sr_board_dc_motor_small.cpp

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/*
 * Copyright (c) 2016, Shadow Robot Company, All rights reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 *
 * This library 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 for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#include "../include/sr_ronex_drivers/sr_board_dc_motor_small.hpp"

#include <ros_ethercat_model/robot_state.hpp>
#include <ros_ethercat_hardware/ethercat_hardware.h>

#include <sstream>
#include <iomanip>
#include <boost/lexical_cast.hpp>
#include <math.h>
#include <string>

#include "sr_ronex_drivers/ronex_utils.hpp"

PLUGINLIB_EXPORT_CLASS(SrBoardDCMOTORSMALL, EthercatDevice);

const std::string SrBoardDCMOTORSMALL::product_alias_ = "DC_MOTOR_SMALL";
using boost::lexical_cast;


SrBoardDCMOTORSMALL::SrBoardDCMOTORSMALL() :
  node_("~"), cycle_count_(0), has_stacker_(false)
{}

SrBoardDCMOTORSMALL::~SrBoardDCMOTORSMALL()
{
  // remove parameters from server
  string device_id = "/ronex/devices/" + lexical_cast<string>(parameter_id_);
  ros::param::del(device_id);

  string DC_MOTOR_SMALL_device_name = "/ronex/DC_MOTOR_SMALL/" + serial_number_;
  ros::param::del(DC_MOTOR_SMALL_device_name);

  string controller_name = "/ronex_" + serial_number_ + "_passthrough";
}

void SrBoardDCMOTORSMALL::construct(EtherCAT_SlaveHandler *sh, int &start_address)
{
  sh_ = sh;
  serial_number_ = ronex::get_serial_number(sh);

  // get the alias from the parameter server if it exists
  std::string path_to_alias, alias;
  path_to_alias = "/ronex/mapping/" + serial_number_;
  if ( ros::param::get(path_to_alias, alias))
  {
    ronex_id_ = alias;
  }
  else
  {
    // no alias found, using the serial number directly.
    ronex_id_ = serial_number_;
  }

  device_name_ = ronex::build_name(product_alias_, ronex_id_);

  command_base_  = start_address;
  command_size_  = COMMAND_ARRAY_SIZE_BYTES_02000009;

  start_address += command_size_;
  status_base_   = start_address;
  status_size_   = STATUS_ARRAY_SIZE_BYTES_02000009;

  start_address += status_size_;

  // ETHERCAT_COMMAND_DATA
  //
  // This is for data going TO the board
  //

  if ( (PROTOCOL_TYPE) == (EC_BUFFERED) )
  {
    ROS_INFO("Using EC_BUFFERED");
  }
  else if ( (PROTOCOL_TYPE) == (EC_QUEUED) )
  {
    ROS_INFO("Using EC_QUEUED");
  }

  ROS_INFO("First FMMU (command) : Logical address: 0x%08X ; size: %3d bytes ; ET1200 address: 0x%08X", command_base_,
           command_size_, static_cast<int>(COMMAND_ADDRESS_02000009) );
  EC_FMMU *commandFMMU = new EC_FMMU( command_base_,            // Logical Start Address    (in ROS address space?)
                                      command_size_,
                                      0x00,                     // Logical Start Bit
                                      0x07,                     // Logical End Bit
                                      COMMAND_ADDRESS_02000009,  // Physical Start Address  (in ET1200 address space?)
                                      0x00,                     // Physical Start Bit
                                      false,                    // Read Enable
                                      true,                     // Write Enable
                                      true);                    // Channel Enable



  // WARNING!!!
  // We are leaving (command_size_ * 4) bytes in the physical memory of the device, but strictly we only need to
  // leave (command_size_ * 3). This change should be done in the firmware as well, otherwise it won't work.
  // This triple buffer is needed in the ethercat devices to work in EC_BUFFERED mode (in opposition to the other mode
  // EC_QUEUED, the so called mailbox mode)

  // ETHERCAT_STATUS_DATA
  //
  // This is for data coming FROM the board
  //
  ROS_INFO("Second FMMU (status) : Logical address: 0x%08X ; size: %3d bytes ; ET1200 address: 0x%08X", status_base_,
           status_size_, static_cast<int>(STATUS_ADDRESS_02000009) );
  EC_FMMU *statusFMMU = new EC_FMMU(  status_base_,
                                      status_size_,
                                      0x00,
                                      0x07,
                                      STATUS_ADDRESS_02000009,
                                      0x00,
                                      true,
                                      false,
                                      true);


  EtherCAT_FMMU_Config *fmmu = new EtherCAT_FMMU_Config(2);

  (*fmmu)[0] = *commandFMMU;
  (*fmmu)[1] = *statusFMMU;

  sh->set_fmmu_config(fmmu);

  EtherCAT_PD_Config *pd = new EtherCAT_PD_Config(2);

