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dsr_hw_interface.cpp
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dsr_hw_interface.cpp
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/*
* Inferfaces for doosan robot controllor
* Author: Kab Kyoum Kim (kabkyoum.kim@doosan.com)
*
* Copyright (c) 2019 Doosan Robotics
* Use of this source code is governed by the BSD, see LICENSE
*/
#include "dsr_control/dsr_hw_interface.h"
#include <boost/thread/thread.hpp>
#include <boost/assign/list_of.hpp>
#include <boost/bind.hpp>
#include <sstream>
CDRFL Drfl;
Serial_comm ser_comm;
bool g_bHasControlAuthority = FALSE;
bool g_bTpInitailizingComplted = FALSE;
bool g_bHommingCompleted = FALSE;
DR_STATE g_stDrState;
DR_ERROR g_stDrError;
int g_nAnalogOutputModeCh1;
int g_nAnalogOutputModeCh2;
#define STABLE_BAND_JNT 0.05
#define DSR_CTL_PUB_RATE 100 //[hz] 10ms <----- 퍼블리싱 주기, but OnMonitoringDataCB() 은 100ms 마다 불려짐을 유의!
namespace dsr_control{
const char* GetRobotStateString(int nState)
{
switch(nState)
{
case STATE_INITIALIZING: return "(0) INITIALIZING";
case STATE_STANDBY: return "(1) STANDBY";
case STATE_MOVING: return "(2) MOVING";
case STATE_SAFE_OFF: return "(3) SAFE_OFF";
case STATE_TEACHING: return "(4) TEACHING";
case STATE_SAFE_STOP: return "(5) SAFE_STOP";
case STATE_EMERGENCY_STOP: return "(6) EMERGENCY_STOP";
case STATE_HOMMING: return "(7) HOMMING";
case STATE_RECOVERY: return "(8) RECOVERY";
case STATE_SAFE_STOP2: return "(9) SAFE_STOP2";
case STATE_SAFE_OFF2: return "(10) SAFE_OFF2";
case STATE_RESERVED1: return "(11) RESERVED1";
case STATE_RESERVED2: return "(12) RESERVED2";
case STATE_RESERVED3: return "(13) RESERVED3";
case STATE_RESERVED4: return "(14) RESERVED4";
case STATE_NOT_READY: return "(15) NOT_READY";
default: return "UNKNOWN";
}
return "UNKNOWN";
}
int IsInposition(double dCurPosDeg[], double dCmdPosDeg[])
{
int cnt=0;
double dError[NUM_JOINT] ={0.0, };
for(int i=0;i<NUM_JOINT;i++)
{
dError[i] = dCurPosDeg[i] - dCmdPosDeg[i];
ROS_INFO("<inpos> %f = %f -%f",dError[i], dCurPosDeg[i], dCmdPosDeg[i]);
if(fabs(dError[i]) < STABLE_BAND_JNT)
cnt++;
}
if(NUM_JOINT == cnt)
return true;
else
return false;
}
//----- register the call-back functions ----------------------------------------
void DRHWInterface::OnTpInitializingCompletedCB()
{
// request control authority after TP initialized
cout << "[callback OnTpInitializingCompletedCB] tp initializing completed" << endl;
g_bTpInitailizingComplted = TRUE;
//Drfl.ManageAccessControl(MANAGE_ACCESS_CONTROL_REQUEST);
Drfl.ManageAccessControl(MANAGE_ACCESS_CONTROL_FORCE_REQUEST);
g_stDrState.bTpInitialized = TRUE;
}
void DRHWInterface::OnHommingCompletedCB()
{
g_bHommingCompleted = TRUE;
// Only work within 50msec
cout << "[callback OnHommingCompletedCB] homming completed" << endl;
g_stDrState.bHommingCompleted = TRUE;
}
void DRHWInterface::OnProgramStoppedCB(const PROGRAM_STOP_CAUSE iStopCause)
{
cout << "[callback OnProgramStoppedCB] Program Stop: " << (int)iStopCause << endl;
g_stDrState.bDrlStopped = TRUE;
}
// M2.4 or lower
void DRHWInterface::OnMonitoringCtrlIOCB (const LPMONITORING_CTRLIO pCtrlIO)
{
for (int i = 0; i < NUM_DIGITAL; i++){
if(pCtrlIO){
g_stDrState.bCtrlBoxDigitalOutput[i] = pCtrlIO->_tOutput._iTargetDO[i];
g_stDrState.bCtrlBoxDigitalInput[i] = pCtrlIO->_tInput._iActualDI[i];
}
}
}
// M2.5 or higher
void DRHWInterface::OnMonitoringCtrlIOExCB (const LPMONITORING_CTRLIO_EX pCtrlIO)
{
//ROS_INFO("DRHWInterface::OnMonitoringCtrlIOExCB");
for (int i = 0; i < NUM_DIGITAL; i++){
if(pCtrlIO){
g_stDrState.bCtrlBoxDigitalOutput[i] = pCtrlIO->_tOutput._iTargetDO[i];
g_stDrState.bCtrlBoxDigitalInput[i] = pCtrlIO->_tInput._iActualDI[i];
}
}
//----- In M2.5 version or higher The following variables were added -----
for (int i = 0; i < 3; i++)
g_stDrState.bActualSW[i] = pCtrlIO->_tInput._iActualSW[i];
for (int i = 0; i < 2; i++){
g_stDrState.bActualSI[i] = pCtrlIO->_tInput._iActualSI[i];
g_stDrState.fActualAI[i] = pCtrlIO->_tInput._fActualAI[i];
g_stDrState.iActualAT[i] = pCtrlIO->_tInput._iActualAT[i];
g_stDrState.fTargetAO[i] = pCtrlIO->_tOutput._fTargetAO[i];
g_stDrState.iTargetAT[i] = pCtrlIO->_tOutput._iTargetAT[i];
g_stDrState.bActualES[i] = pCtrlIO->_tEncoder._iActualES[i];
g_stDrState.iActualED[i] = pCtrlIO->_tEncoder._iActualED[i];
g_stDrState.bActualER[i] = pCtrlIO->_tEncoder._iActualER[i];
}
//-------------------------------------------------------------------------
}
// M2.4 or lower
void DRHWInterface::OnMonitoringDataCB(const LPMONITORING_DATA pData)
{
// This function is called every 100 msec
// Only work within 50msec
//ROS_INFO("DRHWInterface::OnMonitoringDataCB");
g_stDrState.nActualMode = pData->_tCtrl._tState._iActualMode; // position control: 0, torque control: 1 ?????
