movement_publisher.cpp

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#include "sr_movements/movement_publisher.hpp"

#include <math.h>
#include <sr_utilities/sr_math_utils.hpp>

namespace shadowrobot
{
  MovementPublisher::MovementPublisher(std::string joint_name, double rate, unsigned int repetition, unsigned int nb_mvt_step, std::string controller_type, bool testing, HandCommander* hand_commander)
    : joint_name_(joint_name), nh_tilde("~"), publishing_rate( rate ), repetition(repetition),
      min(0.0), max(1.5), last_target_(0.0), nb_mvt_step(nb_mvt_step),
      SError_(0.0), MSError_(0.0), n_samples_(0), controller_type(controller_type)
  {
    //this is a gazebo test, sleep for a long while to make sure gazebo is started.
    if(testing)
    {
      ROS_INFO("This is a test: sleeping 10 seconds for Gazebo to start.");
      sleep(20.0);
    }

    if( hand_commander != NULL )
      hand_commander_.reset(hand_commander);
    else
      hand_commander_.reset(new HandCommander());

    //if using the HandCommander, we're initialising the
    // vector of joints to send here, out of the loop.
    sr_robot_msgs::joint joint;
    joint.joint_name = joint_name_;
    joint_vector_.push_back(joint);

    std::pair<double, double> min_max = hand_commander_->get_min_max(joint_name_);
    min = min_max.first;
    max = min_max.second;

    std::string input = hand_commander_->get_controller_state_topic(joint_name_);
    subscribe_and_default_pub_(input);
  }

  MovementPublisher::MovementPublisher(double min_value, double max_value,
                                       double rate, unsigned int repetition,
                                       unsigned int nb_mvt_step, std::string controller_type)
    : nh_tilde("~"), publishing_rate( rate ), repetition(repetition),
      min(min_value), max(max_value), last_target_(0.0), nb_mvt_step(nb_mvt_step),
      SError_(0.0), MSError_(0.0), n_samples_(0), controller_type(controller_type)
  {
    pub = nh_tilde.advertise<std_msgs::Float64>("targets", 5);

    subscribe_and_default_pub_("inputs");
  }

  void MovementPublisher::subscribe_and_default_pub_(std::string input)
  {
    pub_mse_ = nh_tilde.advertise<std_msgs::Float64>("mse_out", 5);

    if(controller_type == "sr")
    {
      //nb_mvt_step is used to set the size of the buffer
      sub_ = nh_tilde.subscribe(input, nb_mvt_step, &MovementPublisher::sr_calculateErrorCallback, this);
    }
    else
    {
      //nb_mvt_step is used to set the size of the buffer
      sub_ = nh_tilde.subscribe(input, nb_mvt_step, &MovementPublisher::calculateErrorCallback, this);
    }
  }

  MovementPublisher::~MovementPublisher()
  {}

  void MovementPublisher::start()
  {
    double last_target = 0.0;

    for(unsigned int i_rep = 0; i_rep < repetition; ++i_rep)
    {
      for( unsigned int i=0; i<partial_movements.size(); ++i)
      {
        for(unsigned int j=0; j<nb_mvt_step; ++j)
        {
          if( !ros::ok() )
            return;

          //get the target
          msg.data = partial_movements[i].get_target( static_cast<double>(j) / static_cast<double>(nb_mvt_step));

          //there was not target -> resend the last target
          if( msg.data == -1.0 )
          {
            msg.data = last_target;
          }
          else
          {
            //interpolate to the correct range
            msg.data = min + msg.data * (max - min);
          }
          //publish the message
          publish_();

          //wait for a bit
          publishing_rate.sleep();

          ros::spinOnce();

          last_target = msg.data;
        }
      }
      //print the error information
      ROS_INFO_STREAM("MSE: " << MSError_ << " Error(deg): " << sr_math_utils::to_degrees( sqrt(MSError_) ) );

      //publish the error information
      msg.data = MSError_;
      pub_mse_.publish( msg );

      //Reset the error counter
      SError_ = 0.0;
      n_samples_ = 0;
    }
  }

  void MovementPublisher::sr_calculateErrorCallback(const sr_robot_msgs::JointControllerState::ConstPtr& msg)
  {
    double error = msg->set_point - msg->process_value;
    ROS_DEBUG_STREAM("Error: " << error);
    SError_ = SError_ + ( error * error );
    ROS_DEBUG_STREAM("SError: " << SError_);
    n_samples_++;
    ROS_DEBUG_STREAM("Samples: " << n_samples_);
    MSError_ = SError_ / ( static_cast<double>(n_samples_) );
    ROS_DEBUG_STREAM("MSe: " << MSError_);
  }

  void MovementPublisher::calculateErrorCallback(const control_msgs::JointControllerState::ConstPtr& msg)
  {
    double error = msg->set_point - msg->process_value;
    ROS_DEBUG_STREAM("Error: " << error);
    SError_ = SError_ + ( error * error );
    ROS_DEBUG_STREAM("SError: " << SError_);
    n_samples_++;
    ROS_DEBUG_STREAM("Samples: " << n_samples_);
    MSError_ = SError_ / ( static_cast<double>(n_samples_) );
    ROS_DEBUG_STREAM("MSe: " << MSError_);
  }

  void MovementPublisher::execute_step(int index_mvt_step, int index_partial_movement)
  {
    if( !ros::ok() )
      return;

    //get the target
    msg.data = partial_movements[index_partial_movement].get_target( static_cast<double>(index_mvt_step) / static_cast<double>(nb_mvt_step));
    //interpolate to the correct range
    msg.data = min + msg.data * (max - min);

    //there was not target -> resend the last target
    if( msg.data == -1.0 )
      msg.data = last_target_;

    publish_();

    //wait for a bit
    publishing_rate.sleep();

    last_target_ = msg.data;
  }

  void MovementPublisher::publish_()
  {
    //publish the message
    //use the default publisher if the HandCommander is not instantiated
    // (for compatibility reason)
    if( hand_commander_ == NULL )
      pub.publish( msg );
    //otherwise use the HandCommander
    else
    {
      joint_vector_[0].joint_target = sr_math_utils::to_degrees(msg.data);
      hand_commander_->sendCommands(joint_vector_);
    }
  }

  void MovementPublisher::stop()
  {}

  void MovementPublisher::add_movement(PartialMovement mvt)
  {
    partial_movements.push_back( mvt );
  }

  void MovementPublisher::set_publisher(ros::Publisher publisher)
  {
    pub = publisher;
  }

  void MovementPublisher::set_subscriber(ros::Subscriber subscriber)
  {
    sub_ = subscriber;
  }

  std::string MovementPublisher::get_subscriber_topic()
  {
    return hand_commander_->get_controller_state_topic(joint_name_);
  }
}

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/