-
Notifications
You must be signed in to change notification settings - Fork 110
/
gripper.go
285 lines (241 loc) · 5.99 KB
/
gripper.go
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
// Package robotiq implements the gripper from robotiq.
package robotiq
import (
"context"
"fmt"
"net"
"strings"
"time"
"github.com/edaniels/golog"
"github.com/pkg/errors"
"go.viam.com/utils"
"go.viam.com/rdk/components/generic"
"go.viam.com/rdk/components/gripper"
"go.viam.com/rdk/config"
"go.viam.com/rdk/operation"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/registry"
rdkutils "go.viam.com/rdk/utils"
)
const (
modelname = "robotiq"
)
// AttrConfig is used for converting config attributes.
type AttrConfig struct {
Host string `json:"host"`
}
// Validate ensures all parts of the config are valid.
func (cfg *AttrConfig) Validate(path string) error {
if cfg.Host == "" {
return utils.NewConfigValidationFieldRequiredError(path, "host")
}
return nil
}
func init() {
registry.RegisterComponent(gripper.Subtype, modelname, registry.Component{
Constructor: func(ctx context.Context, _ registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
attr, ok := config.ConvertedAttributes.(*AttrConfig)
if !ok {
return nil, rdkutils.NewUnexpectedTypeError(attr, config.ConvertedAttributes)
}
return newGripper(ctx, attr.Host, logger)
},
})
config.RegisterComponentAttributeMapConverter(gripper.SubtypeName, modelname,
func(attributes config.AttributeMap) (interface{}, error) {
var conf AttrConfig
return config.TransformAttributeMapToStruct(&conf, attributes)
}, &AttrConfig{})
}
// robotiqGripper TODO.
type robotiqGripper struct {
conn net.Conn
openLimit string
closeLimit string
logger golog.Logger
opMgr operation.SingleOperationManager
generic.Unimplemented
}
// newGripper TODO.
func newGripper(ctx context.Context, host string, logger golog.Logger) (gripper.LocalGripper, error) {
conn, err := net.Dial("tcp", host+":63352")
if err != nil {
return nil, err
}
g := &robotiqGripper{conn, "0", "255", logger, operation.SingleOperationManager{}, generic.Unimplemented{}}
init := [][]string{
{"ACT", "1"}, // robot activate
{"GTO", "1"}, // gripper activate
{"FOR", "200"}, // force (0-255)
{"SPE", "255"}, // speed (0-255)
}
err = g.MultiSet(ctx, init)
if err != nil {
return nil, err
}
err = g.Calibrate(ctx) // TODO(erh): should this live elsewhere?
if err != nil {
return nil, err
}
return g, nil
}
// MultiSet TODO.
func (g *robotiqGripper) MultiSet(ctx context.Context, cmds [][]string) error {
for _, i := range cmds {
err := g.Set(i[0], i[1])
if err != nil {
return err
}
// TODO(erh): the next 5 lines are infuriatng, help!
var waitTime time.Duration
if i[0] == "ACT" {
waitTime = 1600 * time.Millisecond
} else {
waitTime = 500 * time.Millisecond
}
if !utils.SelectContextOrWait(ctx, waitTime) {
return ctx.Err()
}
}
return nil
}
// Send TODO.
func (g *robotiqGripper) Send(msg string) (string, error) {
_, err := g.conn.Write([]byte(msg))
if err != nil {
return "", err
}
res, err := g.read()
if err != nil {
return "", err
}
return res, err
}
// Set TODO.
func (g *robotiqGripper) Set(what, to string) error {
res, err := g.Send(fmt.Sprintf("SET %s %s\r\n", what, to))
if err != nil {
return err
}
if res != "ack" {
return errors.Errorf("didn't get ack back, got [%s]", res)
}
return nil
}
// Get TODO.
func (g *robotiqGripper) Get(what string) (string, error) {
return g.Send(fmt.Sprintf("GET %s\r\n", what))
}
func (g *robotiqGripper) read() (string, error) {
buf := make([]byte, 128)
x, err := g.conn.Read(buf)
if err != nil {
return "", err
}
if x > 100 {
return "", errors.Errorf("read too much: %d", x)
}
if x == 0 {
return "", nil
}
return strings.TrimSpace(string(buf[0:x])), nil
}
// SetPos returns true iff reached desired position.
func (g *robotiqGripper) SetPos(ctx context.Context, pos string) (bool, error) {
err := g.Set("POS", pos)
if err != nil {
return false, err
}
prev := ""
prevCount := 0
for {
x, err := g.Get("POS")
if err != nil {
return false, err
}
if x == "POS "+pos {
return true, nil
}
if prev == x {
if prevCount >= 5 {
return false, nil
}
prevCount++
} else {
prevCount = 0
}
prev = x
if !utils.SelectContextOrWait(ctx, 100*time.Millisecond) {
return false, ctx.Err()
}
}
}
// Open TODO.
func (g *robotiqGripper) Open(ctx context.Context, extra map[string]interface{}) error {
ctx, done := g.opMgr.New(ctx)
defer done()
_, err := g.SetPos(ctx, g.openLimit)
return err
}
// Close TODO.
func (g *robotiqGripper) Close(ctx context.Context) error {
ctx, done := g.opMgr.New(ctx)
defer done()
_, err := g.SetPos(ctx, g.closeLimit)
return err
}
// Grab returns true iff grabbed something.
func (g *robotiqGripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error) {
ctx, done := g.opMgr.New(ctx)
defer done()
res, err := g.SetPos(ctx, g.closeLimit)
if err != nil {
return false, err
}
if res {
// we closed, so didn't grab anything
return false, nil
}
// we didn't close, let's see if we actually got something
val, err := g.Get("OBJ")
if err != nil {
return false, err
}
return val == "OBJ 2", nil
}
// Calibrate TODO.
func (g *robotiqGripper) Calibrate(ctx context.Context) error {
err := g.Open(ctx, map[string]interface{}{})
if err != nil {
return err
}
x, err := g.Get("POS")
if err != nil {
return err
}
g.openLimit = x[4:]
err = g.Close(ctx)
if err != nil {
return err
}
x, err = g.Get("POS")
if err != nil {
return err
}
g.closeLimit = x[4:]
g.logger.Debugf("limits %s %s", g.openLimit, g.closeLimit)
return nil
}
// Stop is unimplemented for robotiqGripper.
func (g *robotiqGripper) Stop(ctx context.Context, extra map[string]interface{}) error {
// RSDK-388: Implement Stop
return gripper.ErrStopUnimplemented
}
// IsMoving returns whether the gripper is moving.
func (g *robotiqGripper) IsMoving(ctx context.Context) (bool, error) {
return g.opMgr.OpRunning(), nil
}
// ModelFrame is unimplemented for robotiqGripper.
func (g *robotiqGripper) ModelFrame() referenceframe.Model {
return nil
}