kuka_eki_hw_interface.h

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// Author: Brett Hemes (3M) <brhemes@mmm.com>


#ifndef KUKA_EKI_HW_INTERFACE
#define KUKA_EKI_HW_INTERFACE

#include <vector>
#include <string>

#include <boost/asio.hpp>

#include <ros/ros.h>
#include <controller_manager/controller_manager.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>


namespace kuka_eki_hw_interface
{

class KukaEkiHardwareInterface : public hardware_interface::RobotHW
{
private:
  ros::NodeHandle nh_;

  const unsigned int n_dof_ = 6;
  std::vector<std::string> joint_names_;
  std::vector<double> joint_position_;
  std::vector<double> joint_velocity_;
  std::vector<double> joint_effort_;
  std::vector<double> joint_position_command_;

  // EKI
  std::string eki_server_address_;
  std::string eki_server_port_;
  int eki_cmd_buff_len_;
  int eki_max_cmd_buff_len_ = 5;  // by default, limit command buffer to 5 (size of advance run in KRL)

  // Timing
  ros::Duration control_period_;
  ros::Duration elapsed_time_;
  double loop_hz_;

  // Interfaces
  hardware_interface::JointStateInterface joint_state_interface_;
  hardware_interface::PositionJointInterface position_joint_interface_;

  // EKI socket read/write
  int eki_read_state_timeout_ = 5;  // [s]; settable by parameter (default = 5)
  boost::asio::io_service ios_;
  boost::asio::deadline_timer deadline_;
  boost::asio::ip::udp::endpoint eki_server_endpoint_;
  boost::asio::ip::udp::socket eki_server_socket_;
  void eki_check_read_state_deadline();
  static void eki_handle_receive(const boost::system::error_code &ec, size_t length,
                                 boost::system::error_code* out_ec, size_t* out_length);
  bool eki_read_state(std::vector<double> &joint_position, std::vector<double> &joint_velocity,
                      std::vector<double> &joint_effort, int &cmd_buff_len);
  bool eki_write_command(const std::vector<double> &joint_position);

public:

  KukaEkiHardwareInterface();
  ~KukaEkiHardwareInterface();

  void init();
  void start();
  void read(const ros::Time &time, const ros::Duration &period);
  void write(const ros::Time &time, const ros::Duration &period);
};

} // namespace kuka_eki_hw_interface

#endif  // KUKA_EKI_HW_INTERFACE