#include <sr_robot_lib.hpp>

Inheritance diagram for shadow_robot::SrRobotLib:

Public Member Functions
void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
void	build_motor_command (ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND *command)
bool	nullify_demand_callback (sr_robot_msgs::NullifyDemand::Request &request, sr_robot_msgs::NullifyDemand::Response &response)
void	reinitialize_motors ()
void	reinitialize_sensors ()
	SrRobotLib (pr2_hardware_interface::HardwareInterface *hw)
void	update (ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS *status_data)
	~SrRobotLib ()
Public Attributes
shadow_joints::CalibrationMap	calibration_map
	The map used to calibrate each joint.
int	main_pic_idle_time
int	main_pic_idle_time_min
operation_mode::device_update_state::DeviceUpdateState	motor_current_state
	Current update state of the motor (initialization, operation..)
operation_mode::device_update_state::DeviceUpdateState	tactile_current_state
	Current update state of the sensors (initialization, operation..)
boost::shared_ptr < tactiles::GenericTactiles >	tactiles
boost::shared_ptr < tactiles::GenericTactiles >	tactiles_init
Protected Types
typedef std::pair< int, std::vector < crc_unions::union16 > >	ForceConfig
Protected Member Functions
void	calibrate_joint (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp)
bool	change_control_parameters (int16_t control_type)
bool	change_control_type_callback_ (sr_robot_msgs::ChangeControlType::Request &request, sr_robot_msgs::ChangeControlType::Response &response)
void	generate_force_control_config (int motor_index, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign)
std::vector< std::pair < std::string, bool > >	humanize_flags (int flag)
virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > motor_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors, std::vector< sr_actuator::SrActuator * > actuators)=0
bool	motor_system_controls_callback_ (sr_robot_msgs::ChangeMotorSystemControls::Request &request, sr_robot_msgs::ChangeMotorSystemControls::Response &response)
void	read_additional_data (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp)
Protected Attributes
sr_actuator::SrActuator *	actuator
	The current actuator.
std::vector < generic_updater::UpdateConfig >	biotac_sensor_update_rate_configs_vector
	The update rate for each sensor information type.
boost::shared_ptr < shadow_robot::JointCalibration >	calibration_tmp
	A temporary calibration for a given joint.
ros::ServiceServer	change_control_type_
	A service server used to change the control type on the fly.
int	config_index
	this index is used to iterate over the config we're sending.
sr_robot_msgs::ControlType	control_type_
	The current type of control (FORCE demand or PWM demand sent to the motors)
bool	control_type_changed_flag_
int8u	crc_byte
int8u	crc_i
int16u	crc_result
std::vector < generic_updater::UpdateConfig >	generic_sensor_update_rate_configs_vector
	The update rate for each sensor information type.
int	index_motor_in_msg
	The index of the motor in the current message (from 0 to 9)
boost::ptr_vector < shadow_joints::Joint >	joints_vector
	The vector containing all the robot joints.
boost::shared_ptr< boost::mutex >	lock_command_sending_
	A mutual exclusion object to ensure that no command will be sent to the robot while a change in the control type (PWM or torque) is ongoing.
boost::shared_ptr < generic_updater::MotorDataChecker >	motor_data_checker
int	motor_index_full
	The index of the motor in all the 20 motors.
std::queue< std::vector < sr_robot_msgs::MotorSystemControls > , std::list< std::vector < sr_robot_msgs::MotorSystemControls > > >	motor_system_control_flags_
	The Flag which will be sent to change the motor controls.
ros::ServiceServer	motor_system_control_server_
	A service server used to call the different motor system controls "buttons".
std::vector < generic_updater::UpdateConfig >	motor_update_rate_configs_vector
	The update rate for each motor information.
boost::shared_ptr < generic_updater::MotorUpdater >	motor_updater_
ros::NodeHandle	nh_tilde
	a ROS nodehandle to be able to advertise the Force PID service
bool	nullify_demand_
	True if we want to set the demand to 0 (stop the controllers)
ros::ServiceServer	nullify_demand_server_
	The ROS service handler for nullifying the demand.
std::vector < generic_updater::UpdateConfig >	pst3_sensor_update_rate_configs_vector
	The update rate for each sensor information type.
std::queue< ForceConfig, std::list< ForceConfig > >	reconfig_queue
std::queue< short, std::list < short > >	reset_motors_queue
	contains a queue of motor indexes to reset
ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS *	status_data
	The latest etherCAT message received.

Detailed Description

Definition at line 92 of file sr_robot_lib.hpp.