g_stDrState.nActualSpace = pData->_tCtrl._tState._iActualSpace; // joint space: 0, task space: 1
for (int i = 0; i < NUM_JOINT; i++){
if(pData){
// joint
g_stDrState.fCurrentPosj[i] = pData->_tCtrl._tJoint._fActualPos[i]; // Position Actual Value in INC
g_stDrState.fCurrentVelj[i] = pData->_tCtrl._tJoint._fActualVel[i]; // Velocity Actual Value
g_stDrState.fJointAbs[i] = pData->_tCtrl._tJoint._fActualAbs[i]; // Position Actual Value in ABS
g_stDrState.fJointErr[i] = pData->_tCtrl._tJoint._fActualErr[i]; // Joint Error
g_stDrState.fTargetPosj[i] = pData->_tCtrl._tJoint._fTargetPos[i]; // Target Position
g_stDrState.fTargetVelj[i] = pData->_tCtrl._tJoint._fTargetVel[i]; // Target Velocity
// task
g_stDrState.fCurrentPosx[i] = pData->_tCtrl._tTask._fActualPos[0][i]; //????? <---------이것 2개다 확인할 것
g_stDrState.fCurrentToolPosx[i] = pData->_tCtrl._tTask._fActualPos[1][i]; //????? <---------이것 2개다 확인할 것
g_stDrState.fCurrentVelx[i] = pData->_tCtrl._tTask._fActualVel[i]; // Velocity Actual Value
g_stDrState.fTaskErr[i] = pData->_tCtrl._tTask._fActualErr[i]; // Task Error
g_stDrState.fTargetPosx[i] = pData->_tCtrl._tTask._fTargetPos[i]; // Target Position
g_stDrState.fTargetVelx[i] = pData->_tCtrl._tTask._fTargetVel[i]; // Target Velocity
// Torque
g_stDrState.fDynamicTor[i] = pData->_tCtrl._tTorque._fDynamicTor[i]; // Dynamics Torque
g_stDrState.fActualJTS[i] = pData->_tCtrl._tTorque._fActualJTS[i]; // Joint Torque Sensor Value
g_stDrState.fActualEJT[i] = pData->_tCtrl._tTorque._fActualEJT[i]; // External Joint Torque
g_stDrState.fActualETT[i] = pData->_tCtrl._tTorque._fActualETT[i]; // External Task Force/Torque
g_stDrState.nActualBK[i] = pData->_tMisc._iActualBK[i]; // brake state
g_stDrState.fActualMC[i] = pData->_tMisc._fActualMC[i]; // motor input current
g_stDrState.fActualMT[i] = pData->_tMisc._fActualMT[i]; // motor current temperature
}
}
g_stDrState.nSolutionSpace = pData->_tCtrl._tTask._iSolutionSpace; // Solution Space
g_stDrState.dSyncTime = pData->_tMisc._dSyncTime; // inner clock counter
for (int i = 5; i < NUM_BUTTON; i++){
if(pData){
g_stDrState.nActualBT[i] = pData->_tMisc._iActualBT[i]; // robot button state
}
}
for(int i = 0; i < 3; i++){
for(int j = 0; j < 3; j++){
if(pData){
g_stDrState.fRotationMatrix[j][i] = pData->_tCtrl._tTask._fRotationMatrix[j][i]; // Rotation Matrix
}
}
}
for (int i = 0; i < NUM_FLANGE_IO; i++){
if(pData){
g_stDrState.bFlangeDigitalInput[i] = pData->_tMisc._iActualDI[i]; // Digital Input data
g_stDrState.bFlangeDigitalOutput[i] = pData->_tMisc._iActualDO[i]; // Digital output data
}
}
}
// M2.5 or higher
void DRHWInterface::OnMonitoringDataExCB(const LPMONITORING_DATA_EX pData)
{
// This function is called every 100 msec
// Only work within 50msec
//ROS_INFO("DRHWInterface::OnMonitoringDataExCB");
g_stDrState.nActualMode = pData->_tCtrl._tState._iActualMode; // position control: 0, torque control: 1 ?????
g_stDrState.nActualSpace = pData->_tCtrl._tState._iActualSpace; // joint space: 0, task space: 1
for (int i = 0; i < NUM_JOINT; i++){
if(pData){
// joint
g_stDrState.fCurrentPosj[i] = pData->_tCtrl._tJoint._fActualPos[i]; // Position Actual Value in INC
g_stDrState.fCurrentVelj[i] = pData->_tCtrl._tJoint._fActualVel[i]; // Velocity Actual Value
g_stDrState.fJointAbs[i] = pData->_tCtrl._tJoint._fActualAbs[i]; // Position Actual Value in ABS
g_stDrState.fJointErr[i] = pData->_tCtrl._tJoint._fActualErr[i]; // Joint Error
g_stDrState.fTargetPosj[i] = pData->_tCtrl._tJoint._fTargetPos[i]; // Target Position
g_stDrState.fTargetVelj[i] = pData->_tCtrl._tJoint._fTargetVel[i]; // Target Velocity
// task
g_stDrState.fCurrentPosx[i] = pData->_tCtrl._tTask._fActualPos[0][i]; //????? <---------이것 2개다 확인할 것
g_stDrState.fCurrentToolPosx[i] = pData->_tCtrl._tTask._fActualPos[1][i]; //????? <---------이것 2개다 확인할 것
g_stDrState.fCurrentVelx[i] = pData->_tCtrl._tTask._fActualVel[i]; // Velocity Actual Value
g_stDrState.fTaskErr[i] = pData->_tCtrl._tTask._fActualErr[i]; // Task Error
g_stDrState.fTargetPosx[i] = pData->_tCtrl._tTask._fTargetPos[i]; // Target Position
g_stDrState.fTargetVelx[i] = pData->_tCtrl._tTask._fTargetVel[i]; // Target Velocity
// Torque
g_stDrState.fDynamicTor[i] = pData->_tCtrl._tTorque._fDynamicTor[i]; // Dynamics Torque
g_stDrState.fActualJTS[i] = pData->_tCtrl._tTorque._fActualJTS[i]; // Joint Torque Sensor Value
g_stDrState.fActualEJT[i] = pData->_tCtrl._tTorque._fActualEJT[i]; // External Joint Torque
g_stDrState.fActualETT[i] = pData->_tCtrl._tTorque._fActualETT[i]; // External Task Force/Torque
g_stDrState.nActualBK[i] = pData->_tMisc._iActualBK[i]; // brake state
g_stDrState.fActualMC[i] = pData->_tMisc._fActualMC[i]; // motor input current
g_stDrState.fActualMT[i] = pData->_tMisc._fActualMT[i]; // motor current temperature
}
}
g_stDrState.nSolutionSpace = pData->_tCtrl._tTask._iSolutionSpace; // Solution Space
g_stDrState.dSyncTime = pData->_tMisc._dSyncTime; // inner clock counter
for (int i = 5; i < NUM_BUTTON; i++){
if(pData){
g_stDrState.nActualBT[i] = pData->_tMisc._iActualBT[i]; // robot button state
}
}
for(int i = 0; i < 3; i++){
for(int j = 0; j < 3; j++){
if(pData){
g_stDrState.fRotationMatrix[j][i] = pData->_tCtrl._tTask._fRotationMatrix[j][i]; // Rotation Matrix
}
}
}
for (int i = 0; i < NUM_FLANGE_IO; i++){
if(pData){
g_stDrState.bFlangeDigitalInput[i] = pData->_tMisc._iActualDI[i]; // Digital Input data
g_stDrState.bFlangeDigitalOutput[i] = pData->_tMisc._iActualDO[i]; // Digital output data
}
}
//----- In M2.5 version or higher The following variables were added -----
for (int i = 0; i < NUM_JOINT; i++){
g_stDrState.fActualW2B[i] = pData->_tCtrl._tWorld._fActualW2B[i];
g_stDrState.fCurrentVelW[i] = pData->_tCtrl._tWorld._fActualVel[i];
g_stDrState.fWorldETT[i] = pData->_tCtrl._tWorld._fActualETT[i];
g_stDrState.fTargetPosW[i] = pData->_tCtrl._tWorld._fTargetPos[i];
g_stDrState.fTargetVelW[i] = pData->_tCtrl._tWorld._fTargetVel[i];
g_stDrState.fCurrentVelU[i] = pData->_tCtrl._tWorld._fActualVel[i];
g_stDrState.fUserETT[i] = pData->_tCtrl._tUser._fActualETT[i];
g_stDrState.fTargetPosU[i] = pData->_tCtrl._tUser._fTargetPos[i];
g_stDrState.fTargetVelU[i] = pData->_tCtrl._tUser._fTargetVel[i];
}
for(int i = 0; i < 2; i++){
for(int j = 0; j < 6; j++){
g_stDrState.fCurrentPosW[i][j] = pData->_tCtrl._tWorld._fActualPos[i][j];
g_stDrState.fCurrentPosU[i][j] = pData->_tCtrl._tUser._fActualPos[i][j];
}
}
for(int i = 0; i < 3; i++){
for(int j = 0; j < 3; j++){
g_stDrState.fRotationMatrixWorld[j][i] = pData->_tCtrl._tWorld._fRotationMatrix[j][i];
g_stDrState.fRotationMatrixUser[j][i] = pData->_tCtrl._tUser._fRotationMatrix[j][i];
}
}
g_stDrState.iActualUCN = pData->_tCtrl._tUser._iActualUCN;
g_stDrState.iParent = pData->_tCtrl._tUser._iParent;
//-------------------------------------------------------------------------
}
void DRHWInterface::OnMonitoringModbusCB (const LPMONITORING_MODBUS pModbus)
{
g_stDrState.nRegCount = pModbus->_iRegCount;
for (int i = 0; i < pModbus->_iRegCount; i++){
cout << "[callback OnMonitoringModbusCB] " << pModbus->_tRegister[i]._szSymbol <<": " << pModbus->_tRegister[i]._iValue<< endl;
g_stDrState.strModbusSymbol[i] = pModbus->_tRegister[i]._szSymbol;
g_stDrState.nModbusValue[i] = pModbus->_tRegister[i]._iValue;
}
}
void DRHWInterface::OnMonitoringStateCB(const ROBOT_STATE eState)
{
//This function is called when the state changes.
