joint_trajectory_downloader.cpp

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#include <dx100/joint_trajectory_downloader.h>
#include "dx100/trajectory_job.h"
#include "simple_message/joint_traj.h"
#include "simple_message/joint_traj_pt.h"
#include "simple_message/messages/joint_traj_pt_message.h"
#include "simple_message/smpl_msg_connection.h"
#include <dx100/utils.h>

#include <fstream>

using namespace industrial::smpl_msg_connection;
using namespace industrial::joint_data;
using namespace industrial::joint_traj;
using namespace industrial::joint_traj_pt;
using namespace industrial::joint_traj_pt_message;
using namespace industrial::simple_message;
using namespace motoman::utils;
using namespace motoman::trajectory_job;

//#define SEND_TRAJ_TO_ROBOT
#define GENERATE_LOCAL_JOB_FILE

namespace motoman
{
namespace joint_trajectory_downloader
{
JointTrajectoryDownloader::JointTrajectoryDownloader()
{
}

JointTrajectoryDownloader::JointTrajectoryDownloader(ros::NodeHandle &n,
                SmplMsgConnection* robotConnecton) : node_(n)
{
        ROS_INFO("Constructor joint trajectory downloader node");

        this->sub_joint_trajectory_ = this->node_.subscribe("command",
                        0, &JointTrajectoryDownloader::jointTrajectoryCB, this);
        this->robot_ = robotConnecton;
  this->robot_->makeConnect();
        ROS_INFO("Joint trajectory downloader node initialized");
}

JointTrajectoryDownloader::~JointTrajectoryDownloader()
{  
        trajectoryStop();
        this->sub_joint_trajectory_.shutdown();
}

void JointTrajectoryDownloader::jointTrajectoryCB(
                const trajectory_msgs::JointTrajectoryConstPtr &msg)
{
        ROS_INFO("Receiving joint trajectory message");

        if (!checkTrajectory(msg))
        {
                ROS_ERROR("Joint trajectory check failed, trajectory not downloaded");
                return;
        }
  
        std::vector<double> joint_velocity_limits;
  
        if (!getVelocityLimits("robot_description", msg, joint_velocity_limits))
        {
                ROS_ERROR("Failed to get joint velocity limits");
                return;
        }

#ifdef SEND_TRAJ_TO_ROBOT

  if (!this->robot_->isConnected())
  {
    ROS_WARN("Attempting robot reconnection");
    this->robot_->makeConnect();
  }
#endif
  
#ifdef GENERATE_LOCAL_JOB_FILE

  JointTraj traj;
  TrajectoryJob job;
  job.init("jtd.job");

#endif

  ROS_INFO("Sending trajectory points, size: %d", msg->points.size());

        for (int i = 0; i < msg->points.size(); i++)
        {
                ROS_INFO("Sending joints trajectory point[%d]", i);

                JointTrajPt jPt;
                JointTrajPtMessage jMsg;
                SimpleMessage topic;

                // Performing a manual copy of the joint velocities in order to send them
    // to the utility function.  Passing the pt data members doesn't seem to
    // work.
    ROS_INFO("Performing joint velocities copy");
    std::vector<double> joint_velocities(0.0);
    double velocity =0 ;
    joint_velocities.resize(msg->joint_names.size(), 0.0);
    for (int j = 0; j < joint_velocities.size(); j++)
    {
      joint_velocities[j] = msg->points[i].velocities[j];
    }
    ROS_INFO("Joint velocities copied");
    velocity = toMotomanVelocity(joint_velocity_limits, joint_velocities);

    jPt.setVelocity(velocity);

                // The first and last sequence values must be given a special sequence
                // value
                if (0 == i)
                {
                        ROS_INFO("First trajectory point, setting special sequence value");
                        jPt.setSequence(SpecialSeqValues::START_TRAJECTORY_DOWNLOAD);
                }
                else if (msg->points.size() - 1 == i)
                {
                        ROS_INFO("Last trajectory point, setting special sequence value");
                        jPt.setSequence(SpecialSeqValues::END_TRAJECTORY);
                }
                else
                {
                        jPt.setSequence(i);
                }

                // Copy position data to local variable
                JointData data;
                for (int j = 0; j < msg->joint_names.size(); j++)
                {
                        data.setJoint(j, msg->points[i].positions[j]);
                }

                // Initialize joint trajectory message
                jPt.setJointPosition(data);

                jMsg.init(jPt);
                jMsg.toTopic(topic);

#ifdef SEND_TRAJ_TO_ROBOT
                ROS_INFO("Sending joint trajectory point");
                if (this->robot_->sendMsg(topic))
                {
                        ROS_INFO("Point[%d] sent to controller", i);
                }
                else
                {
                        ROS_WARN("Failed sent joint point, skipping point");
                }
#endif

#ifdef GENERATE_LOCAL_JOB_FILE

                ROS_INFO("Adding joint point to local trajectory");
                traj.addPoint(jPt);

#endif

        }

#ifdef GENERATE_LOCAL_JOB_FILE

  const int JOB_BUFFER_SIZE = 500000;
  char jobBuffer[JOB_BUFFER_SIZE];
        job.toJobString(traj, &jobBuffer[0], JOB_BUFFER_SIZE);
          std::ofstream file;
          file.open(job.getName());
          if (file.is_open())
          {
                ROS_INFO_STREAM("Writing job to file: " << job.getName());
                file << jobBuffer;
          }
          else
          {
                ROS_WARN_STREAM("Failed to open job file: " << job.getName());
          }
        file.close();

#endif



}

void JointTrajectoryDownloader::trajectoryStop()
{
  JointTrajPtMessage jMsg;
  SimpleMessage msg;
  SimpleMessage reply;

  ROS_INFO("Joint trajectory downloader: entering stopping state");
  jMsg.point_.setSequence(SpecialSeqValues::STOP_TRAJECTORY);
  jMsg.toRequest(msg);
  ROS_DEBUG("Sending stop command");
  this->robot_->sendAndReceiveMsg(msg, reply);
  ROS_DEBUG("Stop command sent");
}

} //joint_trajectory_handler
} //motoman