sr_spi.cpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#include <sr_ronex_drivers/sr_spi.hpp>
#include <ros_ethercat_model/robot_state.hpp>
#include <ros_ethercat_hardware/ethercat_hardware.h>

#include <sstream>
#include <iomanip>
#include <boost/lexical_cast.hpp>
#include <math.h>
#include <string>

#include "sr_ronex_drivers/ronex_utils.hpp"

PLUGINLIB_EXPORT_CLASS(SrSPI, EthercatDevice);

using boost::lexical_cast;

const char SrSPI::product_alias_[] = PRODUCT_NAME;

SrSPI::SrSPI() :
  node_("~"), cycle_count_(0)
{}

SrSPI::~SrSPI()
{
  // remove parameters from server
  string device_id = "/ronex/devices/" + lexical_cast<string>(parameter_id_);
  ros::param::del(device_id);

  string controller_name = "/ronex_" + serial_number_ + "_passthrough";
  ros::param::del(controller_name);

  string spi_device_name = "/ronex/spi/" + serial_number_;
  ros::param::del(spi_device_name);
}

void SrSPI::construct(EtherCAT_SlaveHandler *sh, int &start_address)
{
  sh_ = sh;
  serial_number_ = ronex::get_serial_number(sh);

  // get the alias from the parameter server if it exists
  string path_to_alias, alias;
  path_to_alias = "/ronex/mapping/" + serial_number_;
  if ( ros::param::get(path_to_alias, alias))
  {
    ronex_id_ = alias;
  }
  else
  {
    // no alias found, using the serial number directly.
    ronex_id_ = serial_number_;
  }

  device_name_ = ronex::build_name(product_alias_, ronex_id_);

  command_base_  = start_address;
  command_size_  = COMMAND_ARRAY_SIZE_BYTES;

  start_address += command_size_;
  status_base_   = start_address;
  status_size_   = STATUS_ARRAY_SIZE_BYTES;

  start_address += status_size_;

  // ETHERCAT_COMMAND_DATA
  //
  // This is for data going TO the board
  //

  if ( (PROTOCOL_TYPE) == (EC_BUFFERED) )
  {
    ROS_INFO("Using EC_BUFFERED");
  }
  else if ( (PROTOCOL_TYPE) == (EC_QUEUED) )
  {
    ROS_INFO("Using EC_QUEUED");
  }

  ROS_INFO("First FMMU (command) : Logical address: 0x%08X ; size: %3d bytes ; ET1200 address: 0x%08X", command_base_,
           command_size_, static_cast<int>(COMMAND_ADDRESS) );
  EC_FMMU *commandFMMU = new EC_FMMU( command_base_,    // Logical Start Address    (in ROS address space?)
                                      command_size_,
                                      0x00,             // Logical Start Bit
                                      0x07,             // Logical End Bit
                                      COMMAND_ADDRESS,  // Physical Start Address   (in ET1200 address space?)
                                      0x00,             // Physical Start Bit
                                      false,            // Read Enable
                                      true,             // Write Enable
                                      true);              // Channel Enable



  // WARNING!!!
  // We are leaving (command_size_ * 4) bytes in the physical memory of the device, but strictly we only need to
  // leave (command_size_ * 3). This change should be done in the firmware as well, otherwise it won't work.
  // This triple buffer is needed in the ethercat devices to work in EC_BUFFERED mode (in opposition to the other mode
  // EC_QUEUED, the so called mailbox mode)

  // ETHERCAT_STATUS_DATA
  //
  // This is for data coming FROM the board
  //
  ROS_INFO("Second FMMU (status) : Logical address: 0x%08X ; size: %3d bytes ; ET1200 address: 0x%08X", status_base_,
           status_size_, static_cast<int>(STATUS_ADDRESS) );
  EC_FMMU *statusFMMU = new EC_FMMU(  status_base_,
                                      status_size_,
                                      0x00,
                                      0x07,
                                      STATUS_ADDRESS,
                                      0x00,
                                      true,
                                      false,
                                      true);


  EtherCAT_FMMU_Config *fmmu = new EtherCAT_FMMU_Config(2);

  (*fmmu)[0] = *commandFMMU;
  (*fmmu)[1] = *statusFMMU;

  sh->set_fmmu_config(fmmu);