//ROS_INFO("DRHWInterface::OnMonitoringStateCB");
// Only work within 50msec
ROS_INFO("On Monitor State");
switch((unsigned char)eState)
{
#if 0 // TP initializing logic, Don't use in API level. (If you want to operate without TP, use this logic)
case eSTATE_NOT_READY:
if (g_bHasControlAuthority) Drfl.SetRobotControl(CONTROL_INIT_CONFIG);
break;
case eSTATE_INITIALIZING:
// add initalizing logic
if (g_bHasControlAuthority) Drfl.SetRobotControl(CONTROL_ENABLE_OPERATION);
break;
#endif
case STATE_EMERGENCY_STOP:
// popup
break;
case STATE_STANDBY:
case STATE_MOVING:
case STATE_TEACHING:
break;
case STATE_SAFE_STOP:
if (g_bHasControlAuthority) {
Drfl.SetSafeStopResetType(SAFE_STOP_RESET_TYPE_DEFAULT);
Drfl.SetRobotControl(CONTROL_RESET_SAFET_STOP);
}
break;
case STATE_SAFE_OFF:
if (g_bHasControlAuthority){
Drfl.SetRobotControl(CONTROL_SERVO_ON);
Drfl.SetRobotMode(ROBOT_MODE_MANUAL); //Idle Servo Off 후 servo on 하는 상황 발생 시 set_robot_mode 명령을 전송해 manual 로 전환. add 2020/04/28
}
break;
case STATE_SAFE_STOP2:
if (g_bHasControlAuthority) Drfl.SetRobotControl(CONTROL_RECOVERY_SAFE_STOP);
break;
case STATE_SAFE_OFF2:
if (g_bHasControlAuthority) {
Drfl.SetRobotControl(CONTROL_RECOVERY_SAFE_OFF);
}
break;
case STATE_RECOVERY:
Drfl.SetRobotControl(CONTROL_RESET_RECOVERY);
break;
default:
break;
}
cout << "[callback OnMonitoringStateCB] current state: " << GetRobotStateString((int)eState) << endl;
g_stDrState.nRobotState = (int)eState;
strncpy(g_stDrState.strRobotState, GetRobotStateString((int)eState), MAX_SYMBOL_SIZE);
}
void DRHWInterface::OnMonitoringAccessControlCB(const MONITORING_ACCESS_CONTROL eAccCtrl)
{
// Only work within 50msec
cout << "[callback OnMonitoringAccessControlCB] eAccCtrl: " << eAccCtrl << endl;
switch(eAccCtrl)
{
case MONITORING_ACCESS_CONTROL_REQUEST:
Drfl.ManageAccessControl(MANAGE_ACCESS_CONTROL_RESPONSE_NO);
//Drfl.TransitControlAuth(MANaGE_ACCESS_CONTROL_RESPONSE_YES);
break;
case MONITORING_ACCESS_CONTROL_GRANT:
cout << "access control granted" << endl;
g_bHasControlAuthority = TRUE;
OnMonitoringStateCB(Drfl.GetRobotState());
break;
case MONITORING_ACCESS_CONTROL_DENY:
ROS_INFO("Access control deny !!!!!!!!!!!!!!!");
break;
case MONITORING_ACCESS_CONTROL_LOSS:
g_bHasControlAuthority = FALSE;
if (g_bTpInitailizingComplted) {
Drfl.ManageAccessControl(MANAGE_ACCESS_CONTROL_REQUEST);
//Drfl.TransitControlAuth(MANAGE_ACCESS_CONTROL_FORCE_REQUEST);
}
break;
default:
break;
}
g_stDrState.nAccessControl = (int)eAccCtrl;
}
void DRHWInterface::OnLogAlarm(LPLOG_ALARM pLogAlarm)
{
//This function is called when an error occurs.
