elfin_hardware_interface.h

/*
Created on Wed Oct 25 11:36:26 2017

@author: Cong Liu

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 Copyright (c) 2017, Han's Robot Co., Ltd.
 All rights reserved.

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    notice, this list of conditions and the following disclaimer.
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 COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*/
// author: Cong Liu

#ifndef ELFIN_ROS_CONTROL_HW_INTERFACE
#define ELFIN_ROS_CONTROL_HW_INTERFACE

#include <ros/ros.h>
#include <urdf/model.h>
#include <pthread.h>
#include <time.h>
#include <math.h>
#include <string>

#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <std_msgs/Float64.h>
#include <sensor_msgs/JointState.h>

#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <elfin_hardware_interface/postrq_command_interface.h>
#include <hardware_interface/robot_hw.h>

#include <controller_manager/controller_manager.h>
#include <controller_manager_msgs/ListControllers.h>

#include "elfin_ethercat_driver/elfin_ethercat_driver.h"

namespace elfin_ros_control {

typedef struct{
    std::string name;
    double reduction_ratio;
    double count_rad_factor;
    double count_Nm_factor;
    int32_t count_zero;

    double axis_position_factor;
    double axis_torque_factor;

    double position;
    double velocity;
    double effort;

    double position_cmd;
    double velocity_cmd;
    double effort_cmd;
}AxisInfo;

typedef struct{
    elfin_ethercat_driver::ElfinEtherCATClient* client_ptr;
    AxisInfo axis1;
    AxisInfo axis2;
}ModuleInfo;

class ElfinHWInterface : public hardware_interface::RobotHW
{
public:
    ElfinHWInterface(elfin_ethercat_driver::EtherCatManager *manager, const ros::NodeHandle &nh=ros::NodeHandle("~"));
    ~ElfinHWInterface();
    bool prepareSwitch(const std::list<hardware_interface::ControllerInfo> &start_list,
                       const std::list<hardware_interface::ControllerInfo> &stop_list);

    void doSwitch(const std::list<hardware_interface::ControllerInfo> &start_list,
                  const std::list<hardware_interface::ControllerInfo> &stop_list);

    void read_init();
    void read_update(const ros::Time &time_now);
    void write_update();

private:
    std::vector<std::string> elfin_driver_names_;
    std::vector<elfin_ethercat_driver::ElfinEtherCATDriver*> ethercat_drivers_;
    std::vector<ModuleInfo> module_infos_;

    hardware_interface::JointStateInterface jnt_state_interface_;
    hardware_interface::PositionJointInterface jnt_position_cmd_interface_;
    hardware_interface::EffortJointInterface jnt_effort_cmd_interface_;
    elfin_hardware_interface::PosTrqJointInterface jnt_postrq_cmd_interface_;

    ros::NodeHandle n_;

    ros::Time read_update_time_;
    ros::Duration read_update_dur_;

    std::vector<bool> pre_switch_flags_;
    std::vector<boost::shared_ptr<boost::mutex> > pre_switch_mutex_ptrs_;

    bool isModuleMoving(int module_num);
    double motion_threshold_;
};

}

#endif