SamplePD.cpp

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 * General Robotix Inc. 
 */
#include "SamplePD.h"

#include <iostream>

#define TIMESTEP 0.002

#define ANGLE_FILE "etc/angle.dat"
#define VEL_FILE   "etc/vel.dat"
#define ACC_FILE   "etc/acc.dat"

#define GAIN_FILE  "etc/PDgain.dat"

namespace {
  const bool CONTROLLER_BRIDGE_DEBUG = false;
}


// Module specification
// <rtc-template block="module_spec">
static const char* samplepd_spec[] =
  {
    "implementation_id", "SamplePD",
    "type_name",         "SamplePD",
    "description",       "Sample PD component",
    "version",           "0.1",
    "vendor",            "AIST",
    "category",          "Generic",
    "activity_type",     "DataFlowComponent",
    "max_instance",      "10",
    "language",          "C++",
    "lang_type",         "compile",
    // Configuration variables

    ""
  };
// </rtc-template>

SamplePD::SamplePD(RTC::Manager* manager)
  : RTC::DataFlowComponentBase(manager),
    // <rtc-template block="initializer">
    m_angleIn("angle", m_angle),
    m_torqueOut("torque", m_torque),
    
    // </rtc-template>
    dummy(0),
    qold(DOF)
{
  if( CONTROLLER_BRIDGE_DEBUG )
  {
    std::cout << "SamplePD::SamplePD" << std::endl;
  }

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>
}

SamplePD::~SamplePD()
{
  closeFiles();
  delete [] Pgain;
  delete [] Dgain;
}


RTC::ReturnCode_t SamplePD::onInitialize()
{
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  if( CONTROLLER_BRIDGE_DEBUG )
  {
    std::cout << "onInitialize" << std::endl;
  }

  // Set InPort buffers
  addInPort("angle", m_angleIn);
  
  // Set OutPort buffer
  addOutPort("torque", m_torqueOut);
  // </rtc-template>

  Pgain = new double[DOF];
  Dgain = new double[DOF];

  gain.open(GAIN_FILE);
  if (gain.is_open()){
    for (int i=0; i<DOF; i++){
      gain >> Pgain[i];
      gain >> Dgain[i];
    }
    gain.close();
  }else{
    std::cerr << GAIN_FILE << " not found" << std::endl;
  }
  m_torque.data.length(DOF);
  m_angle.data.length(DOF);

  return RTC::RTC_OK;
}


/*
RTC::ReturnCode_t SamplePD::onFinalize()
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t SamplePD::onStartup(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t SamplePD::onShutdown(RTC::UniqueId ec_id)
{
    log("SamplePD::onShutdown");
  return RTC::RTC_OK;
}
*/

RTC::ReturnCode_t SamplePD::onActivated(RTC::UniqueId ec_id)
{
  std::cout << "on Activated" << std::endl;
  openFiles();
  
  if(m_angleIn.isNew()){
    m_angleIn.read();
  }
  
  for(int i=0; i < DOF; ++i){
    qold[i] = m_angle.data[i];
    q_ref[i] = dq_ref[i] = 0.0;
  }
  
  return RTC::RTC_OK;
}


RTC::ReturnCode_t SamplePD::onDeactivated(RTC::UniqueId ec_id)
{
  std::cout << "on Deactivated" << std::endl;
  closeFiles();
  return RTC::RTC_OK;
}



RTC::ReturnCode_t SamplePD::onExecute(RTC::UniqueId ec_id)
{
  if( CONTROLLER_BRIDGE_DEBUG )
  {
    std::cout << "onExecute" << std::endl;
    std::string localStr;
    std::cin >> localStr; 
  }

  if(m_angleIn.isNew()){
    m_angleIn.read();
  }

  if(!angle.eof()){
    angle >> q_ref[0]; vel >> dq_ref[0];// skip time
    for (int i=0; i<DOF; i++){
      angle >> q_ref[i];
      vel >> dq_ref[i];
    }
  }
  for(int i=0; i<DOF; i++){
    double q = m_angle.data[i];
    double dq = (q - qold[i]) / TIMESTEP;
    qold[i] = q;
    
    m_torque.data[i] = -(q - q_ref[i]) * Pgain[i] - (dq - dq_ref[i]) * Dgain[i];
  }
      
  m_torqueOut.write();
  
  return RTC::RTC_OK;
}

/*
RTC::ReturnCode_t SamplePD::onAborting(RTC::UniqueId ec_id)
{
    return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t SamplePD::onError(RTC::UniqueId ec_id)
{
    return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t SamplePD::onReset(RTC::UniqueId ec_id)
{
    return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t SamplePD::onStateUpdate(RTC::UniqueId ec_id)
{
    return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t SamplePD::onRateChanged(RTC::UniqueId ec_id)
{
    return RTC::RTC_OK;
}
*/

void SamplePD::openFiles()
{
  angle.open(ANGLE_FILE);
  if(!angle.is_open()){
    std::cerr << ANGLE_FILE << " not opened" << std::endl;
  }

  vel.open(VEL_FILE);
  if (!vel.is_open()){
    std::cerr << VEL_FILE << " not opened" << std::endl;
  }  
}

void SamplePD::closeFiles()
{
  if( angle.is_open() ){
    angle.close();
    angle.clear();
  }
  if( vel.is_open() ){
    vel.close();
    vel.clear();
  }
}

extern "C"
{

  DLL_EXPORT void SamplePDInit(RTC::Manager* manager)
  {
    coil::Properties profile(samplepd_spec);
    manager->registerFactory(profile,
                             RTC::Create<SamplePD>,
                             RTC::Delete<SamplePD>);
  }

};