joint_trajectory_handler.cpp
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00001 /*
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00031 
00032 #include "adept_common/joint_trajectory_handler.h"
00033 #include "simple_message/messages/joint_message.h"
00034 #include "simple_message/smpl_msg_connection.h"
00035 
00036 using namespace industrial::smpl_msg_connection;
00037 using namespace industrial::joint_message;
00038 using namespace industrial::simple_message;
00039 
00040 namespace adept
00041 {
00042 namespace joint_trajectory_handler
00043 {
00044 JointTrajectoryHandler::JointTrajectoryHandler()
00045 {
00046 }
00047 
00048 JointTrajectoryHandler::JointTrajectoryHandler(ros::NodeHandle &n, SmplMsgConnection* robotConnecton) :
00049     node_(n)
00050 {
00051   ROS_INFO("Constructor joint trajectory handler node");
00052 
00053   this->mutex_.lock();
00054   this->sub_joint_tranectory_ = this->node_.subscribe("command", 0, &JointTrajectoryHandler::jointTrajectoryCB,
00055                                                       this);
00056   this->robot_ = robotConnecton;
00057   this->currentPoint = 0;
00058   this->state_ = JointTrajectoryStates::IDLE;
00059   this->trajectoryHandler_ =
00060       new boost::thread(boost::bind(&JointTrajectoryHandler::trajectoryHandler, this));
00061   ROS_INFO("Unlocking mutex");
00062   this->mutex_.unlock();
00063 }
00064 
00065 JointTrajectoryHandler::~JointTrajectoryHandler()
00066 {  
00067   trajectoryStop();
00068   this->sub_joint_tranectory_.shutdown();
00069   delete this->trajectoryHandler_;
00070 }
00071 
00072 void JointTrajectoryHandler::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg)
00073 {
00074   ROS_INFO("Receiving joint trajctory message");
00075   this->mutex_.lock();
00076   ROS_INFO("Processing joint trajctory message (mutex acquired)");
00077   ROS_DEBUG("Current state is: %d", this->state_);
00078   if (JointTrajectoryStates::IDLE != this->state_)
00079   {
00080     if (msg->points.empty())
00081     {
00082       ROS_INFO("Empty trajectory received, canceling current trajectory");
00083     }
00084     else
00085     {
00086       ROS_ERROR("Trajectory splicing not yet implemented, stopping current motion.");
00087     }
00088     trajectoryStop();
00089   }
00090   else
00091   {
00092     if (msg->points.empty())
00093     {
00094       ROS_INFO("Empty trajectory received while in IDLE state, nothing is done");
00095     }
00096     else
00097     {
00098       ROS_INFO("Loading trajectory, setting state to streaming");
00099       this->current_traj_ = *msg;
00100 
00101       // TODO: This section pads any trajectory below the minimum size with the same
00102       // end point.  This is required because the motoman side requires a minimum buffer
00103       // size before it start motion.
00104       while (current_traj_.points.size() < 6)
00105       {
00106         ROS_DEBUG("Padding trajectory, current size: %d", current_traj_.points.size());
00107         current_traj_.points.push_back(current_traj_.points[current_traj_.points.size()-1]);
00108       };
00109 
00110       ROS_INFO("Executing trajectory of size: %d", this->current_traj_.points.size());
00111       this->currentPoint = 0;
00112       this->state_ = JointTrajectoryStates::STREAMING;
00113     }
00114   }
00115   this->mutex_.unlock();
00116 }
00117 
00118 void JointTrajectoryHandler::trajectoryHandler()
00119 {
00120   JointMessage jMsg;
00121   SimpleMessage msg;
00122   SimpleMessage reply;
00123   trajectory_msgs::JointTrajectoryPoint pt;
00124   ROS_INFO("Starting joint trajectory handler state");
00125   while (ros::ok())
00126   {
00127     this->mutex_.lock();
00128 
00129     if (this->robot_->isConnected())
00130     {
00131       
00132       //TODO: These variables should be moved outside of this loop
00133       //so that we aren't contantly reinitializing them.
00134       JointMessage jMsg;
00135       SimpleMessage msg;
00136       SimpleMessage reply;
00137       trajectory_msgs::JointTrajectoryPoint pt;
00138       switch (this->state_)
00139       {
00140         case JointTrajectoryStates::IDLE:
00141           ros::Duration(0.250).sleep();
00142           break;
00143 
00144 
00145         case JointTrajectoryStates::STREAMING:
00146           if (this->currentPoint < this->current_traj_.points.size())
00147           {
00148                   ROS_INFO("Streaming joints point[%d]", this->currentPoint);
00149             pt = this->current_traj_.points[this->currentPoint];
00150             
00151             jMsg.setSequence(this->currentPoint);
00152 
00153             for (int i = 0; i < this->current_traj_.joint_names.size(); i++)
00154             {
00155               jMsg.getJoints().setJoint(i, pt.positions[i]);
00156             }
00157             
00158             jMsg.toRequest(msg);
00159             ROS_DEBUG("Sending joint point");
00160             if (this->robot_->sendAndReceiveMsg(msg, reply))
00161             {
00162               ROS_INFO("Point[%d] sent to controller", this->currentPoint);
00163               this->currentPoint++;
00164             }
00165             else
00166             {
00167                    ROS_WARN("Failed sent joint point, will try again");
00168             }
00169           }
00170           else
00171           {
00172             ROS_INFO("Trajectory streaming complete, setting state to IDLE");
00173             this->state_ = JointTrajectoryStates::IDLE;
00174           }
00175           break;
00176 
00177         default:
00178           ROS_ERROR("Joint trajectory handler: unknown state");
00179           this->state_ = JointTrajectoryStates::IDLE;
00180           break;
00181       }
00182 
00183     }
00184     else
00185     {
00186       ROS_INFO("Connecting to robot motion server");
00187       this->robot_->makeConnect();
00188     }
00189 
00190     this->mutex_.unlock();
00191     ros::Duration(0.005).sleep();
00192   }
00193 
00194   ROS_WARN("Exiting trajectory handler thread");
00195 }
00196 
00197 
00198 
00199 void JointTrajectoryHandler::trajectoryStop()
00200 {
00201   JointMessage jMsg;
00202   SimpleMessage msg;
00203   SimpleMessage reply;
00204 
00205   ROS_INFO("Joint trajectory handler: entering stopping state");
00206   jMsg.setSequence(SpecialSeqValues::STOP_TRAJECTORY);
00207   jMsg.toRequest(msg);
00208   ROS_DEBUG("Sending stop command");
00209   this->robot_->sendAndReceiveMsg(msg, reply);
00210   ROS_DEBUG("Stop command sent, entring idle mode");
00211   this->state_ = JointTrajectoryStates::IDLE;
00212 }
00213 
00214 
00215 
00216 
00217 
00218 } //joint_trajectory_handler
00219 } //motoman
00220 


adept_common
Author(s): root
autogenerated on Fri Jan 3 2014 11:05:39