ros::NodeHandlePtr node=boost::make_shared<ros::NodeHandle>();
ros::Publisher PubRobotError=node->advertise<dsr_msgs::RobotError>("error",100);
dsr_msgs::RobotError msg;
switch(pLogAlarm->_iLevel)
{
case LOG_LEVEL_SYSINFO:
ROS_INFO("[callback OnLogAlarm]");
ROS_INFO(" level : %d",(unsigned int)pLogAlarm->_iLevel);
ROS_INFO(" group : %d",(unsigned int)pLogAlarm->_iGroup);
ROS_INFO(" index : %d", pLogAlarm->_iIndex);
ROS_INFO(" param : %s", pLogAlarm->_szParam[0] );
ROS_INFO(" param : %s", pLogAlarm->_szParam[1] );
ROS_INFO(" param : %s", pLogAlarm->_szParam[2] );
break;
case LOG_LEVEL_SYSWARN:
ROS_WARN("[callback OnLogAlarm]");
ROS_WARN(" level : %d",(unsigned int)pLogAlarm->_iLevel);
ROS_WARN(" group : %d",(unsigned int)pLogAlarm->_iGroup);
ROS_WARN(" index : %d", pLogAlarm->_iIndex);
ROS_WARN(" param : %s", pLogAlarm->_szParam[0] );
ROS_WARN(" param : %s", pLogAlarm->_szParam[1] );
ROS_WARN(" param : %s", pLogAlarm->_szParam[2] );
break;
case LOG_LEVEL_SYSERROR:
default:
ROS_ERROR("[callback OnLogAlarm]");
ROS_ERROR(" level : %d",(unsigned int)pLogAlarm->_iLevel);
ROS_ERROR(" group : %d",(unsigned int)pLogAlarm->_iGroup);
ROS_ERROR(" index : %d", pLogAlarm->_iIndex);
ROS_ERROR(" param : %s", pLogAlarm->_szParam[0] );
ROS_ERROR(" param : %s", pLogAlarm->_szParam[1] );
ROS_ERROR(" param : %s", pLogAlarm->_szParam[2] );
break;
}
g_stDrError.nLevel=(unsigned int)pLogAlarm->_iLevel;
g_stDrError.nGroup=(unsigned int)pLogAlarm->_iGroup;
g_stDrError.nCode=pLogAlarm->_iIndex;
strncpy(g_stDrError.strMsg1, pLogAlarm->_szParam[0], MAX_STRING_SIZE);
strncpy(g_stDrError.strMsg2, pLogAlarm->_szParam[1], MAX_STRING_SIZE);
strncpy(g_stDrError.strMsg3, pLogAlarm->_szParam[2], MAX_STRING_SIZE);
msg.level=g_stDrError.nLevel;
msg.group=g_stDrError.nGroup;
msg.code=g_stDrError.nCode;
msg.msg1=g_stDrError.strMsg1;
msg.msg2=g_stDrError.strMsg2;
msg.msg3=g_stDrError.strMsg3;
PubRobotError.publish(msg);
}
//----- register the call-back functions end -------------------------------------
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void MsgScriber(const dsr_msgs::RobotStop::ConstPtr& msg)
{
//ROS_INFO("receive msg.stop_mode = %d", msg->stop_mode);
//ROS_INFO("receive msg.stop_mode = %d", msg->stop_mode);
ROS_INFO("receive msg.stop_mode = %d", msg->stop_mode);
Drfl.MoveStop((STOP_TYPE)msg->stop_mode);
}
int DRHWInterface::MsgPublisher_RobotState()
{
dsr_msgs::RobotState msg;
dsr_msgs::ModbusState modbus_state;
memcpy(&m_stDrState, &g_stDrState, sizeof(DR_STATE));
msg.robot_state = m_stDrState.nRobotState;
msg.robot_state_str = m_stDrState.strRobotState;
msg.actual_mode = m_stDrState.nActualMode;
msg.actual_space = m_stDrState.nActualSpace;
for (int i = 0; i < NUM_JOINT; i++)
{
msg.current_posj[i] = m_stDrState.fCurrentPosj[i];
msg.current_velj[i] = m_stDrState.fCurrentVelj[i];
msg.joint_abs[i] = m_stDrState.fJointAbs[i];
msg.joint_err[i] = m_stDrState.fJointErr[i];
msg.target_posj[i] = m_stDrState.fTargetPosj[i];
msg.target_velj[i] = m_stDrState.fTargetVelj[i];
msg.current_posx[i] = m_stDrState.fCurrentPosx[i];
msg.current_tool_posx[i] = m_stDrState.fCurrentToolPosx[i];
msg.current_velx[i] = m_stDrState.fCurrentVelx[i];
msg.task_err[i] = m_stDrState.fTaskErr[i];
msg.target_velx[i] = m_stDrState.fTargetVelx[i];
msg.target_posx[i] = m_stDrState.fTargetPosx[i];
msg.dynamic_tor[i] = m_stDrState.fDynamicTor[i];
msg.actual_jts[i] = m_stDrState.fActualJTS[i];
msg.actual_ejt[i] = m_stDrState.fActualEJT[i];
msg.actual_ett[i] = m_stDrState.fActualETT[i];
msg.actual_bk[i] = m_stDrState.nActualBK[i];
msg.actual_mc[i] = m_stDrState.fActualMC[i];
msg.actual_mt[i] = m_stDrState.fActualMT[i];
}
msg.solution_space = m_stDrState.nSolutionSpace;
msg.sync_time = m_stDrState.dSyncTime;
std_msgs::Float64MultiArray arr;
for (int i = 0; i < 3; i++){
arr.data.clear();
for (int j = 0; j < 3; j++){
arr.data.push_back(m_stDrState.fRotationMatrix[i][j]);
}
msg.rotation_matrix.push_back(arr);
}
for (int i = 0; i < NUM_BUTTON; i++){
msg.actual_bt[i] = m_stDrState.nActualBT[i];
}
for (int i = 0; i < NUM_DIGITAL; i++){
msg.ctrlbox_digital_input[i] = m_stDrState.bCtrlBoxDigitalInput[i];
msg.ctrlbox_digital_output[i] = m_stDrState.bCtrlBoxDigitalOutput[i];
}
for (int i = 0; i < NUM_FLANGE_IO; i++){
msg.flange_digital_input[i] = m_stDrState.bFlangeDigitalInput[i];
msg.flange_digital_output[i] = m_stDrState.bFlangeDigitalOutput[i];
}
//msg.io_modbus; GJH
for (int i = 0; i < m_stDrState.nRegCount; i++){
modbus_state.modbus_symbol = m_stDrState.strModbusSymbol[i];
modbus_state.modbus_value = m_stDrState.nModbusValue[i];
msg.modbus_state.push_back(modbus_state);
}
//msg.error; GJH
msg.access_control = m_stDrState.nAccessControl;
msg.homming_completed = m_stDrState.bHommingCompleted;
msg.tp_initialized = m_stDrState.bTpInitialized;
msg.mastering_need = m_stDrState.bMasteringNeed;
msg.drl_stopped = m_stDrState.bDrlStopped;
msg.disconnected = m_stDrState.bDisconnected;
//--- The following messages have been updated since version M2.50 or higher ---
if(m_nVersionDRCF >= 120500) //M2.5 or later
{
for (int i = 0; i < NUM_JOINT; i++){
msg.fActualW2B[i] = m_stDrState.fActualW2B[i];
msg.fCurrentVelW[i] = m_stDrState.fCurrentVelW[i];
msg.fWorldETT[i] = m_stDrState.fWorldETT[i];
msg.fTargetPosW[i] = m_stDrState.fTargetPosW[i];
msg.fTargetVelW[i] = m_stDrState.fTargetVelW[i];
msg.fCurrentVelU[i] = m_stDrState.fCurrentVelU[i];
msg.fUserETT[i] = m_stDrState.fUserETT[i];
msg.fTargetPosU[i] = m_stDrState.fTargetPosU[i];
msg.fTargetVelU[i] = m_stDrState.fTargetVelU[i];
}
for(int i = 0; i < 2; i++){
arr.data.clear();
for(int j = 0; j < 6; j++){
arr.data.push_back(m_stDrState.fCurrentPosW[i][j]);
}
msg.fCurrentPosW.push_back(arr);
}
for(int i = 0; i < 2; i++){
arr.data.clear();
for(int j = 0; j < 6; j++){
arr.data.push_back(m_stDrState.fCurrentPosU[i][j]);
}
msg.fCurrentPosU.push_back(arr);
}
for(int i = 0; i < 3; i++){
arr.data.clear();
for(int j = 0; j < 3; j++){
arr.data.push_back(m_stDrState.fRotationMatrixWorld[i][j]);
}
msg.fRotationMatrixWorld.push_back(arr);
}
for(int i = 0; i < 3; i++){
arr.data.clear();
for(int j = 0; j < 3; j++){
arr.data.push_back(m_stDrState.fRotationMatrixUser[i][j]);
}
msg.fRotationMatrixUser.push_back(arr);
}
msg.iActualUCN = m_stDrState.iActualUCN;
msg.iParent = m_stDrState.iParent;
for (int i = 0; i < 3; i++)
msg.bActualSW[i] = m_stDrState.bActualSW[i];
for (int i = 0; i < 2; i++){
msg.bActualSI[i] = m_stDrState.bActualSI[i];
msg.fActualAI[i] = m_stDrState.fActualAI[i];
msg.iActualAT[i] = m_stDrState.iActualAT[i];
msg.fTargetAO[i] = m_stDrState.fTargetAO[i];
msg.iTargetAT[i] = m_stDrState.iTargetAT[i];
msg.bActualES[i] = m_stDrState.bActualES[i];
msg.iActualED[i] = m_stDrState.iActualED[i];
msg.bActualER[i] = m_stDrState.bActualER[i];
}
}
//------------------------------------------------------------------------------
m_PubRobotState.publish(msg);
return 0;
}
/* 현재 미사용 : DRHWInterface::OnLogAlarm 에서 바로 퍼블리싱 함.
