ElmoCtrl.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob3_driver
 * ROS package name: cob_head_axis
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Ulrich Reiser, email:ulrich.reiser@ipa.fhg.de
 *
 * Date of creation: Jul 2010
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) 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 3 of the 
 * License, or (at your option) any later version.
 * 
 * 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 for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/


#include <cob_head_axis/ElmoCtrl.h>
#include <unistd.h>
#include <iostream>
#include <unistd.h>

using namespace std;

void Sleep(int msecs){usleep(1000*msecs);}

bool ElmoCtrl::sendNetStartCanOpen(CanItf* canCtrl) {
        bool ret = false;       

        CanMsg msg;

        msg.m_iID  = 0;
        msg.m_iLen = 2;
        msg.set(1,0,0,0,0,0,0,0);
        ret = canCtrl->transmitMsg(msg, false);

        usleep(100000);

        return ret;
}


ElmoCtrl::ElmoCtrl() {
        m_Joint = NULL;
        m_JointParams = NULL;
        m_CanCtrl = NULL;
        m_CanBaseAddress = 0;
        m_MotionCtrlType = POS_CTRL;
        m_MaxVel = 2.0;
        m_Params = NULL;
}

ElmoCtrl::~ElmoCtrl() {
        if (m_Joint)
                m_Joint->shutdown();
                delete m_Joint;
        if (m_JointParams)
                delete m_JointParams;
        if (m_CanCtrl)
                delete m_CanCtrl;
}

bool ElmoCtrl::Home()
{
        bool success = false;
        if (m_Joint != NULL) {
                //THIS is needed for head_axis on cob3-2!
                //set input logic to 'general purpose'
                m_Joint->IntprtSetInt(8, 'I', 'L', 2, 7);                      
                usleep(20000);  
                
                //THIS is needed for cob3-3 (it's using DIN1):
                //set input logic to 'general purpose'
                m_Joint->IntprtSetInt(8, 'I', 'L', 1, 6);                       
                usleep(20000);  
                
                m_Joint->initHoming();
        }

        //ToDo: UHR: necessary?
        Sleep(10);
        printf("ElmoCtrl: Home(): Homing Vel = %f\n",m_HomingDir*0.3);
        m_Joint->setGearVelRadS(m_HomingDir*0.3);
        //cpc-pk: removed this sleep, it's not necessary to leave home-sensor during homing
        //Sleep(750);
        success = m_Joint->execHoming();
        m_Joint->setGearVelRadS(0.0);

        return success;
}


int ElmoCtrl::evalCanBuffer() {
        bool bRet;
        
        //pthread_mutex_lock(&(m_Mutex));

        // as long as there is something in the can buffer -> read out next message
        while(m_CanCtrl->receiveMsg(&m_CanMsgRec) == true) {
                bRet = false;
                // check if the message belongs to head_axis motor
                bRet |= m_Joint->evalReceivedMsg(m_CanMsgRec);

                if (bRet == true) {
                } else std::cout << "cob_head_axis: Unknown CAN-msg: " << m_CanMsgRec.m_iID << "  " << (int)m_CanMsgRec.getAt(0) << " " << (int)m_CanMsgRec.getAt(1) << std::endl;
        }
        
        //pthread_mutex_unlock(&(m_Mutex));

        return 0;
}

bool ElmoCtrl::RecoverAfterEmergencyStop() {
        
        bool success = false;
        printf("Resetting motor ...\n");
        success = m_Joint->start();
        if (!success) {
                printf("failed!\n");
        } else {        
                printf("successful\n");
                m_Joint->setGearVelRadS(0);
        }
        Sleep(1000);
        return success;
}


bool ElmoCtrl::Init(ElmoCtrlParams * params, bool home) { //home = true by default
        bool success = false;
        string CanIniFile;
        string CanDevice;
        int baudrate = 0;
        
        m_Params = params;

        if (params == NULL) {
                printf("ElmoCtrlParams:Error:%s:%d:, invalid parameters!\n",__FILE__,__LINE__);
                success = false;
        } else {
                success = true;
        }

        if (success) {
                printf( "------------ ElmoCtrl Init ---------------\n");
                
                //Allocate memory and read params e.g. gotten from ROS parameter server
                m_Joint = new CanDriveHarmonica();
                m_JointParams = new DriveParam();
                m_CanBaseAddress = params->GetModuleID();
                CanIniFile = params->GetCanIniFile();   
                m_MaxVel = params->GetMaxVel();
                m_HomingDir = params->GetHomingDir();
                m_HomingDigIn = params->GetHomingDigIn();
                
                m_EncIncrPerRevMot = params->GetEncoderIncrements();
                m_MotorDirection = params->GetMotorDirection();
                m_GearRatio = params->GetGearRatio();
                
                if (CanIniFile.length() == 0) { 
                        printf("%s,%d:Error: Parameter 'CanIniFile' not given!\n",__FILE__,__LINE__);
                        success = false;
                }
                