Member Typedef Documentation

typedef std::pair<int, std::vector<crc_unions::union16> > shadow_robot::SrRobotLib::ForceConfig [protected]

The ForceConfig type consists of an int representing the motor index for this config followed by a vector of config: the index in the vector of config corresponds to the type of the data, and the value at this index corresponds to the value we want to set.

Definition at line 254 of file sr_robot_lib.hpp.

Constructor & Destructor Documentation

shadow_robot::SrRobotLib::SrRobotLib ( pr2_hardware_interface::HardwareInterface * hw )

Initialising service

Definition at line 47 of file sr_robot_lib.cpp.

shadow_robot::SrRobotLib::~SrRobotLib ( ) [inline]

Definition at line 96 of file sr_robot_lib.hpp.

Member Function Documentation

void shadow_robot::SrRobotLib::add_diagnostics	(	std::vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		diagnostic_updater::DiagnosticStatusWrapper &	d
	)

This function adds the diagnostics for the hand to the multi diagnostic status published in sr06.cpp.

Definition at line 463 of file sr_robot_lib.cpp.

void shadow_robot::SrRobotLib::build_motor_command ( ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND * command )

Builds a motor command: either send a torque demand or a configuration demand if one is waiting.

Parameters:

command The command we're building.

Definition at line 197 of file sr_robot_lib.cpp.

void shadow_robot::SrRobotLib::calibrate_joint ( boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp ) [protected]

Compute the calibrated position for the given joint. This method is called from the update method, each time a new message is received.

Parameters:

joint_tmp The joint we want to calibrate.

Definition at line 583 of file sr_robot_lib.cpp.

bool shadow_robot::SrRobotLib::change_control_parameters ( int16_t control_type ) [protected]

Load the necessary parameters in the Parameter Server and calls a service for every controller currently loaded in the controller manager to make it reload (resetGains()) its parameters from the Parameter Server

Parameters:

control_type The new active control type (PWM or torque)

Returns:: true if all the steps successful

Definition at line 1067 of file sr_robot_lib.cpp.

bool shadow_robot::SrRobotLib::change_control_type_callback_	(	sr_robot_msgs::ChangeControlType::Request &	request,
		sr_robot_msgs::ChangeControlType::Response &	response
	)		`[protected]`

The callback to the change_control_type_ service. Updates the current control_type_ with the requested control_type.

Parameters:

request	Requested control_type_
response	The new control_type we'll use

Returns:: true if success, false if bad control type requested

Definition at line 1027 of file sr_robot_lib.cpp.

void shadow_robot::SrRobotLib::generate_force_control_config	(	int	motor_index,
		int	max_pwm,
		int	sg_left,
		int	sg_right,
		int	f,
		int	p,
		int	i,
		int	d,
		int	imax,
		int	deadband,
		int	sign
	)		`[protected]`

Generates a force control config and adds it to the reconfig_queue with its CRC. The config will be sent as soon as possible.

Parameters:

motor_index	The motor index.
max_pwm	The max pwm the motor will apply
sg_left	Strain gauge left
sg_right	Strain gauge right
f	The feedforward term (directly adds f*error to the output of the PID)
p	The p value.
i	the i value.
d	the d value.
imax	the imax value.
deadband	the deadband on the force.
sign	can be 0 or 1 depending on the way the motor is plugged in.

Definition at line 933 of file sr_robot_lib.cpp.

std::vector< std::pair< std::string, bool > > shadow_robot::SrRobotLib::humanize_flags ( int flag ) [protected]

Transforms the incoming flag as a human readable vector of strings.

Parameters:

flag	incoming flag.

Returns:: human readable flags.

Definition at line 910 of file sr_robot_lib.cpp.

virtual void shadow_robot::SrRobotLib::initialize	(	std::vector< std::string >	joint_names,
		std::vector< int >	motor_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors,
		std::vector< sr_actuator::SrActuator * >	actuators
	)		`[protected, pure virtual]`

Initializes the joints_vector.

Parameters:

joint_names	A vector containing all the joints.
motor_ids	A vector containing the corresponding motor indexes (-1 if no motor is associated).
joint_to_sensors	The mapping between the joints and the sensors (e.g. FFJ0 = FFJ1+FFJ2)
actuators	The actuators.

