force_mode_example.cpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2022 Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// -- END LICENSE BLOCK ------------------------------------------------

// In a real-world example it would be better to get those values from command line parameters / a
// better configuration system such as Boost.Program_options

#include <ur_client_library/ur/dashboard_client.h>
#include <ur_client_library/ur/ur_driver.h>
#include <ur_client_library/types.h>

#include <chrono>
#include <cstdlib>
#include <iostream>
#include <memory>
#include <thread>
#include "ur_client_library/control/reverse_interface.h"

using namespace urcl;

const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
const std::string SCRIPT_FILE = "resources/external_control.urscript";
const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";

std::unique_ptr<UrDriver> g_my_driver;
std::unique_ptr<DashboardClient> g_my_dashboard;

// We need a callback function to register. See UrDriver's parameters for details.
void handleRobotProgramState(bool program_running)
{
  // Print the text in green so we see it better
  std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl;
}

void sendFreedriveMessageOrDie(const control::FreedriveControlMessage freedrive_action)
{
  bool ret = g_my_driver->writeFreedriveControlMessage(freedrive_action);
  if (!ret)
  {
    URCL_LOG_ERROR("Could not send joint command. Is the robot in remote control?");
    exit(1);
  }
}

int main(int argc, char* argv[])
{
  urcl::setLogLevel(urcl::LogLevel::INFO);
  // Parse the ip arguments if given
  std::string robot_ip = DEFAULT_ROBOT_IP;
  if (argc > 1)
  {
    robot_ip = std::string(argv[1]);
  }

  // Parse how many seconds to run
  auto second_to_run = std::chrono::seconds(0);
  if (argc > 2)
  {
    second_to_run = std::chrono::seconds(std::stoi(argv[2]));
  }

  // Making the robot ready for the program by:
  // Connect the robot Dashboard
  g_my_dashboard.reset(new DashboardClient(robot_ip));
  if (!g_my_dashboard->connect())
  {
    URCL_LOG_ERROR("Could not connect to dashboard");
    return 1;
  }

  // // Stop program, if there is one running
  if (!g_my_dashboard->commandStop())
  {
    URCL_LOG_ERROR("Could not send stop program command");
    return 1;
  }

  // Power it off
  // if (!g_my_dashboard->commandPowerOff())
  //{
  // URCL_LOG_ERROR("Could not send Power off command");
  // return 1;
  //}

  // Power it on
  // if (!g_my_dashboard->commandPowerOn())
  //{
  // URCL_LOG_ERROR("Could not send Power on command");
  // return 1;
  //}

  // Release the brakes
  // if (!g_my_dashboard->commandBrakeRelease())
  //{
  // URCL_LOG_ERROR("Could not send BrakeRelease command");
  // return 1;
  //}

  // Now the robot is ready to receive a program
  std::unique_ptr<ToolCommSetup> tool_comm_setup;
  const bool HEADLESS = true;
  g_my_driver.reset(new UrDriver(robot_ip, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE, &handleRobotProgramState, HEADLESS,
                                 std::move(tool_comm_setup), CALIBRATION_CHECKSUM));

  // Once RTDE communication is started, we have to make sure to read from the interface buffer, as
  // otherwise we will get pipeline overflows. Therefore, do this directly before starting your main
  // loop.
  g_my_driver->startRTDECommunication();

  std::chrono::duration<double> time_done(0);
  std::chrono::duration<double> timeout(second_to_run);
  auto stopwatch_last = std::chrono::steady_clock::now();
  auto stopwatch_now = stopwatch_last;
  g_my_driver->writeKeepalive();
  // Task frame at the robot's base with limits being large enough to cover the whole workspace
  // Compliance in z axis and rotation around z axis
  g_my_driver->startForceMode({ 0, 0, 0, 0, 0, 0 },                 // Task frame at the robot's base
                              { 0, 0, 1, 0, 0, 1 },                 // Compliance in z axis and rotation around z axis
                              { 0, 0, 0, 0, 0, 0 },                 // do not apply any active wrench
                              2,                                    // do not transform the force frame at all
                              { 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 });  // limits. See ScriptManual for
                                                                    // details.

  while (true)
  {
    // Read latest RTDE package. This will block for a hard-coded timeout (see UrDriver), so the
    // robot will effectively be in charge of setting the frequency of this loop.
    // In a real-world application this thread should be scheduled with real-time priority in order
    // to ensure that this is called in time.
    std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_driver->getDataPackage();
    if (data_pkg)
    {
      g_my_driver->writeKeepalive();

      if (time_done > timeout && second_to_run.count() != 0)
      {
        URCL_LOG_INFO("Timeout reached.");
        break;
      }
    }
    else
    {
      URCL_LOG_WARN("Could not get fresh data package from robot");
    }

    stopwatch_now = std::chrono::steady_clock::now();
    time_done += stopwatch_now - stopwatch_last;
    stopwatch_last = stopwatch_now;
  }
  g_my_driver->endForceMode();
}