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robotis_controller.cpp
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robotis_controller.cpp
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/*******************************************************************************
* Copyright 2018 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
/*
* robotis_controller.cpp
*
* Created on: 2016. 1. 15.
* Author: zerom
*/
#include <ros/package.h>
#include <ros/callback_queue.h>
#include "robotis_controller/robotis_controller.h"
using namespace robotis_framework;
RobotisController::RobotisController()
: is_timer_running_(false),
is_offset_enabled_(true),
stop_timer_(false),
init_pose_loaded_(false),
timer_thread_(0),
controller_mode_(MotionModuleMode),
DEBUG_PRINT(false),
robot_(0),
gazebo_mode_(false),
gazebo_robot_name_("robotis")
{
direct_sync_write_.clear();
}
void RobotisController::initializeSyncWrite()
{
if (gazebo_mode_ == true)
return;
//ROS_INFO("FIRST BULKREAD");
for (auto& it : port_to_bulk_read_)
it.second->txRxPacket();
for(auto& it : port_to_bulk_read_)
{
int error_count = 0;
int result = COMM_SUCCESS;
do
{
if (++error_count > 10)
{
ROS_ERROR("[RobotisController] first bulk read fail!!");
exit(-1);
}
usleep(10 * 1000);
result = it.second->txRxPacket();
} while (result != COMM_SUCCESS);
}
init_pose_loaded_ = true;
//ROS_INFO("FIRST BULKREAD END");
// clear syncwrite param setting
for (auto& it : port_to_sync_write_position_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_position_p_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_position_i_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_position_d_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_p_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_i_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_d_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_current_)
{
if (it.second != NULL)
it.second->clearParam();
}
// set init syncwrite param(from data of bulkread)
for (auto& it : robot_->dxls_)
{
std::string joint_name = it.first;
Dynamixel *dxl = it.second;
for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
{
uint32_t read_data = 0;
uint8_t sync_write_data[4];
if (port_to_bulk_read_[dxl->port_name_]->isAvailable(dxl->id_,
dxl->bulk_read_items_[i]->address_,
dxl->bulk_read_items_[i]->data_length_) == true)
{
read_data = port_to_bulk_read_[dxl->port_name_]->getData(dxl->id_,
dxl->bulk_read_items_[i]->address_,
dxl->bulk_read_items_[i]->data_length_);
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(read_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(read_data));
sync_write_data[2] = DXL_LOBYTE(DXL_HIWORD(read_data));
sync_write_data[3] = DXL_HIBYTE(DXL_HIWORD(read_data));
if ((dxl->present_position_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->present_position_item_->item_name_))
{
if(is_offset_enabled_)
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(read_data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(read_data);
dxl->dxl_state_->goal_position_ = dxl->dxl_state_->present_position_;
port_to_sync_write_position_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
}
else if ((dxl->position_p_gain_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->position_p_gain_item_->item_name_))
{
dxl->dxl_state_->position_p_gain_ = read_data;
}
else if ((dxl->position_i_gain_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->position_i_gain_item_->item_name_))
{
dxl->dxl_state_->position_i_gain_ = read_data;
}
else if ((dxl->position_d_gain_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->position_d_gain_item_->item_name_))
{
dxl->dxl_state_->position_d_gain_ = read_data;
}
else if ((dxl->present_velocity_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->present_velocity_item_->item_name_))
{
dxl->dxl_state_->present_velocity_ = dxl->convertValue2Velocity(read_data);
dxl->dxl_state_->goal_velocity_ = dxl->dxl_state_->present_velocity_;
}
else if ((dxl->velocity_p_gain_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->velocity_p_gain_item_->item_name_))
{
dxl->dxl_state_->velocity_p_gain_ = read_data;
}