// SyncMan takes the physical address
  (*pd)[0] = EC_SyncMan(COMMAND_ADDRESS_02000009,              command_size_,    PROTOCOL_TYPE, EC_WRITTEN_FROM_MASTER);
  (*pd)[1] = EC_SyncMan(STATUS_ADDRESS_02000009,               status_size_,     PROTOCOL_TYPE);


  (*pd)[0].ChannelEnable = true;
  (*pd)[0].ALEventEnable = true;
  (*pd)[0].WriteEvent    = true;

  (*pd)[1].ChannelEnable = true;

  sh->set_pd_config(pd);

  ROS_INFO("Finished constructing the SrBoardDC_MOTOR_SMALL driver");
}

int SrBoardDCMOTORSMALL::initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed)
{
  digital_commands_ = 0;
  ROS_INFO("Device #%02d: Product code: %u (%#010X) , Serial #: %u (%#010X)",
            sh_->get_ring_position(),
            sh_->get_product_code(),
            sh_->get_product_code(),
            sh_->get_serial(),
            sh_->get_serial());

  device_offset_ = sh_->get_ring_position();

  // add the RoNeX DC_MOTOR_SMALL module to the hw interface
  ros_ethercat_model::RobotState *robot_state = static_cast<ros_ethercat_model::RobotState*>(hw);
  robot_state->custom_hws_.insert(device_name_, new ronex::DCMotor());
  dc_motor_small_ = static_cast<ronex::DCMotor*>(robot_state->getCustomHW(device_name_));

  build_topics_();

  ROS_INFO_STREAM("Adding an DC_MOTOR_SMALL RoNeX module to the hardware interface: " << device_name_);
  // Using the name of the ronex to prefix the state topic

  return 0;
}

void SrBoardDCMOTORSMALL::packCommand(unsigned char *buffer, bool halt, bool reset)
{
  RONEX_COMMAND_02000009* command = reinterpret_cast<RONEX_COMMAND_02000009*>(buffer);

  command->command_type = RONEX_COMMAND_02000009_COMMAND_TYPE_NORMAL;

  for (size_t i = 0; i < dc_motor_small_->command_.digital_.size(); ++i)
  {
    if (input_mode_[i])
    {
      // Just set the pin to input mode, gets read in the status
      ronex::set_bit(digital_commands_, i*2, 1);
    }
    else
    { // Output
      ronex::set_bit(digital_commands_, i*2, 0);
      ronex::set_bit(digital_commands_, i*2+1, dc_motor_small_->command_.digital_[i]);
    }
  }
  command->pin_output_states_DIO = static_cast<int16u>(digital_commands_);

  for (size_t i = 0; i < dc_motor_small_->command_.motor_packet_command_.size(); ++i)
  {
    command->motor_packet_command[i].flags = dc_motor_small_->command_.motor_packet_command_[i].flags;
    command->motor_packet_command[i].onTime = dc_motor_small_->command_.motor_packet_command_[i].on_time;
    command->motor_packet_command[i].period = dc_motor_small_->command_.motor_packet_command_[i].period;
  }
}

bool SrBoardDCMOTORSMALL::unpackState(unsigned char *this_buffer, unsigned char *prev_buffer)
{
  RONEX_STATUS_02000009* status_data = reinterpret_cast<RONEX_STATUS_02000009 *>(this_buffer+  command_size_);
  if (status_data->command_type == RONEX_COMMAND_02000009_COMMAND_TYPE_NORMAL)
  {
    if (dc_motor_small_->state_.analogue_.empty())
    {
      size_t nb_analogue_pub, nb_digital_io, nb_motor_packet;
      // The publishers haven't been initialised yet.
      // Checking if the stacker board is plugged in or not
      // to determine the number of publishers.
      nb_analogue_pub = NUM_ANALOGUE_INPUTS_02000009;
      nb_digital_io = NUM_DIGITAL_IO_02000009;
      if (status_data->motor_packet_status[0].flags & RONEX_02000009_FLAGS_STACKER_1_PRESENT)
      {
        has_stacker_ = true;
        nb_motor_packet = 2;
      }
      else
      {
        has_stacker_ = false;
        nb_motor_packet = 1;
      }
      // resizing the elements in the HardwareInterface
      dc_motor_small_->state_.analogue_.resize(nb_analogue_pub);
      dc_motor_small_->state_.digital_.resize(nb_digital_io);
      dc_motor_small_->state_.motor_packet_status_.resize(nb_motor_packet);
      dc_motor_small_->command_.digital_.resize(nb_digital_io);
      dc_motor_small_->command_.motor_packet_command_.resize(nb_motor_packet);

      input_mode_.assign(nb_digital_io, true);