Implemented in shadow_robot::SrHandLib.

bool shadow_robot::SrRobotLib::motor_system_controls_callback_	(	sr_robot_msgs::ChangeMotorSystemControls::Request &	request,
		sr_robot_msgs::ChangeMotorSystemControls::Response &	response
	)		`[protected]`

The callback to the control_motor_ service. Sets the correct flags to 1 or 0 for the MOTOR_SYSTEM_CONTROLS, to control the motors (backlash compensation on/off, increase sg tracking, jiggling, write config to EEprom)

Parameters:

request	Contains the different flags the user wants to set
response	SUCCESS if success, MOTOR_ID_OUT_OF_RANGE if bad motor_id given

Returns:: false if motor_id is out of range

Definition at line 1121 of file sr_robot_lib.cpp.

bool shadow_robot::SrRobotLib::nullify_demand_callback	(	sr_robot_msgs::NullifyDemand::Request &	request,
		sr_robot_msgs::NullifyDemand::Response &	response
	)

This service is used to nullify the demand of the etherCAT hand. If the nullify_demand parameter is set to True, the demand sent to the robot will be 0, regardless of the computed effort demanded by the controller. If set to False, then the demand computed by the controllers will be sent to the motors.

Parameters:

request	contains the nullify_demand parameter
response	empty

Returns:: always true as it can't fail

Definition at line 1015 of file sr_robot_lib.cpp.

void shadow_robot::SrRobotLib::read_additional_data ( boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp ) [protected]

Read additional data from the latest message and stores it into the joints_vector.

Parameters:

joint_tmp The joint we want to read teh data for.

Definition at line 644 of file sr_robot_lib.cpp.

void shadow_robot::SrRobotLib::reinitialize_motors ( )

Initiates the process to retrieve the initialization information from the motors

Definition at line 999 of file sr_robot_lib.cpp.

void shadow_robot::SrRobotLib::reinitialize_sensors ( )

Initiates the process to retrieve the initialization information from the sensors

Definition at line 1008 of file sr_robot_lib.cpp.

void shadow_robot::SrRobotLib::update ( ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS * status_data )

This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the joints_vector, updating the different values, computing the calibrated joint positions, etc... It also updates the tactile sensors values.

Parameters:

status_data the received etherCAT message

Definition at line 93 of file sr_robot_lib.cpp.

Member Data Documentation

sr_actuator::SrActuator* shadow_robot::SrRobotLib::actuator [protected]

The current actuator.

Definition at line 266 of file sr_robot_lib.hpp.

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib::biotac_sensor_update_rate_configs_vector [protected]

The update rate for each sensor information type.

Definition at line 309 of file sr_robot_lib.hpp.

shadow_joints::CalibrationMap shadow_robot::SrRobotLib::calibration_map

The map used to calibrate each joint.

Definition at line 149 of file sr_robot_lib.hpp.

boost::shared_ptr<shadow_robot::JointCalibration> shadow_robot::SrRobotLib::calibration_tmp [protected]

A temporary calibration for a given joint.

Definition at line 270 of file sr_robot_lib.hpp.

ros::ServiceServer shadow_robot::SrRobotLib::change_control_type_ [protected]

A service server used to change the control type on the fly.

Definition at line 330 of file sr_robot_lib.hpp.

int shadow_robot::SrRobotLib::config_index [protected]

this index is used to iterate over the config we're sending.

Definition at line 260 of file sr_robot_lib.hpp.

sr_robot_msgs::ControlType shadow_robot::SrRobotLib::control_type_ [protected]

The current type of control (FORCE demand or PWM demand sent to the motors)

Definition at line 319 of file sr_robot_lib.hpp.

bool shadow_robot::SrRobotLib::control_type_changed_flag_ [protected]

Flag to signal that there has been a change in the value of control_type_ and certain actions are required. The flag is set in the callback function of the change_control_type_ service. The flag is checked in build_motor_command() and the necessary actions are taken there. These actions involve calling services in the controller manager and all the active controllers. This is the reason why we don't do it directly in the callback function. As we use a single thread to serve the callbacks, doing so would cause a deadlock, thus we do it in the realtime loop thread instead.

Definition at line 328 of file sr_robot_lib.hpp.

int8u shadow_robot::SrRobotLib::crc_byte [protected]

Definition at line 277 of file sr_robot_lib.hpp.

int8u shadow_robot::SrRobotLib::crc_i [protected]

Definition at line 279 of file sr_robot_lib.hpp.

int16u shadow_robot::SrRobotLib::crc_result [protected]

Definition at line 278 of file sr_robot_lib.hpp.

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib::generic_sensor_update_rate_configs_vector [protected]

The update rate for each sensor information type.

Definition at line 305 of file sr_robot_lib.hpp.

int shadow_robot::SrRobotLib::index_motor_in_msg [protected]

The index of the motor in the current message (from 0 to 9)

Definition at line 275 of file sr_robot_lib.hpp.

boost::ptr_vector<shadow_joints::Joint> shadow_robot::SrRobotLib::joints_vector [protected]

The vector containing all the robot joints.