else if ((dxl->velocity_i_gain_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->velocity_i_gain_item_->item_name_))
{
dxl->dxl_state_->velocity_i_gain_ = read_data;
}
else if ((dxl->velocity_d_gain_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->velocity_d_gain_item_->item_name_))
{
dxl->dxl_state_->velocity_d_gain_ = read_data;
}
else if ((dxl->present_current_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->present_current_item_->item_name_))
{
dxl->dxl_state_->present_torque_ = dxl->convertValue2Torque(read_data);
dxl->dxl_state_->goal_torque_ = dxl->dxl_state_->present_torque_;
}
}
}
}
}
bool RobotisController::initialize(const std::string robot_file_path, const std::string init_file_path)
{
std::string dev_desc_dir_path = ros::package::getPath("robotis_device") + "/devices";
// load robot info : port , device
robot_ = new Robot(robot_file_path, dev_desc_dir_path);
if (gazebo_mode_ == true)
{
queue_thread_ = boost::thread(boost::bind(&RobotisController::msgQueueThread, this));
return true;
}
for (auto& it : robot_->ports_)
{
std::string port_name = it.first;
dynamixel::PortHandler *port = it.second;
dynamixel::PacketHandler *default_pkt_handler = dynamixel::PacketHandler::getPacketHandler(2.0);
if (port->setBaudRate(port->getBaudRate()) == false)
{
ROS_ERROR("PORT [%s] SETUP ERROR! (baudrate: %d)", port_name.c_str(), port->getBaudRate());
exit(-1);
}
// get the default device info of the port
std::string default_device_name = robot_->port_default_device_[port_name];
auto dxl_it = robot_->dxls_.find(default_device_name);
auto sensor_it = robot_->sensors_.find(default_device_name);
if (dxl_it != robot_->dxls_.end())
{
Dynamixel *default_device = dxl_it->second;
default_pkt_handler = dynamixel::PacketHandler::getPacketHandler(default_device->protocol_version_);
if (default_device->goal_position_item_ != 0)
{
port_to_sync_write_position_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->goal_position_item_->address_,
default_device->goal_position_item_->data_length_);
}
if (default_device->position_p_gain_item_ != 0)
{
port_to_sync_write_position_p_gain_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->position_p_gain_item_->address_,
default_device->position_p_gain_item_->data_length_);
}
if (default_device->position_i_gain_item_ != 0)
{
port_to_sync_write_position_i_gain_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->position_i_gain_item_->address_,
default_device->position_i_gain_item_->data_length_);
}
if (default_device->position_d_gain_item_ != 0)
{
port_to_sync_write_position_d_gain_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->position_d_gain_item_->address_,
default_device->position_d_gain_item_->data_length_);
}
if (default_device->goal_velocity_item_ != 0)
{
port_to_sync_write_velocity_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->goal_velocity_item_->address_,
default_device->goal_velocity_item_->data_length_);
}
if (default_device->velocity_p_gain_item_ != 0)
{
port_to_sync_write_velocity_p_gain_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->velocity_p_gain_item_->address_,
default_device->velocity_p_gain_item_->data_length_);
}
if (default_device->velocity_i_gain_item_ != 0)
{
port_to_sync_write_velocity_i_gain_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->velocity_i_gain_item_->address_,
default_device->velocity_i_gain_item_->data_length_);
}
if (default_device->velocity_d_gain_item_ != 0)
{
port_to_sync_write_velocity_d_gain_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->velocity_d_gain_item_->address_,
default_device->velocity_d_gain_item_->data_length_);
}
if (default_device->goal_current_item_ != 0)
{
port_to_sync_write_current_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->goal_current_item_->address_,
default_device->goal_current_item_->data_length_);
}
}
else if (sensor_it != robot_->sensors_.end())
{
Sensor *_default_device = sensor_it->second;
default_pkt_handler = dynamixel::PacketHandler::getPacketHandler(_default_device->protocol_version_);
}
port_to_bulk_read_[port_name] = new dynamixel::GroupBulkRead(port, default_pkt_handler);
}
// (for loop) check all dxls are connected.
