trigger_controller.h
Go to the documentation of this file.
00001 
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2009, Willow Garage, Inc.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the Willow Garage nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 #ifndef TRIGGER_CONTROLLER_H
00036 #define TRIGGER_CONTROLLER_H
00037 
00038 #include <ros/node_handle.h>
00039 #include <pr2_controller_interface/controller.h>
00040 #include <pr2_mechanism_model/robot.h>
00041 #include <ethercat_trigger_controllers/SetWaveform.h>
00042 #include <realtime_tools/realtime_publisher.h>
00043 #include <std_msgs/Header.h>
00044 #include <boost/scoped_ptr.hpp>
00045 
00052 namespace controller
00053 {
00054 typedef ethercat_trigger_controllers::SetWaveform::Request trigger_configuration;
00055 
00056 class TriggerControllerNode;
00057 
00058 class TriggerController : public pr2_controller_interface::Controller
00059 {
00060 public:
00061   TriggerController();
00062 
00063   ~TriggerController();
00064 
00065   void update();
00066 
00067   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00068 
00082   static double getTick(double t, trigger_configuration const &config)
00083   {
00084     return  t * config.rep_rate - config.phase;
00085   }
00086 
00101   static double getTick(const ros::Time &t, trigger_configuration const &config)
00102   {
00103     return getTick(t.toSec(), config);
00104   }
00105 
00120   static double getTickStartTimeSecFromPhase(double tick, trigger_configuration const &config)
00121   {
00122     return (floor(tick) + config.phase) / config.rep_rate;
00123   }
00124 
00139   static ros::Time getTickStartTimeFromPhase(double tick, trigger_configuration const &config)
00140   {
00141     return ros::Time(getTickStartTimeSecFromPhase(tick, config));
00142   }
00143 
00158   static ros::Time getTickStartTime(ros::Time time, trigger_configuration const &config)
00159   {
00160     return ros::Time(getTickStartTimeSec(time.toSec(), config));
00161   }
00162 
00177   static double getTickStartTimeSec(double time, trigger_configuration const &config)
00178   {
00179     return getTickStartTimeSecFromPhase(getTick(time, config), config);
00180   }
00181 
00194   static ros::Duration getTickDuration(trigger_configuration &config)
00195   {
00196     return ros::Duration(getTickDurationSec(config));
00197   }
00198 
00211   static double getTickDurationSec(trigger_configuration &config)
00212   {
00213     if (!config.running)
00214       return 0;
00215     else if (config.pulsed)
00216       return 1e-3; // @todo the update rate should be in an include file somewhere.
00217     else
00218       return config.duty_cycle / config.rep_rate;
00219   }
00220 
00221 private:
00222   double getTick();
00223 
00224   bool setWaveformSrv(trigger_configuration &req,
00225       ethercat_trigger_controllers::SetWaveform::Response &resp);
00226 
00227   pr2_mechanism_model::RobotState * robot_;
00228   pr2_hardware_interface::DigitalOutCommand *digital_out_command_;
00229 
00230   double prev_tick_;
00231 
00232   ros::ServiceServer set_waveform_handle_;
00233   ros::NodeHandle node_handle_;
00234 
00235   boost::scoped_ptr<
00236     realtime_tools::RealtimePublisher<
00237       std_msgs::Header> > rising_edge_pub_, falling_edge_pub_;
00238   bool last_out_;
00239 
00240   // Configuration of controller.
00241   trigger_configuration config_;
00242   std::string actuator_name_;
00243 };
00244 
00245 };
00246 
00247 #endif
00248 


ethercat_trigger_controllers
Author(s): Blaise Gassend
autogenerated on Thu Aug 27 2015 14:23:06