int DRHWInterface::MsgPublisher_RobotError()
{
dsr_msgs::RobotError msg;
memcpy(&m_stDrError, &g_stDrError, sizeof(DR_ERROR));
msg.level = m_stDrError.nLevel;
msg.group = m_stDrError.nGroup;
msg.code = m_stDrError.nCode;
msg.msg1 = m_stDrError.strMsg1;
msg.msg2 = m_stDrError.strMsg2;
msg.msg3 = m_stDrError.strMsg3;
m_PubRobotError.publish(msg);
return 0;
}
*/
void DRHWInterface::thread_subscribe(ros::NodeHandle nh)
{
//ros::NodeHandlePtr node = boost::make_shared<ros::NodeHandle>();
ros::Subscriber sub_robot_stop = nh.subscribe("stop", 100, MsgScriber);
//ros::spin();
ros::MultiThreadedSpinner spinner(2);
spinner.spin();
}
void DRHWInterface::thread_publisher(DRHWInterface* pDRHWInterface, ros::NodeHandle nh, int nPubRate)
{
//ros::NodeHandlePtr node = boost::make_shared<ros::NodeHandle>();
ros::Publisher PubRobotState = nh.advertise<dsr_msgs::RobotState>("state",100);
dsr_msgs::RobotState msg;
ros::Rate r(nPubRate);
while (ros::ok())
{
//ROS_INFO("thread_publisher running!");
if(pDRHWInterface) pDRHWInterface->MsgPublisher_RobotState();
r.sleep();
}
}
DRHWInterface::DRHWInterface(ros::NodeHandle& nh):private_nh_(nh)
{
/*
<arg name="ns" value="$(arg ns)"/>
<arg name="model" value="$(arg model)"/>
<arg name="host" value="$(arg host)"/>
<arg name="mode" value="$(arg mode)"/>
*/
private_nh_.getParam("name", m_strRobotName);
private_nh_.getParam("model", m_strRobotModel);
private_nh_.getParam("gripper", m_strRobotGripper);
ROS_INFO("name_space is %s, %s\n",m_strRobotName.c_str(), m_strRobotModel.c_str());
ROS_INFO("[dsr_hw_interface] constructed");
ros::V_string arm_joint_names;
if(m_strRobotGripper == "robotiq_2f"){
arm_joint_names =
boost::assign::list_of("joint1")("joint2")("joint3")("joint4")("joint5")("joint6")("robotiq_85_left_knuckle_joint").convert_to_container<ros::V_string>();
}
else if(m_strRobotGripper == "none")
{
arm_joint_names =
boost::assign::list_of("joint1")("joint2")("joint3")("joint4")("joint5")("joint6").convert_to_container<ros::V_string>();
}
for(unsigned int i = 0; i < arm_joint_names.size(); i++){
hardware_interface::JointStateHandle jnt_state_handle(
arm_joint_names[i],
&joints[i].pos,
&joints[i].vel,
&joints[i].eff);
jnt_state_interface.registerHandle(jnt_state_handle);
hardware_interface::JointHandle jnt_pos_handle(
jnt_state_handle,
&joints[i].cmd);
jnt_pos_interface.registerHandle(jnt_pos_handle);
}
registerInterface(&jnt_state_interface);
registerInterface(&jnt_pos_interface);
/*ros::V_string joint_names = boost::assign::list_of("front_left_wheel")("front_right_wheel")("rear_left_wheel")("rear_right_wheel");
for (unsigned int i = 0; i < joint_names.size(); i++){
hardware_interface::JointStateHandle joint_state_handle(joint_names[i], &joints[i].pos, &joints[i].vel, &joints[i].eff);
jnt_state_interface.registerHandle(joint_state_handle);
hardware_interface::JointHandle joint_handle(joint_state_handle, &joints[i].cmd);
velocity_joint_interface_.registerHandle(joint_handle);
}
registerInterface(&velocity_joint_interface_);
*/
// Publisher msg
m_PubRobotState = private_nh_.advertise<dsr_msgs::RobotState>("state",100);
m_PubRobotError = private_nh_.advertise<dsr_msgs::RobotError>("error",100);
///m_PubJogMultiAxis = private_nh_.advertise<dsr_msgs::JogMultiAxis>("jog_multi",100);
// gazebo에 joint position 전달
m_PubtoGazebo = private_nh_.advertise<std_msgs::Float64MultiArray>("/dsr_joint_position_controller/command",10);
// moveit의 trajectory/goal를 받아 제어기로 전달
m_sub_joint_trajectory = private_nh_.subscribe("dsr_joint_trajectory_controller/follow_joint_trajectory/goal", 10, &DRHWInterface::trajectoryCallback, this);
// topic echo 명령으로 제어기에 전달
m_sub_joint_position = private_nh_.subscribe("dsr_joint_position_controller/command", 10, &DRHWInterface::positionCallback, this);
ros::NodeHandle nh_temp;
m_SubSerialRead = nh_temp.subscribe("serial_read", 100, &Serial_comm::read_callback, &ser_comm);
m_PubSerialWrite = nh_temp.advertise<std_msgs::String>("serial_write", 100);
// subscribe : Multi-JOG topic msg
m_sub_jog_multi_axis = private_nh_.subscribe("jog_multi", 10, &DRHWInterface::jogCallback, this);
// system Operations
m_nh_system[0] = private_nh_.advertiseService("system/set_robot_mode", &DRHWInterface::set_robot_mode_cb, this);
m_nh_system[1] = private_nh_.advertiseService("system/get_robot_mode", &DRHWInterface::get_robot_mode_cb, this);
m_nh_system[2] = private_nh_.advertiseService("system/set_robot_system", &DRHWInterface::set_robot_system_cb, this);
m_nh_system[3] = private_nh_.advertiseService("system/get_robot_system", &DRHWInterface::get_robot_system_cb, this);
m_nh_system[4] = private_nh_.advertiseService("system/set_robot_speed_mode", &DRHWInterface::set_robot_speed_mode_cb, this);
m_nh_system[5] = private_nh_.advertiseService("system/get_robot_speed_mode", &DRHWInterface::get_robot_speed_mode_cb, this);
m_nh_system[6] = private_nh_.advertiseService("system/get_current_pose", &DRHWInterface::get_current_pose_cb, this);
m_nh_system[7] = private_nh_.advertiseService("system/get_current_solution_space", &DRHWInterface::get_current_solution_space_cb, this);
m_nh_system[8] = private_nh_.advertiseService("system/set_safe_stop_reset_type", &DRHWInterface::set_safe_stop_reset_type_cb, this);
m_nh_system[9] = private_nh_.advertiseService("system/get_last_alarm", &DRHWInterface::get_last_alarm_cb, this);
m_nh_system[10]= private_nh_.advertiseService("system/get_robot_state", &DRHWInterface::get_robot_state_cb, this);
m_nh_system[11]= private_nh_.advertiseService("system/get_joint_torque", &DRHWInterface::get_joint_torque_cb, this);
// motion Operations
m_nh_motion_service[0] = private_nh_.advertiseService("motion/move_joint", &DRHWInterface::movej_cb, this);
m_nh_motion_service[1] = private_nh_.advertiseService("motion/move_line", &DRHWInterface::movel_cb, this);
