open_cr_module.h

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/*******************************************************************************
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/

/* Author: Kayman */

#ifndef OP3_OPEN_CR_MODULE_H_
#define OP3_OPEN_CR_MODULE_H_

#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <std_msgs/String.h>
#include <sensor_msgs/Imu.h>
#include <boost/thread.hpp>
#include <eigen3/Eigen/Eigen>

#include "robotis_controller_msgs/StatusMsg.h"
#include "robotis_controller_msgs/SyncWriteItem.h"
#include "robotis_framework_common/sensor_module.h"
#include "robotis_math/robotis_math_base.h"
#include "robotis_math/robotis_linear_algebra.h"

namespace robotis_op
{

class OpenCRModule : public robotis_framework::SensorModule, public robotis_framework::Singleton<OpenCRModule>
{
 public:
  OpenCRModule();
  virtual ~OpenCRModule();

  /* ROS Topic Callback Functions */
  void initialize(const int control_cycle_msec, robotis_framework::Robot *robot);
  void process(std::map<std::string, robotis_framework::Dynamixel *> dxls,
               std::map<std::string, robotis_framework::Sensor *> sensors);

 private:
  const double G_ACC = 9.80665;
  const double GYRO_FACTOR = 2000.0 / 32800.0;
  const double ACCEL_FACTOR = 2.0 / 32768.0;
  const bool DEBUG_PRINT;

  void queueThread();

  double getGyroValue(int raw_value);
  double getAccValue(int raw_value);
  void publishIMU();

  void handleButton(const std::string &button_name);
  void publishButtonMsg(const std::string &button_name);
  void handleVoltage(double present_volt);
  void publishStatusMsg(unsigned int type, std::string msg);
  void publishDXLPowerMsg(unsigned int value);
  double lowPassFilter(double alpha, double x_new, double &x_old);

  int control_cycle_msec_;
  boost::thread queue_thread_;
  std::map<std::string, bool> buttons_;
  std::map<std::string, ros::Time> buttons_press_time_;
  ros::Time button_press_time_;
  ros::Time last_msg_time_;
  std::map<std::string, double> previous_result_;
  double previous_volt_;
  double present_volt_;

  sensor_msgs::Imu imu_msg_;

  /* subscriber & publisher */
  ros::Publisher imu_pub_;
  ros::Publisher button_pub_;
  ros::Publisher status_msg_pub_;
  ros::Publisher dxl_power_msg_pub_;
};

}

#endif /* OP3_OPEN_CR_MODULE_H_ */