khi_robot_driver.h

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#ifndef KHI_ROBOT_DRIVER_H
#define KHI_ROBOT_DRIVER_H
 
#include <string>
#include <khi_robot_msgs/KhiRobotCmd.h>
 
namespace khi_robot_control
{
#define KHI_MAX_CONTROLLER 8
#define KHI_MAX_ARM 2
#define KHI_MAX_JOINT 18
#define KHI_MAX_SIG_SIZE 512
 
struct KhiRobotArmData
{
    int jt_num;
    std::string name[KHI_MAX_JOINT];
    int type[KHI_MAX_JOINT];
    double cmd[KHI_MAX_JOINT];
    double pos[KHI_MAX_JOINT];
    double vel[KHI_MAX_JOINT];
    double eff[KHI_MAX_JOINT];
    double home[KHI_MAX_JOINT];
};
 
struct KhiRobotData
{
    std::string robot_name;
    int arm_num;
    KhiRobotArmData arm[KHI_MAX_ARM];
};
 
struct KhiRobotControllerInfo
{
    int state;
    int state_trigger;
    std::string ip_address;
    double period;
};
 
enum KhiRobotState
{
    STATE_MIN = -1,
    INIT,
    CONNECTING,
    INACTIVE,
    ACTIVATING,
    ACTIVE,
    HOLDED,
    DEACTIVATING,
    DISCONNECTING,
    DISCONNECTED,
    ERROR,
    NOT_REGISTERED,
    STATE_MAX
};
const static std::string KhiRobotStateName[STATE_MAX] =
{
    "INIT",
    "CONNECTING",
    "INACTIVE",
    "ACTIVATING",
    "ACTIVE",
    "HOLDED",
    "DEACTIVATING",
    "DISCONNECTING",
    "DISCONNECTED",
    "ERROR",
    "NOT_REGISTERED"
};
 
enum KhiRobotStateTrigger
{
    TRIGGER_MIN = -1,
    NONE,
    HOLD,
    RESTART,
    QUIT,
    TRIGGER_MAX
};
const static std::string KhiRobotStateTriggerName[TRIGGER_MAX] =
{
    "NONE",
    "HOLD",
    "RESTART",
    "QUIT"
};
 
class KhiRobotDriver
{
public:
    KhiRobotDriver()
    {
        for ( int cno = 0; cno < KHI_MAX_CONTROLLER; cno++ )
        {
            cont_info[cno].state = INIT;
            cont_info[cno].state_trigger = NONE;
            cont_info[cno].ip_address = "127.0.0.1";
        }
 
        driver_name = __func__;
    }
 
    int getState( const int& cont_no )
    {
        if ( ( cont_no < 0 ) || ( cont_no > KHI_MAX_CONTROLLER ) ) { return NOT_REGISTERED; }
        else                                                       { return cont_info[cont_no].state; }
    }
 
    std::string getStateName( const int& cont_no )
    {
        int state;
        std::string name = "";
 
        state = getState( cont_no );
        if ( ( state > STATE_MIN ) && ( state < STATE_MAX ) )
        {
            name = KhiRobotStateName[state];
        }
 
        return name;
    }
 
    bool setState( const int& cont_no, const int& state )
    {
        if ( !contLimitCheck( cont_no, KHI_MAX_CONTROLLER ) ) { return false; }
 
        if ( ( state <= STATE_MIN ) || ( state >= STATE_MAX ) )
        {
            return false;
        }
        else
        {
            if ( cont_info[cont_no].state != state )
            {
                infoPrint( "State %d: %s -> %s", cont_no, KhiRobotStateName[cont_info[cont_no].state].c_str(), KhiRobotStateName[state].c_str() );
                cont_info[cont_no].state = state;
            }
            return true;
        }
    }
 
    bool isTransitionState( const int& cont_no )
    {
        int state;
 
        state = getState( cont_no );
        if ( ( state == CONNECTING ) || ( state == ACTIVATING ) || ( state == DEACTIVATING ) || ( state == DISCONNECTING ) )
        {
            return true;
        }
        else
        {
            return false;
        }
    }
 
    int getStateTrigger( const int& cont_no )
    {
        int state_trigger;
 
        if ( ( cont_no < 0 ) || ( cont_no > KHI_MAX_CONTROLLER ) ) { return NONE; }
        else
        {
            state_trigger = cont_info[cont_no].state_trigger;
            cont_info[cont_no].state_trigger = NONE;
            return state_trigger;
        }
    }
 
