youbot_wrapper.cpp

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/******************************************************************************
 * Copyright (c) 2011
 * Locomotec
 *
 * Author:
 * Sebastian Blumenthal
 *
 *
 * This software is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 * * Neither the name of Locomotec nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ******************************************************************************/


#include <YouBotOODLWrapper.h>
#include <stdlib.h>

int main(int argc, char **argv)
{

  youbot::Logger::toConsole = false;
  youbot::Logger::toFile = false;
  youbot::Logger::toROS = true;
  ros::init(argc, argv, "youbot_wrapper");
  ros::NodeHandle n;
  youBot::YouBotOODLWrapper youBot(n);
  std::vector<std::string> armNames;

  /* configuration */
  bool youBotHasBase;
  bool youBotHasArms;
  double youBotDriverCycleFrequencyInHz;        //the driver recives commands and publishes them with a fixed frequency
  n.param("youBotHasBase", youBotHasBase, true);
  n.param("youBotHasArms", youBotHasArms, true);
  n.param("youBotDriverCycleFrequencyInHz", youBotDriverCycleFrequencyInHz, 50.0);

  //get the config file path from an environment variable
  char* configLocation = getenv("YOUBOT_CONFIG_FOLDER_LOCATION");
  if (configLocation == NULL)
    throw std::runtime_error("youbot_wrapper.cpp: Could not find environment variable YOUBOT_CONFIG_FOLDER_LOCATION");

  n.param < std::string
      > ("youBotConfigurationFilePath", youBot.youBotConfiguration.configurationFilePath, configLocation);

  n.param < std::string > ("youBotBaseName", youBot.youBotConfiguration.baseConfiguration.baseID, "youbot-base");

  // Retrieve all defined arm names from the launch file params
  int i = 1;
  std::stringstream armNameParam;
  armNameParam << "youBotArmName" << i; // youBotArmName1 is first checked param... then youBotArmName2, etc.
  while (n.hasParam(armNameParam.str()))
  {
    std::string armName;
    n.getParam(armNameParam.str(), armName);
    armNames.push_back(armName);
    armNameParam.str("");
    armNameParam << "youBotArmName" << (++i);
  }

  ros::ServiceServer reconnectService = n.advertiseService("reconnect", &youBot::YouBotOODLWrapper::reconnectCallback,
                                                           &youBot);

  ROS_ASSERT((youBotHasBase == true) || (youBotHasArms == true)); // At least one should be true, otherwise nothing to be started.
  if (youBotHasBase == true)
  {
    youBot.initializeBase(youBot.youBotConfiguration.baseConfiguration.baseID);
  }

  if (youBotHasArms == true)
  {
    std::vector<std::string>::iterator armNameIter;
    for (armNameIter = armNames.begin(); armNameIter != armNames.end(); ++armNameIter)
    {
      youBot.initializeArm(*armNameIter);
    }
  }

  /* coordination */
  ros::Rate rate(youBotDriverCycleFrequencyInHz); //Input and output at the same time... (in Hz)
  while (n.ok())
  {
    ros::spinOnce();
    youBot.computeOODLSensorReadings();
    youBot.publishOODLSensorReadings();
    youBot.publishArmAndBaseDiagnostics(2.0);    //publish only every 2 seconds
    rate.sleep();

    //automatically attempt a reconnect if ethercat dies
    if (!youBot.youBotConfiguration.isEtherCATOkay()) {
      std_srvs::Empty::Request req;
      std_srvs::Empty::Response res;
      youBot.reconnectCallback(req,res);
    }

  }

  youBot.stop();

  return 0;
}