Program Listing for File hardware_interface.hpp
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// Copyright 2020 Zoltán Rési
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef KUKA_SUNRISE_FRI_DRIVER__HARDWARE_INTERFACE_HPP_
#define KUKA_SUNRISE_FRI_DRIVER__HARDWARE_INTERFACE_HPP_
#include <condition_variable>
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include "pluginlib/class_list_macros.hpp"
#include "rclcpp/rclcpp.hpp"
#include "hardware_interface/system_interface.hpp"
#include "kuka_drivers_core/control_mode.hpp"
#include "kuka_drivers_core/hardware_event.hpp"
#include "fri_client_sdk/HWIFClientApplication.hpp"
#include "fri_client_sdk/friClientIf.h"
#include "fri_client_sdk/friLBRClient.h"
#include "fri_client_sdk/friUdpConnection.h"
#include "kuka_sunrise_fri_driver/fri_connection.hpp"
#include "kuka_sunrise_fri_driver/visibility_control.h"
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
namespace kuka_sunrise_fri_driver
{
enum class IOTypes
{
ANALOG = 0,
DIGITAL = 1,
BOOLEAN = 2,
};
static std::unordered_map<std::string, IOTypes> const types = {
{"analog", IOTypes::ANALOG}, {"digital", IOTypes::DIGITAL}, {"boolean", IOTypes::BOOLEAN}};
class KukaFRIHardwareInterface : public hardware_interface::SystemInterface,
public KUKA::FRI::LBRClient
{
public:
RCLCPP_SHARED_PTR_DEFINITIONS(KukaFRIHardwareInterface)
// Set UDP timeout to 10 ms to enable checking return value of client_app_read()
KUKA_SUNRISE_FRI_DRIVER_PUBLIC KukaFRIHardwareInterface()
: client_application_(udp_connection_, *this)
{
}
KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn
on_init(const hardware_interface::HardwareInfo & info) override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn
on_configure(const rclcpp_lifecycle::State & previous_state) override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn
on_cleanup(const rclcpp_lifecycle::State & previous_state) override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn
on_activate(const rclcpp_lifecycle::State & previous_state) override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn
on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC std::vector<hardware_interface::StateInterface>
export_state_interfaces() override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC std::vector<hardware_interface::CommandInterface>
export_command_interfaces() override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC hardware_interface::return_type read(
const rclcpp::Time & time, const rclcpp::Duration & period) override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC hardware_interface::return_type write(
const rclcpp::Time & time, const rclcpp::Duration & period) override;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC void updateCommand(const rclcpp::Time & stamp);
KUKA_SUNRISE_FRI_DRIVER_PUBLIC bool setReceiveMultiplier(int receive_multiplier);
KUKA_SUNRISE_FRI_DRIVER_PUBLIC void waitForCommand() final;
KUKA_SUNRISE_FRI_DRIVER_PUBLIC void command() final;
class InvalidGPIOTypeException : public std::runtime_error
{
public:
explicit InvalidGPIOTypeException(const std::string & gpio_type)
: std::runtime_error(
"GPIO type '" + gpio_type +
"' is not supported, possible ones are 'analog', 'digital' or 'boolean'")
{
}
};
private:
KUKA_SUNRISE_FRI_DRIVER_LOCAL bool FRIConfigChanged();
bool active_read_ = false;
std::string controller_ip_;
KUKA::FRI::UdpConnection udp_connection_ = KUKA::FRI::UdpConnection(10);
KUKA::FRI::HWIFClientApplication client_application_;
std::shared_ptr<FRIConnection> fri_connection_;
rclcpp::Clock ros_clock_;
// Command interface must be of type double, but controller can set only integers
// this is a temporary solution, until runtime parameters are supported for hardware interfaces
double control_mode_ = 0; // default to undefined
double receive_multiplier_ = 1;
double send_period_ms_ = 10;
int client_port_ = 30200;
std::string client_ip_ = "0.0.0.0";
int receive_counter_ = 0;
bool torque_command_mode_ = false;
int prev_period_ = 0;
int prev_multiplier_ = 0;
// State and command interfaces
std::vector<double> hw_position_commands_;
std::vector<double> hw_torque_commands_;
std::vector<double> hw_stiffness_commands_;
std::vector<double> hw_damping_commands_;
std::vector<double> hw_position_states_;
std::vector<double> hw_torque_states_;
std::vector<double> hw_ext_torque_states_;
double server_state_ = 0;
std::mutex event_mutex_;
kuka_drivers_core::HardwareEvent last_event_ =
kuka_drivers_core::HardwareEvent::HARDWARE_EVENT_UNSPECIFIED;
static const int TCP_SERVER_PORT = 30000;
static const int DOF = 7;
struct RobotState
{
double tracking_performance_ = 1;
// Enum values represented with doubles (as all interfaces must be pointers to doubles)
double session_state_ = 0;
double connection_quality_ = 0;
double command_mode_ = 0;
double safety_state_ = 0;
double control_mode_ = 0;
double operation_mode_ = 0;
double drive_state_ = 0;
double overlay_type_ = 0;
};
RobotState robot_state_;
void activateFrictionCompensation(double * values) const;
void onError();
KUKA_SUNRISE_FRI_DRIVER_LOCAL IOTypes getType(const std::string & type_string) const
{
auto it = types.find(type_string);
if (it != types.end())
{
return it->second;
}
else
{
throw InvalidGPIOTypeException(type_string);
}
}
class GPIOReader
{
public:
double & getData() { return data_; }
const std::string & getName() const { return name_; }
GPIOReader(const std::string & name, IOTypes type, const KUKA::FRI::LBRState & state)
: name_(name), type_(type), state_(state)
{
}
void getValue()
{
switch (type_)
{
case IOTypes::ANALOG:
data_ = state_.getAnalogIOValue(name_.c_str());
break;
case IOTypes::DIGITAL:
data_ = static_cast<double>(state_.getDigitalIOValue(name_.c_str()));
break;
case IOTypes::BOOLEAN:
data_ = state_.getBooleanIOValue(name_.c_str());
break;
}
}
private:
const std::string name_;
IOTypes type_;
const KUKA::FRI::LBRState & state_;
double data_;
};
class GPIOWriter
{
public:
double & getData() { return data_; }
const std::string & getName() const { return name_; }
GPIOWriter(
const std::string & name, IOTypes type, KUKA::FRI::LBRCommand & command, double initial_value)
: name_(name), type_(type), command_(command), data_(initial_value)
{
}
void setValue()
{
switch (type_)
{
case IOTypes::ANALOG:
command_.setAnalogIOValue(name_.c_str(), data_);
break;
case IOTypes::DIGITAL:
command_.setDigitalIOValue(name_.c_str(), static_cast<uint64_t>(data_));
break;
case IOTypes::BOOLEAN:
command_.setBooleanIOValue(name_.c_str(), static_cast<bool>(data_));
break;
}
}
private:
const std::string name_;
IOTypes type_;
KUKA::FRI::LBRCommand & command_;
double data_;
};
std::vector<GPIOWriter> gpio_inputs_;
std::vector<GPIOReader> gpio_outputs_;
};
} // namespace kuka_sunrise_fri_driver
#endif // KUKA_SUNRISE_FRI_DRIVER__HARDWARE_INTERFACE_HPP_