joint_trajectory_streamer.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
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00012  *      * Redistributions in binary form must reproduce the above copyright
00013  *      notice, this list of conditions and the following disclaimer in the
00014  *      documentation and/or other materials provided with the distribution.
00015  *      * Neither the name of the Southwest Research Institute, nor the names
00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #include "fs100/industrial_robot_client/joint_trajectory_streamer.h"
00033 
00034 using namespace industrial::simple_message;
00035 
00036 namespace industrial_robot_client
00037 {
00038 namespace joint_trajectory_streamer
00039 {
00040 
00041 bool JointTrajectoryStreamer::init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
00042                                    const std::map<std::string, double> &velocity_limits)
00043 {
00044   bool rtn = true;
00045 
00046   ROS_INFO("JointTrajectoryStreamer: init");
00047 
00048   rtn &= JointTrajectoryInterface::init(connection, joint_names, velocity_limits);
00049 
00050   this->mutex_.lock();
00051   this->current_point_ = 0;
00052   this->state_ = TransferStates::IDLE;
00053   this->streaming_thread_ =
00054       new boost::thread(boost::bind(&JointTrajectoryStreamer::streamingThread, this));
00055   ROS_INFO("Unlocking mutex");
00056   this->mutex_.unlock();
00057 
00058   return rtn;
00059 }
00060 
00061 JointTrajectoryStreamer::~JointTrajectoryStreamer()
00062 {
00063   delete this->streaming_thread_;
00064 }
00065 
00066 void JointTrajectoryStreamer::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg)
00067 {
00068   ROS_INFO("Receiving joint trajectory message");
00069 
00070   // read current state value (should be atomic)
00071   int state = this->state_;
00072 
00073   ROS_DEBUG("Current state is: %d", state);
00074   if (TransferStates::IDLE != state)
00075   {
00076     if (msg->points.empty())
00077       ROS_INFO("Empty trajectory received, canceling current trajectory");
00078     else
00079       ROS_ERROR("Trajectory splicing not yet implemented, stopping current motion.");
00080 
00081         this->mutex_.lock();
00082     trajectoryStop();
00083         this->mutex_.unlock();
00084     return;
00085   }
00086 
00087   if (msg->points.empty())
00088   {
00089     ROS_INFO("Empty trajectory received while in IDLE state, nothing is done");
00090     return;
00091   }
00092 
00093   // calc new trajectory
00094   std::vector<SimpleMessage> new_traj_msgs;
00095   if (!trajectory_to_msgs(msg, &new_traj_msgs))
00096     return;
00097 
00098   // send command messages to robot
00099   send_to_robot(new_traj_msgs);
00100 }
00101 
00102 bool JointTrajectoryStreamer::send_to_robot(const std::vector<SimpleMessage>& messages)
00103 {
00104   ROS_INFO("Loading trajectory, setting state to streaming");
00105   this->mutex_.lock();
00106   {
00107     ROS_INFO("Executing trajectory of size: %d", (int)messages.size());
00108     this->current_traj_ = messages;
00109     this->current_point_ = 0;
00110     this->state_ = TransferStates::STREAMING;
00111     this->streaming_start_ = ros::Time::now();
00112   }
00113   this->mutex_.unlock();
00114 
00115   return true;
00116 }
00117 
00118 bool JointTrajectoryStreamer::trajectory_to_msgs(const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector<SimpleMessage>* msgs)
00119 {
00120   // use base function to transform points
00121   if (!JointTrajectoryInterface::trajectory_to_msgs(traj, msgs))
00122     return false;
00123 
00124   // pad trajectory as required for minimum streaming buffer size
00125   if (!msgs->empty() && (msgs->size() < (size_t)min_buffer_size_))
00126   {
00127     ROS_DEBUG("Padding trajectory: current(%d) => minimum(%d)", (int)msgs->size(), min_buffer_size_);
00128     while (msgs->size() < (size_t)min_buffer_size_)
00129       msgs->push_back(msgs->back());
00130   }
00131 
00132   return true;
00133 }
00134 
00135 
00136 void JointTrajectoryStreamer::streamingThread()
00137 {
00138   int connectRetryCount = 1;
00139 
00140   ROS_INFO("Starting joint trajectory streamer thread");
00141   while (ros::ok())
00142   {
00143     ros::Duration(0.005).sleep();
00144 
00145     // automatically re-establish connection, if required
00146     if (connectRetryCount-- > 0)
00147     {
00148       ROS_INFO("Connecting to robot motion server");
00149       this->connection_->makeConnect();
00150       ros::Duration(0.250).sleep();  // wait for connection
00151 
00152       if (this->connection_->isConnected())
00153         connectRetryCount = 0;
00154       else if (connectRetryCount <= 0)
00155       {
00156         ROS_ERROR("Timeout connecting to robot controller.  Send new motion command to retry.");
00157         this->state_ = TransferStates::IDLE;
00158       }
00159       continue;
00160     }
00161 
00162     this->mutex_.lock();
00163 
00164     SimpleMessage msg, tmpMsg, reply;
00165         
00166     switch (this->state_)
00167     {
00168       case TransferStates::IDLE:
00169         ros::Duration(0.250).sleep();  //  slower loop while waiting for new trajectory
00170         break;
00171 
00172       case TransferStates::STREAMING:
00173         if (this->current_point_ >= (int)this->current_traj_.size())
00174         {
00175           ROS_INFO("Trajectory streaming complete, setting state to IDLE");
00176           this->state_ = TransferStates::IDLE;
00177           break;
00178         }
00179 
00180         if (!this->connection_->isConnected())
00181         {
00182           ROS_DEBUG("Robot disconnected.  Attempting reconnect...");
00183           connectRetryCount = 5;
00184           break;
00185         }
00186 
00187         tmpMsg = this->current_traj_[this->current_point_];
00188         msg.init(tmpMsg.getMessageType(), CommTypes::SERVICE_REQUEST,
00189                  ReplyTypes::INVALID, tmpMsg.getData());  // set commType=REQUEST
00190             
00191         ROS_DEBUG("Sending joint trajectory point");
00192         if (this->connection_->sendAndReceiveMsg(msg, reply, false))
00193         {
00194           ROS_INFO("Point[%d of %d] sent to controller",
00195                    this->current_point_, (int)this->current_traj_.size());
00196           this->current_point_++;
00197         }
00198         else
00199           ROS_WARN("Failed sent joint point, will try again");
00200 
00201         break;
00202       default:
00203         ROS_ERROR("Joint trajectory streamer: unknown state");
00204         this->state_ = TransferStates::IDLE;
00205         break;
00206     }
00207 
00208     this->mutex_.unlock();
00209   }
00210 
00211   ROS_WARN("Exiting trajectory streamer thread");
00212 }
00213 
00214 void JointTrajectoryStreamer::trajectoryStop()
00215 {
00216   JointTrajectoryInterface::trajectoryStop();
00217 
00218   ROS_DEBUG("Stop command sent, entering idle mode");
00219   this->state_ = TransferStates::IDLE;
00220 }
00221 
00222 } //joint_trajectory_streamer
00223 } //industrial_robot_client
00224 
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14