo_2\": " << currents.servo_2() << "\n"
<< " \"servo_3\": " << currents.servo_3() << "\n"
<< " \"servo_4\": " << currents.servo_4() << "\n"
<< " \"servo_5\": " << currents.servo_5() << "\n"
<< " \"servo_6\": " << currents.servo_6() << "\n"
<< " \"servo_7\": " << currents.servo_7() << std::endl;
std::cout << "Response code: " << currents.status_code() << std::endl;
});
#pragma endregion get_currents

#pragma region get_simulation_robot
// Subcommand: get_simulation_robot
auto *get_simulation_robot =
app.add_subcommand("get_simulation_robot",
"send a get_simulation_robot command");
auto *get_simulation_robot = app.add_subcommand(
"get_simulation_robot", "send a get_simulation_robot command");
get_simulation_robot->callback([&]() {
XAPIClient client(
grpc::CreateChannel(fmt::format("{}:{}", server_ip, server_port),
grpc::InsecureChannelCredentials()));
SimulationRobot simulation_robot;
simulation_robot =
client.GetSimulationRobot(); // The actual RPC call!
std::cout << "Simulation mode: "
<< simulation_robot.on() << std::endl;
simulation_robot = client.GetSimulationRobot(); // The actual RPC call!
std::cout << "Simulation mode: " << simulation_robot.on() << std::endl;
std::cout << "Response code: " << simulation_robot.status_code()
<< std::endl;
});
Expand All @@ -516,6 +649,21 @@ int main(int argc, char **argv) {
});
#pragma endregion get_version

#pragma region get_robot_sn
// Subcommand: get_robot_sn
auto *get_robot_sn =
app.add_subcommand("get_robot_sn", "send a get_robot_sn command");
get_robot_sn->callback([&]() {
XAPIClient client(
grpc::CreateChannel(fmt::format("{}:{}", server_ip, server_port),
grpc::InsecureChannelCredentials()));
RobotSN robot_sn;
robot_sn = client.GetRobotSN(); // The actual RPC call!
std::cout << "RobotSN: " << robot_sn.robot_sn() << std::endl;
std::cout << "Response code: " << robot_sn.status_code() << std::endl;
});
#pragma endregion get_robot_sn

#pragma region get_state
// Subcommand: get_state
auto *get_state =
Expand Down Expand Up @@ -1052,12 +1200,12 @@ int main(int argc, char **argv) {

#pragma region set_simulation_robot
// Subcommand: set_simulation_robot
auto *set_simulation_robot =
app.add_subcommand("set_simulation_robot", "send a set_simulation_robot command");
auto *set_simulation_robot = app.add_subcommand(
"set_simulation_robot", "send a set_simulation_robot command");

bool on_option = true;
set_simulation_robot->add_option("-o, --on", on_option,
"on: enable(true) or not(false)");
"on: enable(true) or not(false)");

set_simulation_robot->callback([&]() {
XAPIClient client(
Expand All @@ -1066,8 +1214,10 @@ int main(int argc, char **argv) {
SimulationRobot simulation_robot;
SimulationRobot simulation_robot_res;
simulation_robot.set_on(on_option);
simulation_robot_res = client.SetSimulationRobot(simulation_robot); // The actual RPC call!
std::cout << "Response code: " << simulation_robot_res.status_code() << std::endl;
simulation_robot_res = client.SetSimulationRobot(
simulation_robot); // The actual RPC call!
std::cout << "Response code: " << simulation_robot_res.status_code()
<< std::endl;
});
#pragma endregion set_simulation_robot

Expand Down
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