m_nh_motion_service[2] = private_nh_.advertiseService("motion/move_jointx", &DRHWInterface::movejx_cb, this);
m_nh_motion_service[3] = private_nh_.advertiseService("motion/move_circle", &DRHWInterface::movec_cb, this);
m_nh_motion_service[4] = private_nh_.advertiseService("motion/move_spline_joint", &DRHWInterface::movesj_cb, this);
m_nh_motion_service[5] = private_nh_.advertiseService("motion/move_spline_task", &DRHWInterface::movesx_cb, this);
m_nh_motion_service[6] = private_nh_.advertiseService("motion/move_blending", &DRHWInterface::moveb_cb, this);
m_nh_motion_service[7] = private_nh_.advertiseService("motion/move_spiral", &DRHWInterface::movespiral_cb, this);
m_nh_motion_service[8] = private_nh_.advertiseService("motion/move_periodic", &DRHWInterface::moveperiodic_cb, this);
m_nh_motion_service[9] = private_nh_.advertiseService("motion/move_wait", &DRHWInterface::movewait_cb, this);
m_nh_motion_service[10]= private_nh_.advertiseService("motion/jog", &DRHWInterface::jog_cb, this);
m_nh_motion_service[11]= private_nh_.advertiseService("motion/jog_multi", &DRHWInterface::jog_multi_cb, this);
m_nh_motion_service[12]= private_nh_.advertiseService("motion/move_stop", &DRHWInterface::move_stop_cb, this);
m_nh_motion_service[13]= private_nh_.advertiseService("motion/move_pause", &DRHWInterface::move_pause_cb, this);
m_nh_motion_service[14]= private_nh_.advertiseService("motion/move_resume", &DRHWInterface::move_resume_cb, this);
m_nh_motion_service[15]= private_nh_.advertiseService("motion/trans", &DRHWInterface::trans_cb, this);
m_nh_motion_service[16]= private_nh_.advertiseService("motion/fkin", &DRHWInterface::fkin_cb, this);
m_nh_motion_service[17]= private_nh_.advertiseService("motion/ikin", &DRHWInterface::ikin_cb, this);
m_nh_motion_service[18]= private_nh_.advertiseService("motion/set_ref_coord", &DRHWInterface::set_ref_coord_cb, this);
m_nh_motion_service[19]= private_nh_.advertiseService("motion/move_home", &DRHWInterface::move_home_cb, this);
m_nh_motion_service[20]= private_nh_.advertiseService("motion/check_motion", &DRHWInterface::check_motion_cb, this);
m_nh_motion_service[21]= private_nh_.advertiseService("motion/change_operation_speed", &DRHWInterface::change_operation_speed_cb, this);
m_nh_motion_service[22]= private_nh_.advertiseService("motion/enable_alter_motion", &DRHWInterface::enable_alter_motion_cb, this);
m_nh_motion_service[23]= private_nh_.advertiseService("motion/alter_motion", &DRHWInterface::alter_motion_cb, this);
m_nh_motion_service[24]= private_nh_.advertiseService("motion/disable_alter_motion", &DRHWInterface::disable_alter_motion_cb, this);
m_nh_motion_service[25]= private_nh_.advertiseService("motion/set_singularity_handling", &DRHWInterface::set_singularity_handling_cb, this);
// Auxiliary Control Operations
m_nh_aux_control_service[0] = private_nh_.advertiseService("aux_control/get_control_mode", &DRHWInterface::get_control_mode_cb, this);
m_nh_aux_control_service[1] = private_nh_.advertiseService("aux_control/get_control_space", &DRHWInterface::get_control_space_cb, this);
m_nh_aux_control_service[2] = private_nh_.advertiseService("aux_control/get_current_posj", &DRHWInterface::get_current_posj_cb, this);
m_nh_aux_control_service[3] = private_nh_.advertiseService("aux_control/get_current_velj", &DRHWInterface::get_current_velj_cb, this);
m_nh_aux_control_service[4] = private_nh_.advertiseService("aux_control/get_desired_posj", &DRHWInterface::get_desired_posj_cb, this);
m_nh_aux_control_service[5] = private_nh_.advertiseService("aux_control/get_desired_velj", &DRHWInterface::get_desired_velj_cb, this);
m_nh_aux_control_service[6] = private_nh_.advertiseService("aux_control/get_current_posx", &DRHWInterface::get_current_posx_cb, this);
m_nh_aux_control_service[7] = private_nh_.advertiseService("aux_control/get_current_velx", &DRHWInterface::get_current_velx_cb, this);
m_nh_aux_control_service[8] = private_nh_.advertiseService("aux_control/get_desired_posx", &DRHWInterface::get_desired_posx_cb, this);
m_nh_aux_control_service[9] = private_nh_.advertiseService("aux_control/get_desired_velx", &DRHWInterface::get_desired_velx_cb, this);
m_nh_aux_control_service[10] = private_nh_.advertiseService("aux_control/get_current_tool_flange_posx", &DRHWInterface::get_current_tool_flange_posx_cb, this);
m_nh_aux_control_service[11] = private_nh_.advertiseService("aux_control/get_current_solution_space", &DRHWInterface::get_current_solution_space_cb, this);
m_nh_aux_control_service[12] = private_nh_.advertiseService("aux_control/get_current_rotm", &DRHWInterface::get_current_rotm_cb, this);
m_nh_aux_control_service[13] = private_nh_.advertiseService("aux_control/get_joint_torque", &DRHWInterface::get_joint_torque_cb, this);
m_nh_aux_control_service[14] = private_nh_.advertiseService("aux_control/get_external_torque", &DRHWInterface::get_external_torque_cb, this);
m_nh_aux_control_service[15] = private_nh_.advertiseService("aux_control/get_tool_force", &DRHWInterface::get_tool_force_cb, this);
m_nh_aux_control_service[16] = private_nh_.advertiseService("aux_control/get_solution_space", &DRHWInterface::get_solution_space_cb, this);
m_nh_aux_control_service[17] = private_nh_.advertiseService("aux_control/get_orientation_error", &DRHWInterface::get_orientation_error_cb, this);
//force & stiffness
m_nh_force_service[0] = private_nh_.advertiseService("force/parallel_axis1", &DRHWInterface::parallel_axis1_cb, this);
m_nh_force_service[1] = private_nh_.advertiseService("force/parallel_axis2", &DRHWInterface::parallel_axis2_cb, this);
m_nh_force_service[2] = private_nh_.advertiseService("force/align_axis1", &DRHWInterface::align_axis1_cb, this);
