#include <sr_motor_robot_lib.hpp>

Inheritance diagram for shadow_robot::SrMotorRobotLib< StatusType, CommandType >:

Public Member Functions
void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
void	build_command (CommandType *command)
void	reinitialize_motors ()
	SrMotorRobotLib (pr2_hardware_interface::HardwareInterface *hw)
void	update (StatusType *status_data)
virtual	~SrMotorRobotLib ()
Public Attributes
operation_mode::device_update_state::DeviceUpdateState	motor_current_state
	Current update state of the motor (initialization, operation..)
Protected Types
typedef std::pair< int, std::vector < crc_unions::union16 > >	ForceConfig
Protected Member Functions
bool	change_control_parameters (int16_t control_type)
bool	change_control_type_callback_ (sr_robot_msgs::ChangeControlType::Request &request, sr_robot_msgs::ChangeControlType::Response &response)
void	generate_force_control_config (int motor_index, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign)
std::vector< std::pair < std::string, bool > >	humanize_flags (int flag)
virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors, std::vector< sr_actuator::SrGenericActuator * > actuators)=0
bool	motor_system_controls_callback_ (sr_robot_msgs::ChangeMotorSystemControls::Request &request, sr_robot_msgs::ChangeMotorSystemControls::Response &response)
void	read_additional_data (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data)
Protected Attributes
ros::ServiceServer	change_control_type_
	A service server used to change the control type on the fly.
int	config_index
	this index is used to iterate over the config we're sending.
sr_robot_msgs::ControlType	control_type_
	The current type of control (FORCE demand or PWM demand sent to the motors)
bool	control_type_changed_flag_
int8u	crc_byte
int8u	crc_i
int16u	crc_result
int	index_motor_in_msg
	The index of the motor in the current message (from 0 to 9)
boost::shared_ptr< boost::mutex >	lock_command_sending_
	A mutual exclusion object to ensure that no command will be sent to the robot while a change in the control type (PWM or torque) is ongoing.
boost::shared_ptr < generic_updater::MotorDataChecker >	motor_data_checker
int	motor_index_full
	The index of the motor in all the 20 motors.
std::queue< std::vector < sr_robot_msgs::MotorSystemControls > , std::list< std::vector < sr_robot_msgs::MotorSystemControls > > >	motor_system_control_flags_
	The Flag which will be sent to change the motor controls.
ros::ServiceServer	motor_system_control_server_
	A service server used to call the different motor system controls "buttons".
std::vector < generic_updater::UpdateConfig >	motor_update_rate_configs_vector
	The update rate for each motor information.
boost::shared_ptr < generic_updater::MotorUpdater < CommandType > >	motor_updater_
std::queue< ForceConfig, std::list< ForceConfig > >	reconfig_queue
std::queue< short, std::list < short > >	reset_motors_queue
	contains a queue of motor indexes to reset

Detailed Description

template<class StatusType, class CommandType>
class shadow_robot::SrMotorRobotLib< StatusType, CommandType >

Definition at line 46 of file sr_motor_robot_lib.hpp.

Member Typedef Documentation

template<class StatusType, class CommandType>

typedef std::pair<int, std::vector<crc_unions::union16> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::ForceConfig [protected]

The ForceConfig type consists of an int representing the motor index for this config followed by a vector of config: the index in the vector of config corresponds to the type of the data, and the value at this index corresponds to the value we want to set.

Definition at line 153 of file sr_motor_robot_lib.hpp.

Constructor & Destructor Documentation

template<class StatusType , class CommandType >

shadow_robot::SrMotorRobotLib< StatusType, CommandType >::SrMotorRobotLib ( pr2_hardware_interface::HardwareInterface * hw )

Initialising service

Definition at line 45 of file sr_motor_robot_lib.cpp.

template<class StatusType, class CommandType>

virtual shadow_robot::SrMotorRobotLib< StatusType, CommandType >::~SrMotorRobotLib ( ) [inline, virtual]

Definition at line 50 of file sr_motor_robot_lib.hpp.

Member Function Documentation

template<class StatusType , class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::add_diagnostics	(	std::vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		diagnostic_updater::DiagnosticStatusWrapper &	d
	)		`[virtual]`

This function adds the diagnostics for the hand to the multi diagnostic status published in sr06.cpp.

