jog_cpp_interface.cpp

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/*      Title     : jog_cpp_interface.cpp
 *      Project   : moveit_jog_arm
 *      Created   : 11/20/2019
 *      Author    : Andy Zelenak
 */

#include "moveit_jog_arm/jog_cpp_interface.h"

static const std::string LOGNAME = "jog_cpp_interface";

namespace moveit_jog_arm
{
JogCppInterface::JogCppInterface(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
{
  planning_scene_monitor_ = planning_scene_monitor;

  // Read ROS parameters, typically from YAML file
  if (!readParameters(nh_))
    exit(EXIT_FAILURE);
}

JogCppInterface::~JogCppInterface()
{
  stopMainLoop();
}

void JogCppInterface::startMainLoop()
{
  // Reset loop termination flag
  shared_variables_.stop_requested = false;
  shared_variables_.paused = false;

  // Crunch the numbers in this thread
  startJogCalcThread();

  // Check collisions in this thread
  if (ros_parameters_.check_collisions)
    startCollisionCheckThread();

  // ROS subscriptions. Share the data with the worker threads
  ros::Subscriber joints_sub =
      nh_.subscribe(ros_parameters_.joint_topic, 1, &JogInterfaceBase::jointsCB, dynamic_cast<JogInterfaceBase*>(this));

  // Publish freshly-calculated joints to the robot.
  // Put the outgoing msg in the right format (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
  ros::Publisher outgoing_cmd_pub;
  if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
    outgoing_cmd_pub = nh_.advertise<trajectory_msgs::JointTrajectory>(ros_parameters_.command_out_topic, 1);
  else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
    outgoing_cmd_pub = nh_.advertise<std_msgs::Float64MultiArray>(ros_parameters_.command_out_topic, 1);

  // Wait for incoming topics to appear
  ROS_DEBUG_NAMED(LOGNAME, "Waiting for JointState topic");
  ros::topic::waitForMessage<sensor_msgs::JointState>(ros_parameters_.joint_topic);

  // Wait for low pass filters to stabilize
  ROS_INFO_STREAM_NAMED(LOGNAME, "Waiting for low-pass filters to stabilize.");
  ros::Duration(10 * ros_parameters_.publish_period).sleep();

  ros::Rate main_rate(1. / ros_parameters_.publish_period);

  while (ros::ok() && !shared_variables_.stop_requested)
  {
    ros::spinOnce();

    if (!shared_variables_.paused)
    {
      shared_variables_.lock();
      trajectory_msgs::JointTrajectory outgoing_command = shared_variables_.outgoing_command;

      // Check if incoming commands are stale
      shared_variables_.command_is_stale = (ros::Time::now() - shared_variables_.latest_nonzero_cmd_stamp) >=
                                           ros::Duration(ros_parameters_.incoming_command_timeout);

      // Publish the most recent trajectory, unless the jogging calculation thread tells not to
      if (shared_variables_.ok_to_publish)
      {
        // Put the outgoing msg in the right format
        // (trajectory_msgs/JointTrajectory or std_msgs/Float64MultiArray).
        if (ros_parameters_.command_out_type == "trajectory_msgs/JointTrajectory")
        {
          outgoing_command.header.stamp = ros::Time::now();
          outgoing_cmd_pub.publish(outgoing_command);
        }
        else if (ros_parameters_.command_out_type == "std_msgs/Float64MultiArray")
        {
          std_msgs::Float64MultiArray joints;
          if (ros_parameters_.publish_joint_positions)
            joints.data = outgoing_command.points[0].positions;
          else if (ros_parameters_.publish_joint_velocities)
            joints.data = outgoing_command.points[0].velocities;
          outgoing_cmd_pub.publish(joints);
        }
      }
      else if (shared_variables_.command_is_stale)
      {
        ROS_WARN_STREAM_THROTTLE_NAMED(10, LOGNAME, "Stale command. "
                                                    "Try a larger 'incoming_command_timeout' parameter?");
      }
      else
      {
        ROS_DEBUG_STREAM_THROTTLE_NAMED(10, LOGNAME, "All-zero command. Doing nothing.");
      }

      shared_variables_.unlock();
    }

    main_rate.sleep();
  }

  stopJogCalcThread();
  stopCollisionCheckThread();
}

void JogCppInterface::stopMainLoop()
{
  shared_variables_.stop_requested = true;
}

void JogCppInterface::setPaused(bool paused)
{
  shared_variables_.paused = paused;
}

void JogCppInterface::provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command)
{
  shared_variables_.lock();

  shared_variables_.command_deltas.twist = velocity_command.twist;
  shared_variables_.command_deltas.header = velocity_command.header;

  // Input frame determined by YAML file if not passed with message
  if (shared_variables_.command_deltas.header.frame_id.empty())
  {
    shared_variables_.command_deltas.header.frame_id = ros_parameters_.robot_link_command_frame;
  }

  // Check if input is all zeros. Flag it if so to skip calculations/publication after num_outgoing_halt_msgs_to_publish
  shared_variables_.have_nonzero_cartesian_cmd = shared_variables_.command_deltas.twist.linear.x != 0.0 ||
                                                 shared_variables_.command_deltas.twist.linear.y != 0.0 ||
                                                 shared_variables_.command_deltas.twist.linear.z != 0.0 ||
                                                 shared_variables_.command_deltas.twist.angular.x != 0.0 ||
                                                 shared_variables_.command_deltas.twist.angular.y != 0.0 ||
                                                 shared_variables_.command_deltas.twist.angular.z != 0.0;

  if (shared_variables_.have_nonzero_cartesian_cmd)
  {
    shared_variables_.latest_nonzero_cmd_stamp = velocity_command.header.stamp;
  }
  shared_variables_.unlock();
};

void JogCppInterface::provideJointCommand(const control_msgs::JointJog& joint_command)
{
  shared_variables_.lock();
  shared_variables_.joint_command_deltas = joint_command;

  // Check if joint inputs is all zeros. Flag it if so to skip calculations/publication
  bool all_zeros = true;
  for (double delta : shared_variables_.joint_command_deltas.velocities)
  {
    all_zeros &= (delta == 0.0);
  };
  shared_variables_.have_nonzero_joint_cmd = !all_zeros;

  if (shared_variables_.have_nonzero_joint_cmd)
  {
    shared_variables_.latest_nonzero_cmd_stamp = joint_command.header.stamp;
  }
  shared_variables_.unlock();
}

sensor_msgs::JointState JogCppInterface::getJointState()
{
  shared_variables_.lock();
  sensor_msgs::JointState current_joints = shared_variables_.joints;
  shared_variables_.unlock();

  return current_joints;
}

bool JogCppInterface::getCommandFrameTransform(Eigen::Isometry3d& transform)
{
  if (!jog_calcs_ || !jog_calcs_->isInitialized())
    return false;

  shared_variables_.lock();
  transform = shared_variables_.tf_moveit_to_cmd_frame;
  shared_variables_.unlock();

  // All zeros means the transform wasn't initialized, so return false
  return !transform.matrix().isZero(0);
}

StatusCode JogCppInterface::getJoggerStatus()
{
  return shared_variables_.status;
}
}  // namespace moveit_jog_arm