      // init the state message
      state_msg_.analogue.resize(nb_analogue_pub);
      state_msg_.digital.resize(nb_digital_io);
      state_msg_.input_mode.resize(nb_digital_io);
      state_msg_.motor_status.resize(nb_motor_packet);

      // dynamic reconfigure server is instantiated here
      // as we need the different vectors to be initialised
      // before running the first configuration.
      dynamic_reconfigure_server_.reset(
              new dynamic_reconfigure::Server<sr_ronex_drivers::DCMotorConfig>(ros::NodeHandle(device_name_)));
      function_cb_ = boost::bind(&SrBoardDCMOTORSMALL::dynamic_reconfigure_cb, this, _1, _2);
      dynamic_reconfigure_server_->setCallback(function_cb_);
    }  // end first time, the sizes are properly initialised, simply fill in the data

    for (size_t i = 0; i < dc_motor_small_->state_.analogue_.size(); ++i )
    {
      dc_motor_small_->state_.analogue_[i] = status_data->analogue_in[i];
    }

    for (size_t i = 0; i < dc_motor_small_->state_.digital_.size(); ++i )
    {
      dc_motor_small_->state_.digital_[i] = ronex::check_bit(status_data->pin_input_states_DIO, i);
    }
    for (size_t i = 0; i < dc_motor_small_->state_.motor_packet_status_.size(); ++i)
    {
      dc_motor_small_->state_.motor_packet_status_[i].flags = status_data->motor_packet_status[i].flags;
      dc_motor_small_->state_.motor_packet_status_[i].quadrature = status_data->motor_packet_status[i].quadrature;
    }
  }
  // publishing at 100Hz
  if (cycle_count_ > 9)
  {
    state_msg_.header.stamp = ros::Time::now();

    // update state message
    for (size_t i = 0; i < dc_motor_small_->state_.analogue_.size(); ++i)
    {
      state_msg_.analogue[i] = dc_motor_small_->state_.analogue_[i];
    }

    for (size_t i = 0; i < dc_motor_small_->state_.digital_.size(); ++i)
    {
      state_msg_.digital[i] = dc_motor_small_->state_.digital_[i];
      state_msg_.input_mode[i] = input_mode_[i];
    }

    for (size_t i = 0; i < dc_motor_small_->state_.motor_packet_status_.size(); ++i)
    {
      state_msg_.motor_status[i].flags = dc_motor_small_->state_.motor_packet_status_[i].flags;
      state_msg_.motor_status[i].quadrature = dc_motor_small_->state_.motor_packet_status_[i].quadrature;
    }
    // publish
    if ( state_publisher_->trylock() )
    {
      state_publisher_->msg_ = state_msg_;
      state_publisher_->unlockAndPublish();
    }

    cycle_count_ = 0;
  }

  cycle_count_++;
  return true;
}

void SrBoardDCMOTORSMALL::diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer)
{
  d.name = device_name_;
  d.summary(d.OK, "OK");
  d.hardware_id = serial_number_;

  d.clear();
  if (has_stacker_)
    d.addf("Stacker Board", "True");
  else
    d.addf("Stacker Board", "False");
}

void SrBoardDCMOTORSMALL::dynamic_reconfigure_cb(sr_ronex_drivers::DCMotorConfig &config, uint32_t level)
{
  if (dc_motor_small_->command_.digital_.size() > 0)
    input_mode_[0] = config.input_mode_0;
  if (dc_motor_small_->command_.digital_.size() > 1)
    input_mode_[1] = config.input_mode_1;
  if (dc_motor_small_->command_.digital_.size() > 2)
    input_mode_[2] = config.input_mode_2;
  if (dc_motor_small_->command_.digital_.size() > 3)
    input_mode_[3] = config.input_mode_3;
  if (dc_motor_small_->command_.digital_.size() > 4)
    input_mode_[4] = config.input_mode_4;
  if (dc_motor_small_->command_.digital_.size() > 5)
    input_mode_[5] = config.input_mode_5;
}

void SrBoardDCMOTORSMALL::build_topics_()
{
  // loading everything into the parameter server
  parameter_id_ = ronex::get_ronex_param_id("");
  std::stringstream param_path, tmp_param;
  param_path << "/ronex/devices/" << parameter_id_ << "/";
  tmp_param << ronex::get_product_code(sh_);
  ros::param::set(param_path.str() + "product_id", tmp_param.str());
  ros::param::set(param_path.str() + "product_name", product_alias_);
  ros::param::set(param_path.str() + "ronex_id", ronex_id_);

  // the device is stored using path as the key in the CustomHW map
  ros::param::set(param_path.str() + "path", device_name_);
  ros::param::set(param_path.str() + "serial", serial_number_);

  // Advertising the realtime state publisher
  state_publisher_.reset(new realtime_tools::RealtimePublisher<sr_ronex_msgs::DCMotorState>(node_, device_name_ +
          "/state", 1));
}

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