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 410 of file sr_motor_robot_lib.cpp.

template<class StatusType , class CommandType>

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::build_command ( CommandType * command ) [virtual]

Builds a motor command: either send a torque demand or a configuration demand if one is waiting.

Parameters:

command The command we're building.

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 172 of file sr_motor_robot_lib.cpp.

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::change_control_parameters ( int16_t control_type ) [protected]

Load the necessary parameters in the Parameter Server and calls a service for every controller currently loaded in the controller manager to make it reload (resetGains()) its parameters from the Parameter Server

Parameters:

control_type The new active control type (PWM or torque)

Returns:: true if all the steps successful

Definition at line 966 of file sr_motor_robot_lib.cpp.

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::change_control_type_callback_	(	sr_robot_msgs::ChangeControlType::Request &	request,
		sr_robot_msgs::ChangeControlType::Response &	response
	)		`[protected]`

The callback to the change_control_type_ service. Updates the current control_type_ with the requested control_type.

Parameters:

request	Requested control_type_
response	The new control_type we'll use

Returns:: true if success, false if bad control type requested

Definition at line 917 of file sr_motor_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::generate_force_control_config	(	int	motor_index,
		int	max_pwm,
		int	sg_left,
		int	sg_right,
		int	f,
		int	p,
		int	i,
		int	d,
		int	imax,
		int	deadband,
		int	sign
	)		`[protected]`

Generates a force control config and adds it to the reconfig_queue with its CRC. The config will be sent as soon as possible.

Parameters:

motor_index	The motor index.
max_pwm	The max pwm the motor will apply
sg_left	Strain gauge left
sg_right	Strain gauge right
f	The feedforward term (directly adds f*error to the output of the PID)
p	The p value.
i	the i value.
d	the d value.
imax	the imax value.
deadband	the deadband on the force.
sign	can be 0 or 1 depending on the way the motor is plugged in.

Definition at line 840 of file sr_motor_robot_lib.cpp.

template<class StatusType , class CommandType >

std::vector< std::pair< std::string, bool > > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::humanize_flags ( int flag ) [protected]

Transforms the incoming flag as a human readable vector of strings.

Parameters:

flag	incoming flag.

Returns:: human readable flags.

Definition at line 816 of file sr_motor_robot_lib.cpp.

template<class StatusType, class CommandType>

virtual void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::initialize	(	std::vector< std::string >	joint_names,
		std::vector< int >	actuator_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors,
		std::vector< sr_actuator::SrGenericActuator * >	actuators
	)		`[protected, pure virtual]`

Initializes the hand library with the needed values.

Parameters:

joint_names	A vector containing all the joint names.
actuator_ids	A vector containing the corresponding actuator ids.
joint_to_sensors	A vector mapping the joint to the sensor index we read from the palm.
actuators	A vector containing the actuators for the different joints.

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Implemented in shadow_robot::SrMotorHandLib< StatusType, CommandType >, and shadow_robot::SrMotorHandLib< STATUS_TYPE, COMMAND_TYPE >.

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_system_controls_callback_	(	sr_robot_msgs::ChangeMotorSystemControls::Request &	request,
		sr_robot_msgs::ChangeMotorSystemControls::Response &	response
	)		`[protected]`

The callback to the control_motor_ service. Sets the correct flags to 1 or 0 for the MOTOR_SYSTEM_CONTROLS, to control the motors (backlash compensation on/off, increase sg tracking, jiggling, write config to EEprom)

Parameters:

request	Contains the different flags the user wants to set
response	SUCCESS if success, MOTOR_ID_OUT_OF_RANGE if bad motor_id given

Returns:: false if motor_id is out of range

Definition at line 1052 of file sr_motor_robot_lib.cpp.

template<class StatusType, class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::read_additional_data	(	boost::ptr_vector< shadow_joints::Joint >::iterator	joint_tmp,
		StatusType *	status_data
	)		`[protected]`

Read additional data from the latest message and stores it into the joints_vector.