for (auto& it : robot_->dxls_)
{
std::string joint_name = it.first;
Dynamixel *dxl = it.second;
if (ping(joint_name) != 0)
{
usleep(10 * 1000);
if (ping(joint_name) != 0)
ROS_ERROR("JOINT[%s] does NOT respond!!", joint_name.c_str());
}
}
initializeDevice(init_file_path);
queue_thread_ = boost::thread(boost::bind(&RobotisController::msgQueueThread, this));
return true;
}
void RobotisController::initializeDevice(const std::string init_file_path)
{
// device initialize
if (DEBUG_PRINT)
ROS_WARN("INIT FILE LOAD");
YAML::Node doc;
try
{
doc = YAML::LoadFile(init_file_path.c_str());
for (YAML::const_iterator it_doc = doc.begin(); it_doc != doc.end(); it_doc++)
{
std::string joint_name = it_doc->first.as<std::string>();
YAML::Node joint_node = doc[joint_name];
if (joint_node.size() == 0)
continue;
Dynamixel *dxl = NULL;
auto dxl_it = robot_->dxls_.find(joint_name);
if (dxl_it != robot_->dxls_.end())
dxl = dxl_it->second;
if (dxl == NULL)
{
ROS_WARN("Joint [%s] was not found.", joint_name.c_str());
continue;
}
if (DEBUG_PRINT)
ROS_INFO("JOINT_NAME: %s", joint_name.c_str());
for (YAML::const_iterator it_joint = joint_node.begin(); it_joint != joint_node.end(); it_joint++)
{
std::string item_name = it_joint->first.as<std::string>();
if (DEBUG_PRINT)
ROS_INFO(" ITEM_NAME: %s", item_name.c_str());
uint32_t value = it_joint->second.as<uint32_t>();
ControlTableItem *item = dxl->ctrl_table_[item_name];
if (item == NULL)
{
ROS_WARN("Control Item [%s] was not found.", item_name.c_str());
continue;
}
if (item->memory_type_ == EEPROM)
{
uint8_t data8 = 0;
uint16_t data16 = 0;
uint32_t data32 = 0;
switch (item->data_length_)
{
case 1:
read1Byte(joint_name, item->address_, &data8);
if (data8 == value)
continue;
break;
case 2:
read2Byte(joint_name, item->address_, &data16);
if (data16 == value)
continue;
break;
case 4:
read4Byte(joint_name, item->address_, &data32);
if (data32 == value)
continue;
break;
default:
break;
}
}
switch (item->data_length_)
{
case 1:
write1Byte(joint_name, item->address_, (uint8_t) value);
break;
case 2:
write2Byte(joint_name, item->address_, (uint16_t) value);
break;
case 4:
write4Byte(joint_name, item->address_, value);
break;
default:
break;
}
if (item->memory_type_ == EEPROM)
{
// Write to EEPROM -> delay is required (max delay: 55 msec per byte)
usleep(item->data_length_ * 55 * 1000);
}
}
}
} catch (const std::exception& e)
{
ROS_INFO("Dynamixel Init file not found.");
}
// [ BulkRead ] StartAddress : Present Position , Length : 10 ( Position/Velocity/Current )
for (auto& it : robot_->ports_)
{
if (port_to_bulk_read_[it.first] != 0)
port_to_bulk_read_[it.first]->clearParam();
}
for (auto& it : robot_->dxls_)
{
std::string joint_name = it.first;
Dynamixel *dxl = it.second;
if (dxl == NULL)
continue;
int bulkread_start_addr = 0;
int bulkread_data_length = 0;
// // bulk read default : present position
// if(dxl->present_position_item != 0)
// {
// bulkread_start_addr = dxl->present_position_item->address;
// bulkread_data_length = dxl->present_position_item->data_length;
// }
// calculate bulk read start address & data length
auto indirect_addr_it = dxl->ctrl_table_.find(INDIRECT_ADDRESS_1);
if (indirect_addr_it != dxl->ctrl_table_.end()) // INDIRECT_ADDRESS_1 exist
{
if (dxl->bulk_read_items_.size() != 0)
{
uint16_t data16 = 0;
bulkread_start_addr = dxl->bulk_read_items_[0]->address_;
bulkread_data_length = 0;