m_nh_force_service[3] = private_nh_.advertiseService("force/align_axis2", &DRHWInterface::align_axis2_cb, this);
m_nh_force_service[4] = private_nh_.advertiseService("force/is_done_bolt_tightening", &DRHWInterface::is_done_bolt_tightening_cb, this);
m_nh_force_service[5] = private_nh_.advertiseService("force/release_compliance_ctrl", &DRHWInterface::release_compliance_ctrl_cb, this);
m_nh_force_service[6] = private_nh_.advertiseService("force/task_compliance_ctrl", &DRHWInterface::task_compliance_ctrl_cb, this);
m_nh_force_service[7] = private_nh_.advertiseService("force/set_stiffnessx", &DRHWInterface::set_stiffnessx_cb, this);
m_nh_force_service[8] = private_nh_.advertiseService("force/calc_coord", &DRHWInterface::calc_coord_cb, this);
m_nh_force_service[9] = private_nh_.advertiseService("force/set_user_cart_coord1", &DRHWInterface::set_user_cart_coord1_cb, this);
m_nh_force_service[10]= private_nh_.advertiseService("force/set_user_cart_coord2", &DRHWInterface::set_user_cart_coord2_cb, this);
m_nh_force_service[11]= private_nh_.advertiseService("force/set_user_cart_coord3", &DRHWInterface::set_user_cart_coord3_cb, this);
m_nh_force_service[12]= private_nh_.advertiseService("force/overwrite_user_cart_coord", &DRHWInterface::overwrite_user_cart_coord_cb, this);
m_nh_force_service[13]= private_nh_.advertiseService("force/get_user_cart_coord", &DRHWInterface::get_user_cart_coord_cb, this);
m_nh_force_service[14]= private_nh_.advertiseService("force/set_desired_force", &DRHWInterface::set_desired_force_cb, this);
m_nh_force_service[15]= private_nh_.advertiseService("force/release_force", &DRHWInterface::release_force_cb, this);
m_nh_force_service[16]= private_nh_.advertiseService("force/check_position_condition", &DRHWInterface::check_position_condition_cb, this);
m_nh_force_service[17]= private_nh_.advertiseService("force/check_force_condition", &DRHWInterface::check_force_condition_cb, this);
m_nh_force_service[18]= private_nh_.advertiseService("force/check_orientation_condition1", &DRHWInterface::check_orientation_condition1_cb, this);
m_nh_force_service[19]= private_nh_.advertiseService("force/check_orientation_condition2", &DRHWInterface::check_orientation_condition2_cb, this);
m_nh_force_service[20]= private_nh_.advertiseService("force/coord_transform", &DRHWInterface::coord_transform_cb, this);
m_nh_force_service[21]= private_nh_.advertiseService("force/get_workpiece_weight", &DRHWInterface::get_workpiece_weight_cb, this);
m_nh_force_service[22]= private_nh_.advertiseService("force/reset_workpiece_weight", &DRHWInterface::reset_workpiece_weight_cb, this);
// GPIO Operations
m_nh_io_service[0] = private_nh_.advertiseService("io/set_digital_output", &DRHWInterface::set_digital_output_cb, this);
m_nh_io_service[1] = private_nh_.advertiseService("io/get_digital_input", &DRHWInterface::get_digital_input_cb, this);
m_nh_io_service[2] = private_nh_.advertiseService("io/set_tool_digital_output", &DRHWInterface::set_tool_digital_output_cb, this);
m_nh_io_service[3] = private_nh_.advertiseService("io/get_tool_digital_input", &DRHWInterface::get_tool_digital_input_cb, this);
m_nh_io_service[4] = private_nh_.advertiseService("io/set_analog_output", &DRHWInterface::set_analog_output_cb, this);
m_nh_io_service[5] = private_nh_.advertiseService("io/get_analog_input", &DRHWInterface::get_analog_input_cb, this);
m_nh_io_service[6] = private_nh_.advertiseService("io/set_analog_output_type", &DRHWInterface::set_analog_output_type_cb, this);
m_nh_io_service[7] = private_nh_.advertiseService("io/set_analog_input_type", &DRHWInterface::set_analog_input_type_cb, this);
m_nh_io_service[8] = private_nh_.advertiseService("io/get_digital_output", &DRHWInterface::get_digital_output_cb, this);
m_nh_io_service[9] = private_nh_.advertiseService("io/get_tool_digital_output", &DRHWInterface::get_tool_digital_output_cb, this);
// Modbus Operations
m_nh_modbus_service[0] = private_nh_.advertiseService("modbus/set_modbus_output", &DRHWInterface::set_modbus_output_cb, this);
m_nh_modbus_service[1] = private_nh_.advertiseService("modbus/get_modbus_input", &DRHWInterface::get_modbus_input_cb, this);
m_nh_modbus_service[2] = private_nh_.advertiseService("modbus/config_create_modbus", &DRHWInterface::config_create_modbus_cb, this);
m_nh_modbus_service[3] = private_nh_.advertiseService("modbus/config_delete_modbus", &DRHWInterface::config_delete_modbus_cb, this);
// TCP Operations
m_nh_tcp_service[0] = private_nh_.advertiseService("tcp/set_current_tcp", &DRHWInterface::set_current_tcp_cb, this);
m_nh_tcp_service[1] = private_nh_.advertiseService("tcp/get_current_tcp", &DRHWInterface::get_current_tcp_cb, this);
m_nh_tcp_service[2] = private_nh_.advertiseService("tcp/config_create_tcp", &DRHWInterface::config_create_tcp_cb, this);
m_nh_tcp_service[3] = private_nh_.advertiseService("tcp/config_delete_tcp", &DRHWInterface::config_delete_tcp_cb, this);
// Tool Operations
m_nh_tool_service[0] = private_nh_.advertiseService("tool/set_current_tool", &DRHWInterface::set_current_tool_cb, this);
m_nh_tool_service[1] = private_nh_.advertiseService("tool/get_current_tool", &DRHWInterface::get_current_tool_cb, this);
m_nh_tool_service[2] = private_nh_.advertiseService("tool/config_create_tool", &DRHWInterface::config_create_tool_cb, this);
m_nh_tool_service[3] = private_nh_.advertiseService("tool/config_delete_tool", &DRHWInterface::config_delete_tool_cb, this);
m_nh_tool_service[4] = private_nh_.advertiseService("tool/set_tool_shape", &DRHWInterface::set_tool_shape_cb, this);
// DRL Operations
m_nh_drl_service[0] = private_nh_.advertiseService("drl/drl_pause", &DRHWInterface::drl_pause_cb, this);
m_nh_drl_service[1] = private_nh_.advertiseService("drl/drl_resume", &DRHWInterface::drl_resume_cb, this);