  EtherCAT_PD_Config *pd = new EtherCAT_PD_Config(2);

// SyncMan takes the physical address
  (*pd)[0] = EC_SyncMan(COMMAND_ADDRESS, command_size_, PROTOCOL_TYPE, EC_WRITTEN_FROM_MASTER);
  (*pd)[1] = EC_SyncMan(STATUS_ADDRESS,  status_size_,  PROTOCOL_TYPE);


  (*pd)[0].ChannelEnable = true;
  (*pd)[0].ALEventEnable = true;
  (*pd)[0].WriteEvent    = true;

  (*pd)[1].ChannelEnable = true;

  sh->set_pd_config(pd);

  ROS_INFO("Finished constructing the SrSPI driver");
}

int SrSPI::initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed)
{
  digital_commands_ = 0;
  ROS_INFO("Device #%02d: Product code: %u (%#010X) , Serial #: %u (%#010X)",
            sh_->get_ring_position(),
            sh_->get_product_code(),
            sh_->get_product_code(),
            sh_->get_serial(),
            sh_->get_serial());

  device_offset_ = sh_->get_ring_position();

  // add the RoNeX SPI module to the hw interface
  ros_ethercat_model::RobotState *robot_state = static_cast<ros_ethercat_model::RobotState*>(hw);
  robot_state->custom_hws_.insert(device_name_, new ronex::SPI());
  spi_ = static_cast<ronex::SPI*>(robot_state->getCustomHW(device_name_));

  build_topics_();

  ROS_INFO_STREAM("Adding a SPI RoNeX module to the hardware interface: " << device_name_);
  // Using the name of the ronex to prefix the state topic

  return 0;
}

void SrSPI::packCommand(unsigned char *buffer, bool halt, bool reset)
{
  RONEX_COMMAND_02000002* command = reinterpret_cast<RONEX_COMMAND_02000002*>(buffer);

  // Copying the command
  command->command_type = spi_->command_->command_type;
  command->pin_output_states_pre = spi_->command_->pin_output_states_pre;
  command->pin_output_states_post = spi_->command_->pin_output_states_post;

  for (size_t spi_index = 0; spi_index < NUM_SPI_OUTPUTS; ++spi_index)
  {
    command->spi_out[spi_index].clock_divider = spi_->command_->spi_out[spi_index].clock_divider;
    command->spi_out[spi_index].SPI_config = spi_->command_->spi_out[spi_index].SPI_config;
    command->spi_out[spi_index].inter_byte_gap = spi_->command_->spi_out[spi_index].inter_byte_gap;
    command->spi_out[spi_index].num_bytes = spi_->command_->spi_out[spi_index].num_bytes;

    for ( size_t i = 0; i < SPI_TRANSACTION_MAX_SIZE; ++i )
      command->spi_out[spi_index].data_bytes[i] = spi_->command_->spi_out[spi_index].data_bytes[i];

    if ( command->spi_out[spi_index].num_bytes != 0)
    {
      ostringstream ss;
      ss << "SPI out [" << spi_index << "]: Sending non null command("
      <<static_cast<unsigned int>(command->spi_out[spi_index].num_bytes) << "): -> ";

      for (unsigned int i = 0; i < static_cast<unsigned int>(command->spi_out[spi_index].num_bytes); ++i)
        ss << static_cast<int>(command->spi_out[spi_index].data_bytes[i]) << ",";

      ROS_DEBUG_STREAM("" << ss.str());
    }
  }
}

bool SrSPI::unpackState(unsigned char *this_buffer, unsigned char *prev_buffer)
{
  RONEX_STATUS_02000002* status_data = reinterpret_cast<RONEX_STATUS_02000002 *>(this_buffer+  command_size_);