// set indirect address
int indirect_addr = indirect_addr_it->second->address_;
for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
{
int addr_leng = dxl->bulk_read_items_[i]->data_length_;
bulkread_data_length += addr_leng;
for (int l = 0; l < addr_leng; l++)
{
// ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table[dxl->bulk_read_items[i]->item_name]->address + _l);
read2Byte(joint_name, indirect_addr, &data16);
if (data16 != dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l)
{
write2Byte(joint_name, indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l);
}
indirect_addr += 2;
}
}
}
}
else // INDIRECT_ADDRESS_1 NOT exist
{
if (dxl->bulk_read_items_.size() != 0)
{
bulkread_start_addr = dxl->bulk_read_items_[0]->address_;
bulkread_data_length = 0;
ControlTableItem *last_item = dxl->bulk_read_items_[0];
for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
{
int addr = dxl->bulk_read_items_[i]->address_;
if (addr < bulkread_start_addr)
bulkread_start_addr = addr;
else if (last_item->address_ < addr)
last_item = dxl->bulk_read_items_[i];
}
bulkread_data_length = last_item->address_ - bulkread_start_addr + last_item->data_length_;
}
}
// ROS_WARN("[%12s] start_addr: %d, data_length: %d", joint_name.c_str(), bulkread_start_addr, bulkread_data_length);
if (bulkread_start_addr != 0)
port_to_bulk_read_[dxl->port_name_]->addParam(dxl->id_, bulkread_start_addr, bulkread_data_length);
// Torque ON
if (writeCtrlItem(joint_name, dxl->torque_enable_item_->item_name_, 1) != COMM_SUCCESS)
writeCtrlItem(joint_name, dxl->torque_enable_item_->item_name_, 1);
}
for (auto& it : robot_->sensors_)
{
std::string sensor_name = it.first;
Sensor *sensor = it.second;
if (sensor == NULL)
continue;
int bulkread_start_addr = 0;
int bulkread_data_length = 0;
// calculate bulk read start address & data length
auto indirect_addr_it = sensor->ctrl_table_.find(INDIRECT_ADDRESS_1);
if (indirect_addr_it != sensor->ctrl_table_.end()) // INDIRECT_ADDRESS_1 exist
{
if (sensor->bulk_read_items_.size() != 0)
{
uint16_t data16 = 0;
bulkread_start_addr = sensor->bulk_read_items_[0]->address_;
bulkread_data_length = 0;
// set indirect address
int indirect_addr = indirect_addr_it->second->address_;
for (int i = 0; i < sensor->bulk_read_items_.size(); i++)
{
int addr_leng = sensor->bulk_read_items_[i]->data_length_;
bulkread_data_length += addr_leng;
for (int l = 0; l < addr_leng; l++)
{
// ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", sensor_name.c_str(), indirect_addr, sensor->ctrl_table[sensor->bulk_read_items[i]->item_name]->address + _l);
read2Byte(sensor_name, indirect_addr, &data16);
if (data16 != sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l)
{
write2Byte(sensor_name,
indirect_addr,
sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l);
}
indirect_addr += 2;
}
}
}
}
else // INDIRECT_ADDRESS_1 NOT exist
{
if (sensor->bulk_read_items_.size() != 0)
{
bulkread_start_addr = sensor->bulk_read_items_[0]->address_;
bulkread_data_length = 0;
ControlTableItem *last_item = sensor->bulk_read_items_[0];
for (int i = 0; i < sensor->bulk_read_items_.size(); i++)
{
int addr = sensor->bulk_read_items_[i]->address_;
if (addr < bulkread_start_addr)
bulkread_start_addr = addr;
else if (last_item->address_ < addr)
last_item = sensor->bulk_read_items_[i];
}
bulkread_data_length = last_item->address_ - bulkread_start_addr + last_item->data_length_;
