noid_robot_hardware.h

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/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018, Yohei Kakiuchi (JSK lab.)
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/*
 Author: Yohei Kakiuchi
*/

#ifndef _NOID_ROBOT_HW_H_
#define _NOID_ROBOT_HW_H_

// ros_control
#include <control_toolbox/pid.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/robot_hw.h>
#include <joint_limits_interface/joint_limits.h>
#include <joint_limits_interface/joint_limits_interface.h>
#include <joint_limits_interface/joint_limits_rosparam.h>
#include <joint_limits_interface/joint_limits_urdf.h>

// ROS
#include <ros/ros.h>
#include <angles/angles.h>

// URDF
#include <urdf/model.h>

// AERO
#include "noid_upper_controller.h"
#include "noid_lower_controller.h"
#include "robot_stroke_converter.h"
#include "stroke_mask.h"

#include <mutex>

using namespace noid;
using namespace controller;
using namespace common;

namespace noid_robot_hardware
{

class NoidRobotHW : public hardware_interface::RobotHW
{
public:
  NoidRobotHW() { }

  virtual ~NoidRobotHW() {}

  virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
  virtual void read(const ros::Time& time, const ros::Duration& period);
  virtual void write(const ros::Time& time, const ros::Duration& period);

  void readPos(const ros::Time& time, const ros::Duration& period, bool update);
  void writeWheel(const std::vector< std::string> &_names, const std::vector<int16_t> &_vel, double _tm_sec);
  double getPeriod() { return ((double)CONTROL_PERIOD_US_) / (1000 * 1000); }

  //--specific functions--
  void runHandScript(uint8_t _number, uint16_t _script, uint8_t _current);
  void writeWheel(std::vector<int16_t> &_vel);
  //void startWheelServo();
  //void stopWheelServo();
  void onWheelServo(bool _value);
  //----------------------

protected:
  // Methods used to control a joint.
  enum ControlMethod {EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID};
  enum JointType {NONE, PRISMATIC, ROTATIONAL, CONTINUOUS, FIXED};

  unsigned int number_of_angles_;

  hardware_interface::JointStateInterface    js_interface_;
  hardware_interface::PositionJointInterface pj_interface_;

  joint_limits_interface::PositionJointSaturationInterface pj_sat_interface_;

  std::vector<std::string> joint_list_;
  std::vector<double> joint_effort_limits_;
  std::vector<JointType>     joint_types_;
  std::vector<ControlMethod> joint_control_methods_;
  std::vector<double> joint_position_;
  std::vector<double> joint_velocity_;
  std::vector<double> joint_effort_;
  std::vector<double> joint_position_command_;
  std::vector<double> joint_velocity_command_;
  std::vector<double> joint_effort_command_;


  std::vector<double> prev_ref_positions_;
  std::vector<int16_t> upper_act_strokes_;
  std::vector<int16_t> lower_act_strokes_;

  boost::shared_ptr<NoidUpperController> controller_upper_;
  boost::shared_ptr<NoidLowerController> controller_lower_;

  bool initialized_flag_;
  bool upper_send_enable_;

  int   CONTROL_PERIOD_US_;
  float OVERLAP_SCALE_;
  int   BASE_COMMAND_PERIOD_MS_;

  std::mutex mutex_lower_;
  std::mutex mutex_upper_;

  std::vector<std::string> joint_names_upper_;
  std::vector<std::string> joint_names_lower_;
  std::string robot_model;
};

typedef boost::shared_ptr<NoidRobotHW> NoidRobotHWPtr;
}

#endif