miniq_pid_server.cpp

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* Author: Gonçalo Cabrita on 20/08/2012
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#include <ros/ros.h>

#include <dynamic_reconfigure/server.h>
#include <lse_miniq_driver/miniQConfig.h>

#include <lse_miniq_msgs/WheelVelocity.h>
#include "miniQ.h"

miniQ robot = miniQ();

// Parameters
bool l_s_updated;
int l_s_kp, l_s_ki, l_s_kd;
bool l_r_updated;
int l_r_kp, l_r_ki, l_r_kd;
bool r_s_updated;
int r_s_kp, r_s_ki, r_s_kd;
bool r_r_updated;
int r_r_kp, r_r_ki, r_r_kd;

bool turn_robot_off;
bool run_robot;

bool wheel_velocity_reference_updated;
double wheel_velocity_reference;

void callback(lse_miniq_driver::miniQConfig &config, uint32_t level)
{
        if(run_robot != config.run_robot && !config.run_robot) turn_robot_off = true;
        else turn_robot_off = false;
        run_robot = config.run_robot;
        
        if(wheel_velocity_reference == config.wheel_velocities) wheel_velocity_reference_updated = false;
        else
        {
                wheel_velocity_reference_updated = true;
                wheel_velocity_reference = config.wheel_velocities;
        }
        if(l_s_kp == config.left_starting_kp && l_s_ki == config.left_starting_ki && l_s_kd == config.left_starting_kd) l_s_updated = false;
        else
        {
                l_s_updated = true;
                l_s_kp = config.left_starting_kp;
                l_s_ki = config.left_starting_ki;
                l_s_kd = config.left_starting_kd;
        }  
        if(l_r_kp == config.left_running_kp && l_r_ki == config.left_running_ki && l_r_kd == config.left_running_kd) l_r_updated = false;
        else
        {
                l_r_updated = true;
                l_r_kp = config.left_running_kp;
                l_r_ki = config.left_running_ki;
                l_r_kd = config.left_running_kd;
        }
        if(r_s_kp == config.right_starting_kp && r_s_ki == config.right_starting_ki && r_s_kd == config.right_starting_kd) r_s_updated = false;
        else
        {
                r_s_updated = true;
                r_s_kp = config.right_starting_kp;
                r_s_ki = config.right_starting_ki;
                r_s_kd = config.right_starting_kd;
        }  
        if(r_r_kp == config.right_running_kp && r_r_ki == config.right_running_ki && r_r_kd == config.right_running_kd) r_r_updated = false;
        else
        {
                r_r_updated = true;
                r_r_kp = config.right_running_kp;
                r_r_ki = config.right_running_ki;
                r_r_kd = config.right_running_kd;
        }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "miniq_pid_server");

  ros::NodeHandle n;
  ros::NodeHandle pn("~");
    
  std::string port;
  pn.param<std::string>("port", port, "/dev/ttyUSB0");
  int baudrate;
  pn.param("baudrate", baudrate, 57600);
        
  ros::Publisher left_pub = n.advertise<lse_miniq_msgs::WheelVelocity>("/left_wheel_velocity", 20);
  ros::Publisher right_pub = n.advertise<lse_miniq_msgs::WheelVelocity>("/right_wheel_velocity", 20);
    
  if(!miniQ::openPort((char*)port.c_str(), baudrate))
  {
        ROS_FATAL("miniQ -- Failed to open serial port %s at %d baud!", port.c_str(), baudrate);
        ROS_BREAK();
  }
  ROS_INFO("miniQ PID Server -- Successfully connected to the miniQ!"); 
  
  ros::Duration(3.0).sleep();
    
  if(!robot.checkVersion())
  {
        ROS_FATAL("miniQ PID Server -- The firmware version of the miniQ robot is not compatible with this ROS node!");
        ROS_BREAK();
  }

  dynamic_reconfigure::Server<lse_miniq_driver::miniQConfig> server;
  dynamic_reconfigure::Server<lse_miniq_driver::miniQConfig>::CallbackType f;

  f = boost::bind(&callback, _1, _2);
  server.setCallback(f);

  turn_robot_off = false;

  ros::Rate r(2.5);
  while(n.ok())
  {
        if(!robot.updateWheelVelocities()) ROS_ERROR("miniQ PID Server -- Failed to update the miniQ wheel velocities!!!");
        else
        {
                lse_miniq_msgs::WheelVelocity right_msg;
                right_msg.reference = wheel_velocity_reference;
                right_msg.measured = robot.getRightWheelVelocity();
                right_pub.publish(right_msg);

                lse_miniq_msgs::WheelVelocity left_msg;
                left_msg.reference = wheel_velocity_reference;
                left_msg.measured = robot.getLeftWheelVelocity();
                left_pub.publish(left_msg);
        }

        if(l_s_updated)
        {
                l_s_updated = false;
                if(!robot.setPIDGains(l_s_kp, l_s_ki, l_s_kd, miniQ::LeftStartingPID)) ROS_ERROR("miniQ PID Server -- ERROR updating left starting PID!");
                ros::Duration(0.1).sleep();
        }

        if(l_r_updated)
        {
                l_r_updated = false;
                if(!robot.setPIDGains(l_r_kp, l_r_ki, l_r_kd, miniQ::LeftRunningPID)) ROS_ERROR("miniQ PID Server -- ERROR updating left running PID!");
                ros::Duration(0.1).sleep();
        }

        if(r_s_updated)
        {
                r_s_updated = false;
                if(!robot.setPIDGains(r_s_kp, r_s_ki, r_s_kd, miniQ::RightStartingPID)) ROS_ERROR("miniQ PID Server -- ERROR updating right starting PID!");
                ros::Duration(0.1).sleep();
        }

        if(r_r_updated)
        {       
                r_r_updated = false;
                if(!robot.setPIDGains(r_r_kp, r_r_ki, r_r_kd, miniQ::RightRunningPID)) ROS_ERROR("miniQ PID Server -- ERROR updating right running PID!");
                ros::Duration(0.1).sleep();
        }

        if(turn_robot_off)
        {
                turn_robot_off = false;
                robot.setVelocities(0.0, 0.0);
        }
        else if(run_robot && wheel_velocity_reference_updated)
        {
                wheel_velocity_reference_updated = false;
                robot.setVelocities(wheel_velocity_reference, 0.0);
        robot.updateVelocities();
        }
        
        ros::spinOnce();
        r.sleep();
  }
  return 0;
}