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fake.go
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fake.go
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// Package fake implements a fake arm.
package fake
import (
"context"
"github.com/edaniels/golog"
"github.com/pkg/errors"
pb "go.viam.com/api/component/arm/v1"
"go.viam.com/rdk/components/arm"
"go.viam.com/rdk/components/arm/eva"
ur "go.viam.com/rdk/components/arm/universalrobots"
"go.viam.com/rdk/components/arm/xarm"
"go.viam.com/rdk/components/arm/yahboom"
"go.viam.com/rdk/components/generic"
"go.viam.com/rdk/config"
"go.viam.com/rdk/motionplan"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/registry"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
)
// errAttrCfgPopulation is the returned error if the AttrConfig's fields are fully populated.
var errAttrCfgPopulation = errors.New("can only populate either ArmModel or ModelPath - not both")
// errAttrCfgMissing is the returned error if the AttrConfig's fields are empty.
var errAttrCfgMissing = errors.New("one of ArmModel or ModelPath must be populated")
// ModelName is the string used to refer to the fake arm model.
var ModelName = resource.NewDefaultModel("fake")
// AttrConfig is used for converting config attributes.
type AttrConfig struct {
ArmModel string `json:"arm-model,omitempty"`
ModelFilePath string `json:"model-path,omitempty"`
}
func modelFromName(model, name string) (referenceframe.Model, error) {
switch resource.ModelName(model) {
case xarm.ModelName6DOF.Name:
return xarm.Model(name, 6)
case xarm.ModelName7DOF.Name:
return xarm.Model(name, 7)
case ur.ModelName.Name:
return ur.Model(name)
case yahboom.ModelName.Name:
return yahboom.Model(name)
case eva.ModelName.Name:
return eva.Model(name)
default:
return nil, errors.Errorf("fake arm cannot be created, unsupported arm_model: %s", model)
}
}
// Validate ensures all parts of the config are valid.
func (config *AttrConfig) Validate(path string) error {
var err error
switch {
case config.ArmModel != "" && config.ModelFilePath != "":
err = errAttrCfgPopulation
case config.ArmModel != "" && config.ModelFilePath == "":
_, err = modelFromName(config.ArmModel, "")
case config.ArmModel == "" && config.ModelFilePath != "":
_, err = referenceframe.ModelFromPath(config.ModelFilePath, "")
default:
err = errAttrCfgMissing
}
return err
}
func init() {
registry.RegisterComponent(arm.Subtype, ModelName, registry.Component{
Constructor: func(ctx context.Context, _ registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
return NewArm(config, logger)
},
})
config.RegisterComponentAttributeMapConverter(
arm.Subtype,
ModelName,
func(attributes config.AttributeMap) (interface{}, error) {
var conf AttrConfig
return config.TransformAttributeMapToStruct(&conf, attributes)
},
&AttrConfig{},
)
}
// NewArm returns a new fake arm.
func NewArm(cfg config.Component, logger golog.Logger) (arm.LocalArm, error) {
var (
model referenceframe.Model
err error
)
modelPath := cfg.ConvertedAttributes.(*AttrConfig).ModelFilePath
armModel := cfg.ConvertedAttributes.(*AttrConfig).ArmModel
switch {
case armModel != "" && modelPath != "":
err = errAttrCfgPopulation
case armModel != "":
model, err = modelFromName(cfg.ConvertedAttributes.(*AttrConfig).ArmModel, cfg.Name)
case modelPath != "":
model, err = referenceframe.ModelFromPath(modelPath, cfg.Name)
default:
err = errAttrCfgMissing
}
if err != nil {
return nil, err
}
return &Arm{
Name: cfg.Name,
joints: &pb.JointPositions{Values: make([]float64, len(model.DoF()))},
model: model,
logger: logger,
}, nil
}
// Arm is a fake arm that can simply read and set properties.
type Arm struct {
generic.Echo
Name string
joints *pb.JointPositions
CloseCount int
logger golog.Logger
model referenceframe.Model
}
// ModelFrame returns the dynamic frame of the model.
func (a *Arm) ModelFrame() referenceframe.Model {
return a.model
}
// EndPosition returns the set position.
func (a *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
joints, err := a.JointPositions(ctx, extra)
if err != nil {
return nil, err
}
return motionplan.ComputeOOBPosition(a.model, joints)
}
// MoveToPosition sets the position.
func (a *Arm) MoveToPosition(
ctx context.Context,
pos spatialmath.Pose,
worldState *referenceframe.WorldState,
extra map[string]interface{},
) error {
joints, err := a.JointPositions(ctx, extra)
if err != nil {
return err
}
solution, err := motionplan.PlanFrameMotion(ctx, a.logger, pos, a.model, a.model.InputFromProtobuf(joints), nil)
if err != nil {
return err
}
return arm.GoToWaypoints(ctx, a, solution)
}
// MoveToJointPositions sets the joints.
func (a *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error {
if err := arm.CheckDesiredJointPositions(ctx, a, joints.Values); err != nil {
return err
}
inputs := a.model.InputFromProtobuf(joints)
pos, err := a.model.Transform(inputs)
if err != nil {
return err
}
_ = pos
copy(a.joints.Values, joints.Values)
return nil
}
// JointPositions returns joints.
func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
retJoint := &pb.JointPositions{Values: a.joints.Values}
return retJoint, nil
}
// Stop doesn't do anything for a fake arm.
func (a *Arm) Stop(ctx context.Context, extra map[string]interface{}) error {
return nil
}
// IsMoving is always false for a fake arm.
func (a *Arm) IsMoving(ctx context.Context) (bool, error) {
return false, nil
}
// CurrentInputs TODO.
func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
res, err := a.JointPositions(ctx, nil)
if err != nil {
return nil, err
}
return a.model.InputFromProtobuf(res), nil
}
// GoToInputs TODO.
func (a *Arm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error {
positionDegs := a.model.ProtobufFromInput(goal)
if err := arm.CheckDesiredJointPositions(ctx, a, positionDegs.Values); err != nil {
return err
}
return a.MoveToJointPositions(ctx, positionDegs, nil)
}
// Close does nothing.
func (a *Arm) Close() {
a.CloseCount++
}