    bool setStateTrigger( const int& cont_no, const int& state_trigger )
    {
        if ( !contLimitCheck( cont_no, KHI_MAX_CONTROLLER ) ) { return false; }
 
        if ( ( state_trigger <= TRIGGER_MIN ) || ( state_trigger >= TRIGGER_MAX ) )
        {
            return false;
        }
        else
        {
            if ( cont_info[cont_no].state_trigger != NONE )
            {
                warnPrint( "State Trigger is already done %d: %s", cont_no, KhiRobotStateTriggerName[state_trigger].c_str() );
            }
            infoPrint( "State Trigger %d: %s", cont_no, KhiRobotStateTriggerName[state_trigger].c_str() );
            cont_info[cont_no].state_trigger = state_trigger;
            return true;
        }
    }
 
    bool contLimitCheck( const int& cont_no, const int& limit )
    {
        if ( ( cont_no < 0 ) || ( cont_no > KHI_MAX_CONTROLLER ) || ( cont_no > limit ) )
        {
            errorPrint( "contLimitCheck ERROR!" );
            return false;
        }
        else
        {
            return true;
        }
    }
 
    void infoPrint( const char* format, ... )
    {
        char msg[512] = { 0 };
        va_list ap;
 
        va_start( ap, format );
        vsnprintf( msg, sizeof(msg), format, ap );
        va_end( ap );
        ROS_INFO( "[%s] %s", driver_name.c_str(), msg );
    }
 
    void warnPrint( const char* format, ... )
    {
        char msg[512] = { 0 };
        va_list ap;
 
        va_start( ap, format );
        vsnprintf( msg, sizeof(msg), format, ap );
        va_end( ap );
        ROS_WARN( "[%s] %s", driver_name.c_str(), msg );
    }
 
    void errorPrint( const char* format, ... )
    {
        char msg[512] = { 0 };
        va_list ap;
 
        va_start( ap, format );
        vsnprintf( msg, sizeof(msg), format, ap );
        va_end( ap );
        ROS_ERROR( "[%s] %s", driver_name.c_str(), msg );
    }
 
    void jointPrint( std::string name, const KhiRobotData& data )
    {
        char msg[512] = { 0 };
        char jt_val[16] = { 0 };
        const double* value;
 
        snprintf( msg, sizeof(msg), "[%s]\t", name.c_str() );
        for ( int ano = 0; ano < KHI_MAX_ARM; ano++ )
        {
            if ( name == std::string("write") ) { value = data.arm[ano].cmd; }
            else { value = data.arm[ano].pos; }
            for ( int jt = 0; jt < data.arm[ano].jt_num; jt++ )
            {
                snprintf( jt_val, sizeof(jt_val), "%.3lf\t", value[jt] );
                strcat( msg, jt_val );
            }
        }
        infoPrint( "[SIM]%s", msg );
    }
 
    virtual ~KhiRobotDriver() {};
    virtual bool initialize( const int& cont_no, const double& period, KhiRobotData& data, const bool in_simulation = false ) = 0;
    virtual bool open( const int& cont_no, const std::string& ip_address, KhiRobotData& data ) = 0;
    virtual bool close( const int& cont_no ) = 0;
    virtual bool activate( const int& cont_no, KhiRobotData& data ) = 0;
    virtual bool hold( const int& cont_no, const KhiRobotData& data ) = 0;
    virtual bool deactivate( const int& cont_no, const KhiRobotData& data ) = 0;
    virtual bool readData( const int& cont_no, KhiRobotData& data ) = 0;
    virtual bool writeData( const int& cont_no, const KhiRobotData& data ) = 0;
    virtual bool updateState( const int& cont_no, const KhiRobotData& data ) = 0;
    virtual bool getPeriodDiff( const int& cont_no, double& diff ) = 0;
    virtual bool commandHandler( khi_robot_msgs::KhiRobotCmd::Request& req, khi_robot_msgs::KhiRobotCmd::Response& res ) = 0;
 
protected:
    bool in_simulation;
    std::string driver_name;
    KhiRobotControllerInfo cont_info[KHI_MAX_CONTROLLER];
    int return_code;
    int error_code;
};
 
} // namespace
 
#endif // KHI_ROBOT_DRIVER_H