Parameters:

joint_tmp	The joint we want to read the data for.
status_data	The status information that comes from the robot

Definition at line 535 of file sr_motor_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::reinitialize_motors ( )

Initiates the process to retrieve the initialization information from the motors

Definition at line 907 of file sr_motor_robot_lib.cpp.

template<class StatusType, class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::update ( StatusType * status_data ) [virtual]

This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the joints_vector, updating the different values, computing the calibrated joint positions, etc... It also updates the tactile sensors values.

Parameters:

status_data the received etherCAT message

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 87 of file sr_motor_robot_lib.cpp.

Member Data Documentation

template<class StatusType, class CommandType>

ros::ServiceServer shadow_robot::SrMotorRobotLib< StatusType, CommandType >::change_control_type_ [protected]

A service server used to change the control type on the fly.

Definition at line 193 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

int shadow_robot::SrMotorRobotLib< StatusType, CommandType >::config_index [protected]

this index is used to iterate over the config we're sending.

Definition at line 159 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

sr_robot_msgs::ControlType shadow_robot::SrMotorRobotLib< StatusType, CommandType >::control_type_ [protected]

The current type of control (FORCE demand or PWM demand sent to the motors)

Definition at line 182 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::control_type_changed_flag_ [protected]

Flag to signal that there has been a change in the value of control_type_ and certain actions are required. The flag is set in the callback function of the change_control_type_ service. The flag is checked in build_command() and the necessary actions are taken there. These actions involve calling services in the controller manager and all the active controllers. This is the reason why we don't do it directly in the callback function. As we use a single thread to serve the callbacks, doing so would cause a deadlock, thus we do it in the realtime loop thread instead.

Definition at line 191 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

int8u shadow_robot::SrMotorRobotLib< StatusType, CommandType >::crc_byte [protected]

Definition at line 170 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

int8u shadow_robot::SrMotorRobotLib< StatusType, CommandType >::crc_i [protected]

Definition at line 172 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

int16u shadow_robot::SrMotorRobotLib< StatusType, CommandType >::crc_result [protected]

Definition at line 171 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

int shadow_robot::SrMotorRobotLib< StatusType, CommandType >::index_motor_in_msg [protected]

The index of the motor in the current message (from 0 to 9)

Definition at line 168 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<boost::mutex> shadow_robot::SrMotorRobotLib< StatusType, CommandType >::lock_command_sending_ [protected]

A mutual exclusion object to ensure that no command will be sent to the robot while a change in the control type (PWM or torque) is ongoing.

Definition at line 195 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

operation_mode::device_update_state::DeviceUpdateState shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_current_state

Current update state of the motor (initialization, operation..)

Definition at line 84 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<generic_updater::MotorDataChecker> shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_data_checker [protected]

Definition at line 178 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

int shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_index_full [protected]

The index of the motor in all the 20 motors.

Definition at line 166 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

std::queue<std::vector<sr_robot_msgs::MotorSystemControls>, std::list<std::vector<sr_robot_msgs::MotorSystemControls> > > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_system_control_flags_ [protected]

The Flag which will be sent to change the motor controls.

Definition at line 221 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

ros::ServiceServer shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_system_control_server_ [protected]

A service server used to call the different motor system controls "buttons".

Definition at line 223 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_update_rate_configs_vector [protected]

The update rate for each motor information.

Definition at line 176 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<generic_updater::MotorUpdater<CommandType> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_updater_ [protected]

The motor updater is used to create a correct command to send to the motor. It's build_command() is called each time the SR06::packCommand() is called.

Definition at line 145 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

std::queue<ForceConfig, std::list<ForceConfig> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::reconfig_queue [protected]

This queue contains the force PID config waiting to be pushed to the motor.

Definition at line 157 of file sr_motor_robot_lib.hpp.

template<class StatusType, class CommandType>

std::queue<short, std::list<short> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::reset_motors_queue [protected]

contains a queue of motor indexes to reset

Definition at line 162 of file sr_motor_robot_lib.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<class StatusType, class CommandType> class shadow_robot::SrMotorRobotLib< StatusType, CommandType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class StatusType, class CommandType>
class shadow_robot::SrMotorRobotLib< StatusType, CommandType >