                CanDevice = params->GetCanDevice();
                if (CanDevice.length() == 0) {  
                        printf("%s,%d:Error: Parameter 'Can-Device' not given!\n",__FILE__,__LINE__);
                        success = false;
                }
                
                baudrate = params->GetBaudRate();
                if (baudrate == 0) {    
                        printf("%s,%d:Error: Parameter 'Baud-Rate' not given!\n",__FILE__,__LINE__);
                        success = false;
                }
                
                //Setting motor model data              
                if (success) {
                        m_JointOffset = params->GetAngleOffset();
                        m_UpperLimit = params->GetUpperLimit();
                        m_LowerLimit = params->GetLowerLimit();
                }

                if (success) {
                        printf("The following parameters were successfully read from the parameter server (given through *params): \n");
                        printf("CanIniFile:     %s\n",CanIniFile.c_str());
                        printf("CanDieODvice:   %s\n",CanDevice.c_str());
                        printf("Baudrate:       %d\n",baudrate);
                        printf("Module ID: %d\n",m_CanBaseAddress);
                        printf("Max Vel: %f\n",m_MaxVel);
                        printf("Homing Dir: %d\n",m_HomingDir);
                        printf("HomingDigIn: %d\n",m_HomingDigIn);
                        printf("Offset/Limit(min/max)  %f/(%f,%f)\n",m_JointOffset,m_LowerLimit,m_UpperLimit);
                }
        }
        
        //Setting up CAN interface
        
        if (success) {
          //m_CanCtrl = new CanESD(CanIniFile.c_str(), false);
                m_CanCtrl = new CANPeakSysUSB(CanIniFile.c_str());
                if (m_CanCtrl == NULL) {
                        printf("%s,%d:Error: Could not open Can Device!\n",__FILE__,__LINE__);
                        success = false;
                }
          }
        
        if (success) {
                        /* WRONG CAN-identifiers
                        //m_CanBaseAddress = params->GetModulID(i);
                        m_CanAddress.TxPDO1 = 0x181 + m_CanBaseAddress -1;
                        m_CanAddress.TxPDO2 = 0x285 + m_CanBaseAddress -1;
                        m_CanAddress.RxPDO2 = 0x301 + m_CanBaseAddress -1;
                        m_CanAddress.TxSDO = 0x491 + m_CanBaseAddress -1;
                        m_CanAddress.RxSDO = 0x511 + m_CanBaseAddress -1;
                        */
                        m_CanAddress.TxPDO1 = 0x181 + m_CanBaseAddress -1;
                        m_CanAddress.TxPDO2 = 0x281 + m_CanBaseAddress -1;
                        m_CanAddress.RxPDO2 = 0x301 + m_CanBaseAddress -1;
                        m_CanAddress.TxSDO = 0x581 + m_CanBaseAddress -1;
                        m_CanAddress.RxSDO = 0x601 + m_CanBaseAddress -1;
                        m_Joint->setCanItf(m_CanCtrl);
                        m_Joint->setCanOpenParam(m_CanAddress.TxPDO1, 
                                                        m_CanAddress.TxPDO2, 
                                                        m_CanAddress.RxPDO2, 
                                                        m_CanAddress.TxSDO, 
                                                        m_CanAddress.RxSDO );
                                                        
                        printf("CanAdresses set to %d (Base), %x, %x, %x, %x, %x...\n", m_CanBaseAddress,
                                                                                                                                                m_CanAddress.TxPDO1,
                                                                                                                                                m_CanAddress.TxPDO2,
                                                                                                                                                m_CanAddress.RxPDO2,
                                                                                                                                                m_CanAddress.TxSDO,
                                                                                                                                                m_CanAddress.RxSDO);
                
          }
          
          if (success) {
                success = sendNetStartCanOpen(m_CanCtrl);
          }
          
          if (success) {
                //ToDo: Read from File!
                /*
                int iDriveIdent,
                int iEncIncrPerRevMot,
                double dVelMeasFrqHz,
                double dBeltRatio,
                double dGearRatio,
                int iSign,
                double dVelMaxEncIncrS,
                double dAccIncrS2,
                double dDecIncrS2,
                int iEncOffsetIncr,
                bool bIsSteer,
        double dCurrToTorque,
                double dCurrMax,
                int iHomingDigIn
                */