m_nh_drl_service[2] = private_nh_.advertiseService("drl/drl_start", &DRHWInterface::drl_start_cb, this);
m_nh_drl_service[3] = private_nh_.advertiseService("drl/drl_stop", &DRHWInterface::drl_stop_cb, this);
m_nh_drl_service[4] = private_nh_.advertiseService("drl/get_drl_state", &DRHWInterface::get_drl_state_cb, this);
// Gripper Operations
m_nh_gripper_service[0] = private_nh_.advertiseService("gripper/robotiq_2f_open", &DRHWInterface::robotiq_2f_open_cb, this);
m_nh_gripper_service[1] = private_nh_.advertiseService("gripper/robotiq_2f_close", &DRHWInterface::robotiq_2f_close_cb, this);
m_nh_gripper_service[2] = private_nh_.advertiseService("gripper/robotiq_2f_move", &DRHWInterface::robotiq_2f_move_cb, this);
// Serial Operations
m_nh_serial_service[0] = private_nh_.advertiseService("gripper/serial_send_data", &DRHWInterface::serial_send_data_cb, this);
memset(&g_stDrState, 0x00, sizeof(DR_STATE));
memset(&g_stDrError, 0x00, sizeof(DR_ERROR));
memset(&m_stDrState, 0x00, sizeof(DR_STATE));
memset(&m_stDrError, 0x00, sizeof(DR_ERROR));
// create threads
m_th_subscribe = boost::thread( boost::bind(&thread_subscribe, private_nh_) );
m_th_publisher = boost::thread( boost::bind(&thread_publisher, this, private_nh_, DSR_CTL_PUB_RATE/*hz*/) ); //100hz(10ms)
g_nAnalogOutputModeCh1 = -1;
g_nAnalogOutputModeCh2 = -1;
}
DRHWInterface::~DRHWInterface()
{
//ROS_INFO("DRHWInterface::~DRHWInterface() 0");
Drfl.CloseConnection();
//ROS_INFO("DRHWInterface::~DRHWInterface() 1");
m_th_publisher.join(); //kill publisher thread
//ROS_INFO("DRHWInterface::~DRHWInterface() 2");
m_th_subscribe.join(); //kill subscribe thread
ROS_INFO("DRHWInterface::~DRHWInterface()");
}
bool DRHWInterface::init()
{
ROS_INFO("[dsr_hw_interface] init() ==> setup callback fucntion");
int nServerPort = 12345;
ROS_INFO("INIT@@@@@@@@@@@@@@@@@@@@@@@@@");
//--- doosan API's call-back fuctions : Only work within 50msec in call-back functions
Drfl.SetOnTpInitializingCompleted(OnTpInitializingCompletedCB);
Drfl.SetOnHommingCompleted(OnHommingCompletedCB);
Drfl.SetOnProgramStopped(OnProgramStoppedCB);
Drfl.SetOnMonitoringModbus(OnMonitoringModbusCB);
Drfl.SetOnMonitoringData(OnMonitoringDataCB); // Callback function in M2.4 and earlier
Drfl.SetOnMonitoringCtrlIO(OnMonitoringCtrlIOCB); // Callback function in M2.4 and earlier
Drfl.SetOnMonitoringState(OnMonitoringStateCB);
Drfl.SetOnMonitoringAccessControl(OnMonitoringAccessControlCB);
Drfl.SetOnLogAlarm(OnLogAlarm);
ROS_INFO("[dsr_hw_interface] init() ==> arm is standby");
std::string host;
std::string mode;
private_nh_.getParam("host", host);
private_nh_.getParam("port", nServerPort);
private_nh_.param<bool>("command", bCommand_, false);
private_nh_.getParam("mode", mode);
//for test host = "127.0.0.1";
ROS_INFO("host %s, port=%d bCommand: %d, mode: %s\n", host.c_str(), nServerPort, bCommand_, mode.c_str());
if(Drfl.OpenConnection(host, nServerPort))
{
//--- connect Emulator ? ------------------------------
if(host == "127.0.0.1") m_bIsEmulatorMode = true;
else m_bIsEmulatorMode = false;
//--- Get version -------------------------------------
SYSTEM_VERSION tSysVerion = {'\0', };
assert(Drfl.GetSystemVersion(&tSysVerion));
//--- Get DRCF version & convert to integer ----------
m_nVersionDRCF = 0;
int k=0;
for(int i=strlen(tSysVerion._szController); i>0; i--)
if(tSysVerion._szController[i]>='0' && tSysVerion._szController[i]<='9')
m_nVersionDRCF += (tSysVerion._szController[i]-'0')*pow(10.0,k++);
if(m_nVersionDRCF < 100000) m_nVersionDRCF += 100000;
ROS_INFO("_______________________________________________");
if(m_bIsEmulatorMode) ROS_INFO(" Emulator Mode");
else ROS_INFO(" Real Robot Mode");
ROS_INFO(" DRCF version = %s",tSysVerion._szController);
ROS_INFO(" DRFL version = %s",Drfl.GetLibraryVersion());
ROS_INFO(" m_nVersionDRCF = %d", m_nVersionDRCF); //ex> M2.40 = 120400, M2.50 = 120500
ROS_INFO("_______________________________________________");
if(m_nVersionDRCF >= 120500) //M2.5 or later
{
Drfl.SetOnMonitoringDataEx(OnMonitoringDataExCB); //Callback function in version 2.5 and higher
Drfl.SetOnMonitoringCtrlIOEx(OnMonitoringCtrlIOExCB); //Callback function in version 2.5 and higher
Drfl.SetupMonitoringVersion(1); //Enabling extended monitoring functions
}
//--- Check Robot State : STATE_STANDBY ---
int delay;
ros::param::param<int>("~standby", delay, 5000);
while ((Drfl.GetRobotState() != STATE_STANDBY)){
usleep(delay);
}
//--- Set Robot mode : MANUAL or AUTO
//assert(Drfl.SetRobotMode(ROBOT_MODE_MANUAL));
assert(Drfl.SetRobotMode(ROBOT_MODE_AUTONOMOUS));
//--- Set Robot mode : virual or real
ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
if(mode == "real") eTargetSystem = ROBOT_SYSTEM_REAL;
assert(Drfl.SetRobotSystem(eTargetSystem));
// to compare with joints[].cmd
for(int i = 0; i < NUM_JOINT; i++){
ROS_INFO("[init]::read %d-pos: %7.3f", i, joints[i].cmd);
cmd_[i] = joints[i].cmd;
}
return true;
}
return false;
}
void DRHWInterface::read(ros::Duration& elapsed_time)
{
std_msgs::Float64MultiArray msg;
// joints.pos, vel, eff should be update
//ROS_DEBUG("DRHWInterface::read()");
LPROBOT_POSE pose = Drfl.GetCurrentPose();
for(int i = 0; i < NUM_JOINT; i++){
ROS_DEBUG("[DRHWInterface::read] %d-pos: %7.3f", i, pose->_fPosition[i]);
joints[i].pos = deg2rad(pose->_fPosition[i]); //update pos to Rviz
msg.data.push_back(joints[i].pos);
}
if(m_strRobotGripper != "none"){
msg.data.push_back(joints[6].pos);
}
m_PubtoGazebo.publish(msg);
}
void DRHWInterface::write(ros::Duration& elapsed_time)
{
//ROS_INFO("DRHWInterface::write()");
static int count = 0;
// joints.cmd is updated
std::array<float, NUM_JOINT> tmp;
for(int i = 0; i < NUM_JOINT; i++){
ROS_DEBUG("[write]::write %d-pos: %7.3f %d-vel: %7.3f %d-cmd: %7.3f",
i,
joints[i].pos,
i,
joints[i].vel,
i,
joints[i].cmd);