dynamixel_interface_controller.h

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 * ___________________________________________________________________
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 * dynamixel_interface is forked from projects authored by Brian
 * Axelrod (on behalf of Willow Garage):
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 * https://github.com/baxelrod/dynamixel_pro_controller
 * https://github.com/baxelrod/dynamixel_pro_driver
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#ifndef DYNAMIXEL_INTERFACE_CONTROLLER_H_
#define DYNAMIXEL_INTERFACE_CONTROLLER_H_
 
#include <algorithm>
#include <map>
#include <memory>
#include <mutex>
#include <string>
 
#include <XmlRpcValue.h>
 
#include <ros/callback_queue.h>
#include <ros/ros.h>
#include <ros/spinner.h>
#include <sensor_msgs/JointState.h>
 
#include <dynamixel_interface/dynamixel_interface_driver.h>
 
#include <dynamixel_interface/DataPort.h>
#include <dynamixel_interface/DataPorts.h>
#include <dynamixel_interface/ServoDiag.h>
#include <dynamixel_interface/ServoDiags.h>
 
namespace dynamixel_interface
{
struct DynamixelInfo
{
  int id;                  
  std::string joint_name;  
 
  double max_vel;       
  double torque_limit;  
 
  int zero_pos;  
  int min_pos;   
  int max_pos;   
 
  const DynamixelSpec *model_spec;  
 
  bool torque_enabled;                
  DynamixelControlMode current_mode;  
  uint8_t hardware_status;            
};
 
struct PortInfo
{
  std::string port_name;  
 
  std::string device;  
  int baudrate;        
 
  bool use_legacy_protocol;  
 
  std::unique_ptr<DynamixelInterfaceDriver> driver;  
 
  std::unordered_map<std::string, DynamixelInfo> joints;  
};
 
class DynamixelInterfaceController
{
public:
  DynamixelInterfaceController();
 
  ~DynamixelInterfaceController();
 
  bool parseParameters(void);
 
  //      - check response on bus
  bool initialise();
 
  inline double getLoopRate(void) { return loop_rate_; };
 
  void loop(void);
 
private:
  bool parsePortInformation(XmlRpc::XmlRpcValue ports);
 
  bool parseServoInformation(PortInfo &port, XmlRpc::XmlRpcValue servos);
 
  bool initialisePort(PortInfo &port);
 
  bool initialiseDynamixel(PortInfo &port, DynamixelInfo &dynamixel);
 
  void jointStateCallback(const sensor_msgs::JointState::ConstPtr &joint_commands);
 
  void multiThreadedIO(PortInfo &port, sensor_msgs::JointState &read_msg, dynamixel_interface::DataPorts &dataport_msg,
                       dynamixel_interface::ServoDiags &status_msg, bool perform_write) const;
 
  void multiThreadedWrite(PortInfo &port, sensor_msgs::JointState joint_commands) const;
 
  void multiThreadedRead(PortInfo &port, sensor_msgs::JointState &read_msg,
                         dynamixel_interface::DataPorts &dataports_msg,
                         dynamixel_interface::ServoDiags &diags_msg) const;
 
  std::unique_ptr<ros::NodeHandle> nh_;  
 
  std::vector<PortInfo> dynamixel_ports_;  
 
  sensor_msgs::JointState write_msg_;  
 
  std::mutex write_mutex_;    
  bool write_ready_ = false;  
 
  ros::Subscriber joint_state_subscriber_;  
 
  ros::Publisher joint_state_publisher_;  
  ros::Publisher diagnostics_publisher_;  
  ros::Publisher dataport_publisher_;     
  ros::Publisher debug_publisher_;        
 
  ros::Timer broadcast_timer_;  
 
  // variables for tracking diagnostics reading rate
  bool read_diagnostics_;         
  uint diagnostics_counter_ = 0;  
  uint diagnostics_iters_ = 0;    
 
  // variables for tracking dataport reading rate
  bool read_dataport_;         
  uint dataport_counter_ = 0;  
  uint dataport_iters_ = 0;    
 
  DynamixelControlMode control_type_;  
 
  bool parameters_parsed_ = false;  
  bool initialised_ = false;        
 
  bool stop_motors_on_shutdown_;  
  bool ignore_input_velocity_;    
 
  double global_max_vel_;       
  double global_torque_limit_;  
 
  double loop_rate_;         
  double diagnostics_rate_;  
  double dataport_rate_;     
  int recv_queue_size_ = 1;  
};
 
}  // namespace dynamixel_interface
 
#endif  // DYNAMIXEL_INTERFACE_CONTROLLER_H_