}
}
//ROS_WARN("[%12s] start_addr: %d, data_length: %d", sensor_name.c_str(), bulkread_start_addr, bulkread_data_length);
if (bulkread_start_addr != 0)
port_to_bulk_read_[sensor->port_name_]->addParam(sensor->id_, bulkread_start_addr, bulkread_data_length);
}
}
void RobotisController::gazeboTimerThread()
{
ros::Rate gazebo_rate(1000 / robot_->getControlCycle());
while (!stop_timer_)
{
if (init_pose_loaded_ == true)
process();
gazebo_rate.sleep();
}
}
void RobotisController::msgQueueThread()
{
ros::NodeHandle ros_node;
ros::CallbackQueue callback_queue;
ros_node.setCallbackQueue(&callback_queue);
/* subscriber */
ros::Subscriber write_control_table_sub = ros_node.subscribe("/robotis/write_control_table", 5,
&RobotisController::writeControlTableCallback, this);
ros::Subscriber sync_write_item_sub = ros_node.subscribe("/robotis/sync_write_item", 10,
&RobotisController::syncWriteItemCallback, this);
ros::Subscriber joint_ctrl_modules_sub = ros_node.subscribe("/robotis/set_joint_ctrl_modules", 10,
&RobotisController::setJointCtrlModuleCallback, this);
ros::Subscriber enable_ctrl_module_sub = ros_node.subscribe("/robotis/enable_ctrl_module", 10,
&RobotisController::setCtrlModuleCallback, this);
ros::Subscriber control_mode_sub = ros_node.subscribe("/robotis/set_control_mode", 10,
&RobotisController::setControllerModeCallback, this);
ros::Subscriber joint_states_sub = ros_node.subscribe("/robotis/set_joint_states", 10,
&RobotisController::setJointStatesCallback, this);
ros::Subscriber enable_offset_sub = ros_node.subscribe("/robotis/enable_offset", 10,
&RobotisController::enableOffsetCallback, this);
ros::Subscriber gazebo_joint_states_sub;
if (gazebo_mode_ == true)
gazebo_joint_states_sub = ros_node.subscribe("/" + gazebo_robot_name_ + "/joint_states", 10,
&RobotisController::gazeboJointStatesCallback, this);
/* publisher */
goal_joint_state_pub_ = ros_node.advertise<sensor_msgs::JointState>("/robotis/goal_joint_states", 10);
present_joint_state_pub_ = ros_node.advertise<sensor_msgs::JointState>("/robotis/present_joint_states", 10);
current_module_pub_ = ros_node.advertise<robotis_controller_msgs::JointCtrlModule>(
"/robotis/present_joint_ctrl_modules", 10);
if (gazebo_mode_ == true)
{
for (auto& it : robot_->dxls_)
{
gazebo_joint_position_pub_[it.first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it.first + "_position/command", 1);
gazebo_joint_velocity_pub_[it.first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it.first + "_velocity/command", 1);
gazebo_joint_effort_pub_[it.first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it.first + "_effort/command", 1);
}
}
/* service */
ros::ServiceServer get_joint_module_server = ros_node.advertiseService("/robotis/get_present_joint_ctrl_modules",
&RobotisController::getJointCtrlModuleService, this);
ros::ServiceServer set_joint_module_server = ros_node.advertiseService("/robotis/set_present_joint_ctrl_modules",
&RobotisController::setJointCtrlModuleService, this);
ros::ServiceServer set_module_server = ros_node.advertiseService("/robotis/set_present_ctrl_modules",
&RobotisController::setCtrlModuleService, this);
ros::ServiceServer load_offset_server = ros_node.advertiseService("/robotis/load_offset",
&RobotisController::loadOffsetService, this);
ros::WallDuration duration(robot_->getControlCycle() / 1000.0);
while(ros_node.ok())
