fsrobo_r_robot_state_interface.cpp

Go to the documentation of this file.

/*********************************************************************
* FSRobo-R Package BSDL
* ---------
* Copyright (C) 2019 FUJISOFT. All rights reserved.
* 
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
* 
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#include "fsrobo_r_driver/fsrobo_r_robot_state_interface.h"
#include "industrial_utils/param_utils.h"

using industrial::smpl_msg_connection::SmplMsgConnection;
using industrial_utils::param::getJointNames;
namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;

namespace fsrobo_r_driver
{
namespace robot_state_interface
{

FSRoboRRobotStateInterface::FSRoboRRobotStateInterface()
{
  this->connection_ = NULL;
  this->add_handler(&default_joint_handler_);
  this->add_handler(&default_robot_status_handler_);
  this->add_handler(&default_io_state_handler_);
  this->add_handler(&default_wrench_handler_);
}

bool FSRoboRRobotStateInterface::init(std::string default_ip, int default_port)
{
  std::string ip;
  int port;

  // override IP/port with ROS params, if available
  ros::param::param<std::string>("robot_ip_address", ip, default_ip);
  ros::param::param<int>("~port", port, default_port);

  // check for valid parameter values
  if (ip.empty())
  {
    ROS_ERROR("No valid robot IP address found.  Please set ROS 'robot_ip_address' param");
    return false;
  }
  if (port <= 0)
  {
    ROS_ERROR("No valid robot IP port found.  Please set ROS '~port' param");
    return false;
  }

  char* ip_addr = strdup(ip.c_str());  // connection.init() requires "char*", not "const char*"
  ROS_INFO("Robot state connecting to IP address: '%s:%d'", ip_addr, port);
  default_tcp_connection_.init(ip_addr, port);
  free(ip_addr);

  return init(&default_tcp_connection_);
}

bool FSRoboRRobotStateInterface::init(SmplMsgConnection* connection)
{
  std::vector<std::string> joint_names;
  if (!getJointNames("controller_joint_names", "robot_description", joint_names))
  {
    ROS_ERROR("Failed to initialize joint_names.  Aborting");
    return false;
  }

  return init(connection, joint_names);
}

bool FSRoboRRobotStateInterface::init(SmplMsgConnection* connection, std::vector<std::string>& joint_names)
{
  this->joint_names_ = joint_names;
  this->connection_ = connection;
  connection_->makeConnect();

  // initialize message-manager
  if (!manager_.init(connection_))
    return false;

  // initialize default handlers
  if (!default_joint_handler_.init(connection_, joint_names_))
    return false;
  this->add_handler(&default_joint_handler_);

  if (!default_robot_status_handler_.init(connection_))
    return false;
  this->add_handler(&default_robot_status_handler_);

  if (!default_io_state_handler_.init(connection_))
    return false;
  this->add_handler(&default_io_state_handler_);

  if (!default_wrench_handler_.init(connection_))
    return false;
  this->add_handler(&default_wrench_handler_);

  return true;
}

void FSRoboRRobotStateInterface::run()
{
  manager_.spin();
}

} // namespace robot_state_interface
} // namespace fsrobo_r_driver