/*
                m_JointParams->setParam( //parameters taken from CanCtrl.ini
                                                        0, //int iDriveIdent,
                                                        4096,//int iEncIncrPerRevMot,
                                                        1,//double dVelMeasFrqHz,
                                                        1,//double dBeltRatio,
                                                        47.77,//double dGearRatio,
                                                        -1.0,//int iSign,
                                                        740000,//double dVelMaxEncIncrS,
                                                        1000000,//80000,//double dAccIncrS2,
                                                        1000000,//80000//double dDecIncrS2),
                                                        0, //int iEncOffsetIncr
                                                        true, // bool bIsSteer
                                                        0, // double dCurrToTorque
                                                        0, // double dCurrMax
                                                        m_HomingDigIn // int iHomingDigIn //cob3-2->11, cob3-1->9
                                          );
*/

                m_JointParams->setParam( //parameters taken from CanCtrl.ini
                                                        0, //int iDriveIdent,
                                                        m_EncIncrPerRevMot,//int iEncIncrPerRevMot,
                                                        1,//double dVelMeasFrqHz,
                                                        1,//double dBeltRatio,
                                                        m_GearRatio,//double dGearRatio,
                                                        m_MotorDirection,//int iSign,
                                                        74000000,//double dVelMaxEncIncrS,
                                                        1000000,//80000,//double dAccIncrS2,
                                                        1000000,//80000//double dDecIncrS2),
                                                        0, //int iEncOffsetIncr
                                                        true, // bool bIsSteer
                                                        0, // double dCurrToTorque
                                                        0, // double dm_HomingDigInCurrMax
                                                        m_HomingDigIn // int iHomingDigIn //cob3-2->11, cob3-1->9
                                          );
                
                          
                m_Joint->setDriveParam(*m_JointParams);
                }

          if (success)
          {
                          printf("Init motor ...\n");
                          success = m_Joint->init();
                          if (!success)
                          {
                                          printf("failed!\n");
                          }
                          else
                          {     
                                          printf("successful\n");
                          }
          }
          
          if (success)
                          success = SetMotionCtrlType(m_MotionCtrlType);
                          if(!success) std::cout << "Failed to SetMotionCtrlType to " << m_MotionCtrlType << std::endl;

          if (success)
          {
                          printf("Starting motor ..\n");
                          success = m_Joint->start();
                          if (!success)
                          {
                                          printf("failed!\n");
                          }
                          else
                          {     
                                          printf("successful\n");
                                          m_Joint->setGearVelRadS(0);
                          }
          }
          //ToDo: UHR: necessary?
          Sleep(1000);

          if (success && home)
          {
                std::cout << "Start homing procedure now.." << std::endl;
                          success = Home();
          }
          //Thread init
          if (success)
          {
                          pthread_mutex_init(&m_Mutex,NULL);
          }


          return success;
}

bool ElmoCtrl::SetMotionCtrlType(int type)
{
        m_MotionCtrlType = type;
        bool success = false; 
        if (type == POS_CTRL)
        {
                        success = m_Joint->shutdown();
                        if (success)
                                        success = m_Joint->setTypeMotion(CanDriveHarmonica::MOTIONTYPE_POSCTRL);
                                                
                        //ToDo: necessary?
                        Sleep(100);
                        success = m_Joint->start();
        
        }
        else if (type == VEL_CTRL)
        {
                //UHR: ToDo
                printf("%s%d:Error: Velocity control not implemented yet!\n",__FILE__,__LINE__);
                success = false;
        }
        return success;
};


int ElmoCtrl::GetMotionCtrlType() 
{
        return m_MotionCtrlType;
}

bool ElmoCtrl::isError() 
{
        return m_Joint->isError();
}

int ElmoCtrl::getGearPosVelRadS( double* pdAngleGearRad, double* pdVelGearRadS)
{

        // init default outputs
        *pdAngleGearRad = 0;
        *pdVelGearRadS = 0;

        m_Joint->getGearPosVelRadS(pdAngleGearRad, pdVelGearRadS);
        *pdAngleGearRad = *pdAngleGearRad - m_JointOffset;
        
        return 0;
}

//-----------------------------------------------

int ElmoCtrl:: setGearPosVelRadS(double dPosRad, double dVelRadS)
{

        if(dPosRad< m_LowerLimit) {
                std::cout << "Position under LowerBound -> set up" << std::endl;
                dPosRad = m_LowerLimit;
        } else if(dPosRad > m_UpperLimit) {
                std::cout << "Position over UpperBound -> set down" << std::endl;
                dPosRad = m_UpperLimit;
        }
                
        if(dVelRadS > m_MaxVel)
                dVelRadS = m_MaxVel;
        else if(dVelRadS < -m_MaxVel)
                dVelRadS = -m_MaxVel;

        //COB3-2: m_Joint->setGearPosVelRadS(dPosRad + m_JointOffset, dVelRadS);
        
        //COB3-1: m_Joint->setGearPosVelRadS(-3.141592654 - dPosRad + m_JointOffset, dVelRadS);
        printf("ElmoCtrl:setGearPosVelRadS: dPosRad %f with vel %f\n",dPosRad, dVelRadS);
        m_Joint->setGearPosVelRadS(m_HomingDir * dPosRad + m_JointOffset, dVelRadS);
        return 0;
}

bool ElmoCtrl::Stop()
{
                //UHR: ToDo: what happens exactly in this method? Sudden stop?
                double pos = 0.0;
                double vel = 0.0;
                m_Joint->getGearPosVelRadS(&pos,&vel);
                m_Joint->setGearPosVelRadS(pos,0);

                return true;
                //m_Joint[i]->shutdown();

}