callback_queue.callAvailable(duration);
}
void *RobotisController::timerThread(void *param)
{
RobotisController *controller = (RobotisController *) param;
static struct timespec next_time;
static struct timespec curr_time;
ROS_DEBUG("controller::thread_proc started");
clock_gettime(CLOCK_MONOTONIC, &next_time);
while (!controller->stop_timer_)
{
next_time.tv_sec += (next_time.tv_nsec + controller->robot_->getControlCycle() * 1000000) / 1000000000;
next_time.tv_nsec = (next_time.tv_nsec + controller->robot_->getControlCycle() * 1000000) % 1000000000;
controller->process();
clock_gettime(CLOCK_MONOTONIC, &curr_time);
long delta_nsec = (next_time.tv_sec - curr_time.tv_sec) * 1000000000 + (next_time.tv_nsec - curr_time.tv_nsec);
if (delta_nsec < -100000)
{
if (controller->DEBUG_PRINT == true)
{
fprintf(stderr, "[RobotisController::ThreadProc] NEXT TIME < CURR TIME.. (%f)[%ld.%09ld / %ld.%09ld]",
delta_nsec / 1000000.0, (long )next_time.tv_sec, (long )next_time.tv_nsec,
(long )curr_time.tv_sec, (long )curr_time.tv_nsec);
}
// next_time = curr_time + 3 msec
next_time.tv_sec = curr_time.tv_sec + (curr_time.tv_nsec + 3000000) / 1000000000;
next_time.tv_nsec = (curr_time.tv_nsec + 3000000) % 1000000000;
}
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_time, NULL);
}
return 0;
}
void RobotisController::startTimer()
{
if (this->is_timer_running_ == true)
return;
if (this->gazebo_mode_ == true)
{
// create and start the thread
gazebo_thread_ = boost::thread(boost::bind(&RobotisController::gazeboTimerThread, this));
}
else
{
initializeSyncWrite();
for (auto& it : port_to_bulk_read_)
{
it.second->txPacket();
}
usleep(8 * 1000);
int error;
struct sched_param param;
pthread_attr_t attr;
pthread_attr_init(&attr);
error = pthread_attr_setschedpolicy(&attr, SCHED_RR);
if (error != 0)
ROS_ERROR("pthread_attr_setschedpolicy error = %d\n", error);
error = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (error != 0)
ROS_ERROR("pthread_attr_setinheritsched error = %d\n", error);
memset(¶m, 0, sizeof(param));
param.sched_priority = 31; // RT
error = pthread_attr_setschedparam(&attr, ¶m);
if (error != 0)
ROS_ERROR("pthread_attr_setschedparam error = %d\n", error);
// create and start the thread
if ((error = pthread_create(&this->timer_thread_, &attr, this->timerThread, this)) != 0)
{
ROS_ERROR("Creating timer thread failed!!");
exit(-1);
}
}
this->is_timer_running_ = true;
}
void RobotisController::stopTimer()
{
int error = 0;
// set the flag to stop the thread
if (this->is_timer_running_)
{
this->stop_timer_ = true;
if (this->gazebo_mode_ == false)
{
// wait until the thread is stopped.
if ((error = pthread_join(this->timer_thread_, NULL)) != 0)
exit(-1);
for (auto& it : port_to_bulk_read_)
{
if (it.second != NULL)
it.second->rxPacket();
}
for (auto& it : port_to_sync_write_position_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_position_p_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_position_i_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_position_d_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_p_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_i_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_velocity_d_gain_)
{
if (it.second != NULL)
it.second->clearParam();
}
for (auto& it : port_to_sync_write_current_)
{
if (it.second != NULL)
it.second->clearParam();
}
}
else
{
// wait until the thread is stopped.
gazebo_thread_.join();
}
this->stop_timer_ = false;
this->is_timer_running_ = false;
}
}
bool RobotisController::isTimerRunning()
{
return this->is_timer_running_;
}
void RobotisController::loadOffset(const std::string path)
{
YAML::Node doc;
try
{
doc = YAML::LoadFile(path.c_str());
} catch (const std::exception& e)
{
ROS_WARN("Fail to load offset yaml.");
return;
}
YAML::Node offset_node = doc["offset"];
if (offset_node.size() == 0)
return;
ROS_INFO("Load offsets...");
for (YAML::const_iterator it = offset_node.begin(); it != offset_node.end(); it++)
{
std::string joint_name = it->first.as<std::string>();
double offset = it->second.as<double>();
auto dxl_it = robot_->dxls_.find(joint_name);
if (dxl_it != robot_->dxls_.end())
dxl_it->second->dxl_state_->position_offset_ = offset;
}
}
void RobotisController::process()
{
// avoid duplicated function call
static bool is_process_running = false;
if (is_process_running == true)
return;
is_process_running = true;
// ROS_INFO("Controller::Process()");
ros::Time start_time;
ros::Duration time_duration;
if (DEBUG_PRINT)
start_time = ros::Time::now();
sensor_msgs::JointState goal_state;
sensor_msgs::JointState present_state;
present_state.header.stamp = ros::Time::now();
goal_state.header.stamp = present_state.header.stamp;
if (controller_mode_ == MotionModuleMode)
{
if (gazebo_mode_ == false)
{
// BulkRead Rx
for (auto& it : port_to_bulk_read_)
{
robot_->ports_[it.first]->setPacketTimeout(0.0);
it.second->rxPacket();
}
// -> save to robot->dxls_[]->dxl_state_
if (robot_->dxls_.size() > 0)
{
for (auto& dxl_it : robot_->dxls_)
{
Dynamixel *dxl = dxl_it.second;
std::string port_name = dxl_it.second->port_name_;
std::string joint_name = dxl_it.first;
if (dxl->bulk_read_items_.size() > 0)
{
bool updated = false;
uint32_t data = 0;
for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
{
ControlTableItem *item = dxl->bulk_read_items_[i];
if (port_to_bulk_read_[port_name]->isAvailable(dxl->id_, item->address_, item->data_length_) == true)
{
updated = true;
data = port_to_bulk_read_[port_name]->getData(dxl->id_, item->address_, item->data_length_);
// change dxl_state
if (dxl->present_position_item_ != 0 && item->item_name_ == dxl->present_position_item_->item_name_)
{
if(is_offset_enabled_)
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data);
}
else if (dxl->present_velocity_item_ != 0 && item->item_name_ == dxl->present_velocity_item_->item_name_)
dxl->dxl_state_->present_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->present_current_item_ != 0 && item->item_name_ == dxl->present_current_item_->item_name_)
dxl->dxl_state_->present_torque_ = dxl->convertValue2Torque(data);
else if (dxl->goal_position_item_ != 0 && item->item_name_ == dxl->goal_position_item_->item_name_)
{
if(is_offset_enabled_)
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data);
}
else if (dxl->goal_velocity_item_ != 0 && item->item_name_ == dxl->goal_velocity_item_->item_name_)
dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_)
dxl->dxl_state_->goal_torque_ = dxl->convertValue2Torque(data);
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
}
}
// -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp
if (updated == true)
dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
}
}
}
// -> save to robot->sensors_[]->sensor_state_
if (robot_->sensors_.size() > 0)
{
for (auto& sensor_it : robot_->sensors_)
{
Sensor *sensor = sensor_it.second;
std::string port_name = sensor_it.second->port_name_;
std::string sensor_name = sensor_it.first;
if (sensor->bulk_read_items_.size() > 0)
{
bool updated = false;
uint32_t data = 0;
for (int i = 0; i < sensor->bulk_read_items_.size(); i++)
{
ControlTableItem *item = sensor->bulk_read_items_[i];
if (port_to_bulk_read_[port_name]->isAvailable(sensor->id_, item->address_, item->data_length_) == true)
{
updated = true;
data = port_to_bulk_read_[port_name]->getData(sensor->id_, item->address_, item->data_length_);
// change sensor_state
sensor->sensor_state_->bulk_read_table_[item->item_name_] = data;
}
}
// -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp
if (updated == true)
sensor->sensor_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
}
}