  // Checking that the received command type matches one of the valid commands
  // (we could check for the one that was used in the command but this is easier).
  // The ronex firmware will answer with whatever command type we send.
  // The purpose of this is to filter those status_data structures that come filled with zeros due to the jitter
  // in the realtime loop. The jitter causes that the host tries to read the status when the microcontroller in the
  // ronex module has not finished writing it to memory yet.
  if ( status_data->command_type == RONEX_COMMAND_02000002_COMMAND_TYPE_NORMAL)
  {
    // copying the status data to the HW interface
    spi_->state_->command_type = status_data->command_type;

    for (size_t sampling = 0; sampling < NUM_DIO_SAMPLES; ++sampling)
    {
      spi_->state_->info_type.status_data.pin_input_states_DIO[sampling] =
              status_data->info_type.status_data.pin_input_states_DIO[sampling];
      spi_->state_->info_type.status_data.pin_input_states_SOMI[sampling] =
              status_data->info_type.status_data.pin_input_states_SOMI[sampling];
    }

    for (size_t spi_index=0; spi_index < NUM_SPI_OUTPUTS; ++spi_index)
    {
      for (size_t i = 0; i < SPI_TRANSACTION_MAX_SIZE; ++i)
        {
        spi_->state_->info_type.status_data.spi_in[spi_index].data_bytes[i] =
                status_data->info_type.status_data.spi_in[spi_index].data_bytes[i];
        /*if(status_data->info_type.status_data.spi_in[spi_index].data_bytes[i] != 0)
          {
            ROS_ERROR_STREAM("NON NULL["<<i<<"]: "<<
            static_cast<int>(status_data->info_type.status_data.spi_in[spi_index].data_bytes[i])<<".");
          }
        */
        }
    }

    for (size_t analogue_index = 0 ; analogue_index < NUM_ANALOGUE_INPUTS ; ++analogue_index)
    {
      spi_->state_->info_type.status_data.analogue_in[analogue_index] =
              status_data->info_type.status_data.analogue_in[analogue_index];
    }
  }
  else if ( status_data->command_type == RONEX_COMMAND_02000002_COMMAND_TYPE_CONFIG_INFO)
  {
    // This command type is not used for the time being. For future expansion.
  }

  // publishing at 100Hz
  if (cycle_count_ > 9)
  {
    state_msg_.header.stamp = ros::Time::now();

    state_msg_.command_type = spi_->state_->command_type;

    for (size_t sampling = 0; sampling < NUM_DIO_SAMPLES; ++sampling)
    {
      state_msg_.pin_input_states_DIO[sampling] = spi_->state_->info_type.status_data.pin_input_states_DIO[sampling];
      state_msg_.pin_input_states_SOMI[sampling] = spi_->state_->info_type.status_data.pin_input_states_SOMI[sampling];
    }

    for (size_t spi_index=0; spi_index < NUM_SPI_OUTPUTS; ++spi_index)
    {
      for (size_t i = 0; i < SPI_TRANSACTION_MAX_SIZE; ++i)
        state_msg_.spi_in[spi_index].data[i] = spi_->state_->info_type.status_data.spi_in[spi_index].data_bytes[i];
    }

    for (size_t analogue_index = 0 ; analogue_index < NUM_ANALOGUE_INPUTS ; ++analogue_index)
    {
      state_msg_.analogue_in[analogue_index] = spi_->state_->info_type.status_data.analogue_in[analogue_index];
    }

    // publish
    if ( state_publisher_->trylock() )
    {
      state_publisher_->msg_ = state_msg_;
      state_publisher_->unlockAndPublish();
    }

    cycle_count_ = 0;
  }

  cycle_count_++;
  return true;
}

void SrSPI::diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer)
{
  d.name = device_name_;
  d.summary(d.OK, "OK");
  d.hardware_id = serial_number_;

  d.clear();

  // @TODO add more diagnostics
}

void SrSPI::build_topics_()
{
  // loading everything into the parameter server
  parameter_id_ = ronex::get_ronex_param_id("");
  ostringstream param_path, tmp_param;
  param_path << "/ronex/devices/" << parameter_id_ << "/";
  tmp_param << ronex::get_product_code(sh_);
  ros::param::set(param_path.str() + "product_id", tmp_param.str());
  ros::param::set(param_path.str() + "product_name", product_alias_);
  ros::param::set(param_path.str() + "ronex_id", ronex_id_);

  // the device is stored using path as the key in the CustomHW map
  ros::param::set(param_path.str() + "path", device_name_);
  ros::param::set(param_path.str() + "serial", serial_number_);

  // Advertising the realtime state publisher
  state_publisher_.reset(
          new realtime_tools::RealtimePublisher<sr_ronex_msgs::SPIState>(node_, device_name_ + "/state", 1));
}

/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/