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Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
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kuka_eki_hw_interface/include/kuka_eki_hw_interface/kuka_eki_hw_interface.h
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kuka_eki_hw_interface/include/kuka_eki_hw_interface/kuka_eki_hw_interface.hpp
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| // Software License Agreement (3-Clause BSD License) | ||
| // | ||
| // Copyright (c) 2018, 3M | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the copyright holder nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
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| // Author: Brett Hemes (3M) <brhemes@mmm.com> | ||
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| #ifndef KUKA_EKI_HW_INTERFACE__KUKA_EKI_HW_INTERFACE_HPP_ | ||
| #define KUKA_EKI_HW_INTERFACE__KUKA_EKI_HW_INTERFACE_HPP_ | ||
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| #include <controller_manager/controller_manager.h> | ||
| #include <hardware_interface/joint_command_interface.h> | ||
| #include <hardware_interface/joint_state_interface.h> | ||
| #include <hardware_interface/robot_hw.h> | ||
| #include <ros/ros.h> | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include <boost/asio.hpp> | ||
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| namespace kuka_eki_hw_interface | ||
| { | ||
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| class KukaEkiHardwareInterface : public hardware_interface::RobotHW | ||
| { | ||
| private: | ||
| ros::NodeHandle nh_; | ||
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| const unsigned int n_dof_ = 6; | ||
| std::vector<std::string> joint_names_; | ||
| std::vector<double> joint_position_; | ||
| std::vector<double> joint_velocity_; | ||
| std::vector<double> joint_effort_; | ||
| std::vector<double> joint_position_command_; | ||
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| // EKI | ||
| std::string eki_server_address_; | ||
| std::string eki_server_port_; | ||
| int eki_cmd_buff_len_; | ||
| int eki_max_cmd_buff_len_ = | ||
| 5; // by default, limit command buffer to 5 (size of advance run in KRL) | ||
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| // Timing | ||
| ros::Duration control_period_; | ||
| ros::Duration elapsed_time_; | ||
| double loop_hz_; | ||
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| // Interfaces | ||
| hardware_interface::JointStateInterface joint_state_interface_; | ||
| hardware_interface::PositionJointInterface position_joint_interface_; | ||
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| // EKI socket read/write | ||
| int eki_read_state_timeout_ = 5; // [s]; settable by parameter (default = 5) | ||
| boost::asio::io_service ios_; | ||
| boost::asio::deadline_timer deadline_; | ||
| boost::asio::ip::udp::endpoint eki_server_endpoint_; | ||
| boost::asio::ip::udp::socket eki_server_socket_; | ||
| void eki_check_read_state_deadline(); | ||
| static void eki_handle_receive( | ||
| const boost::system::error_code & ec, size_t length, boost::system::error_code * out_ec, | ||
| size_t * out_length); | ||
| bool eki_read_state( | ||
| std::vector<double> & joint_position, std::vector<double> & joint_velocity, | ||
| std::vector<double> & joint_effort, int & cmd_buff_len); | ||
| bool eki_write_command(const std::vector<double> & joint_position); | ||
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| public: | ||
| KukaEkiHardwareInterface(); | ||
| ~KukaEkiHardwareInterface(); | ||
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| void init(); | ||
| void start(); | ||
| void read(const ros::Time & time, const ros::Duration & period); | ||
| void write(const ros::Time & time, const ros::Duration & period); | ||
| }; | ||
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| } // namespace kuka_eki_hw_interface | ||
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| #endif // KUKA_EKI_HW_INTERFACE__KUKA_EKI_HW_INTERFACE_HPP_ |
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| &ACCESS RVO | ||
| defdat kuka_eki_hw_interface | ||
| ext bas(bas_command :in,real :in ) | ||
| enddat | ||
| enddat |
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