Definition at line 180 of file sr_robot_lib.hpp.

boost::shared_ptr<boost::mutex> shadow_robot::SrRobotLib::lock_command_sending_ [protected]

A mutual exclusion object to ensure that no command will be sent to the robot while a change in the control type (PWM or torque) is ongoing.

Definition at line 332 of file sr_robot_lib.hpp.

int shadow_robot::SrRobotLib::main_pic_idle_time

Contains the idle time of the PIC communicating via etherCAT with the host.

Definition at line 163 of file sr_robot_lib.hpp.

int shadow_robot::SrRobotLib::main_pic_idle_time_min

Contains the minimum idle time of the PIC communicating via etherCAT with the host, this minimum is reset each time a diagnostic is being published.

Definition at line 170 of file sr_robot_lib.hpp.

operation_mode::device_update_state::DeviceUpdateState shadow_robot::SrRobotLib::motor_current_state

Current update state of the motor (initialization, operation..)

Definition at line 173 of file sr_robot_lib.hpp.

boost::shared_ptr<generic_updater::MotorDataChecker> shadow_robot::SrRobotLib::motor_data_checker [protected]

Definition at line 311 of file sr_robot_lib.hpp.

int shadow_robot::SrRobotLib::motor_index_full [protected]

The index of the motor in all the 20 motors.

Definition at line 273 of file sr_robot_lib.hpp.

std::queue<std::vector<sr_robot_msgs::MotorSystemControls>, std::list<std::vector<sr_robot_msgs::MotorSystemControls> > > shadow_robot::SrRobotLib::motor_system_control_flags_ [protected]

The Flag which will be sent to change the motor controls.

Definition at line 358 of file sr_robot_lib.hpp.

ros::ServiceServer shadow_robot::SrRobotLib::motor_system_control_server_ [protected]

A service server used to call the different motor system controls "buttons".

Definition at line 360 of file sr_robot_lib.hpp.

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib::motor_update_rate_configs_vector [protected]

The update rate for each motor information.

Definition at line 303 of file sr_robot_lib.hpp.

boost::shared_ptr<generic_updater::MotorUpdater> shadow_robot::SrRobotLib::motor_updater_ [protected]

The motor updater is used to create a correct command to send to the motor. It's build_command() is called each time the SR06::packCommand() is called.

Definition at line 246 of file sr_robot_lib.hpp.

ros::NodeHandle shadow_robot::SrRobotLib::nh_tilde [protected]

a ROS nodehandle to be able to advertise the Force PID service

Definition at line 282 of file sr_robot_lib.hpp.

bool shadow_robot::SrRobotLib::nullify_demand_ [protected]

True if we want to set the demand to 0 (stop the controllers)

Definition at line 314 of file sr_robot_lib.hpp.

ros::ServiceServer shadow_robot::SrRobotLib::nullify_demand_server_ [protected]

The ROS service handler for nullifying the demand.

Definition at line 316 of file sr_robot_lib.hpp.

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib::pst3_sensor_update_rate_configs_vector [protected]

The update rate for each sensor information type.

Definition at line 307 of file sr_robot_lib.hpp.

std::queue<ForceConfig, std::list<ForceConfig> > shadow_robot::SrRobotLib::reconfig_queue [protected]

This queue contains the force PID config waiting to be pushed to the motor.

Definition at line 258 of file sr_robot_lib.hpp.

std::queue<short, std::list<short> > shadow_robot::SrRobotLib::reset_motors_queue [protected]

contains a queue of motor indexes to reset

Definition at line 263 of file sr_robot_lib.hpp.

ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS* shadow_robot::SrRobotLib::status_data [protected]

The latest etherCAT message received.

Definition at line 268 of file sr_robot_lib.hpp.

operation_mode::device_update_state::DeviceUpdateState shadow_robot::SrRobotLib::tactile_current_state

Current update state of the sensors (initialization, operation..)

Definition at line 176 of file sr_robot_lib.hpp.

boost::shared_ptr<tactiles::GenericTactiles> shadow_robot::SrRobotLib::tactiles

This is a pointer to the tactile object. This pointer will be instanciated during the initialization cycle, depending on the type of sensors attached to the hand.

Definition at line 156 of file sr_robot_lib.hpp.

boost::shared_ptr<tactiles::GenericTactiles> shadow_robot::SrRobotLib::tactiles_init

Definition at line 157 of file sr_robot_lib.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation