Program Listing for File gpio_controller.hpp

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// Copyright (c) 2021 PickNik LLC
//
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// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
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//    * 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.
//
//    * 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
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef UR_CONTROLLERS__GPIO_CONTROLLER_HPP_
#define UR_CONTROLLERS__GPIO_CONTROLLER_HPP_

#include <memory>
#include <string>
#include <unordered_map>
#include <vector>

#include "std_srvs/srv/trigger.hpp"

#include "controller_interface/controller_interface.hpp"
#include "ur_msgs/msg/io_states.hpp"
#include "ur_msgs/msg/tool_data_msg.hpp"
#include "ur_dashboard_msgs/msg/robot_mode.hpp"
#include "ur_dashboard_msgs/msg/safety_mode.hpp"
#include "ur_msgs/srv/set_io.hpp"
#include "ur_msgs/srv/set_speed_slider_fraction.hpp"
#include "ur_msgs/srv/set_payload.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "std_msgs/msg/bool.hpp"
#include "gpio_controller_parameters.hpp"

namespace ur_controllers
{
enum CommandInterfaces
{
  DIGITAL_OUTPUTS_CMD = 0u,
  ANALOG_OUTPUTS_CMD = 18,
  TOOL_VOLTAGE_CMD = 20,
  IO_ASYNC_SUCCESS = 21,
  TARGET_SPEED_FRACTION_CMD = 22,
  TARGET_SPEED_FRACTION_ASYNC_SUCCESS = 23,
  RESEND_ROBOT_PROGRAM_CMD = 24,
  RESEND_ROBOT_PROGRAM_ASYNC_SUCCESS = 25,
  PAYLOAD_MASS = 26,
  PAYLOAD_COG_X = 27,
  PAYLOAD_COG_Y = 28,
  PAYLOAD_COG_Z = 29,
  PAYLOAD_ASYNC_SUCCESS = 30,
  ZERO_FTSENSOR_CMD = 31,
  ZERO_FTSENSOR_ASYNC_SUCCESS = 32,
  HAND_BACK_CONTROL_CMD = 33,
  HAND_BACK_CONTROL_ASYNC_SUCCESS = 34,
};

enum StateInterfaces
{
  DIGITAL_OUTPUTS = 0u,
  DIGITAL_INPUTS = 18,
  ANALOG_OUTPUTS = 36,
  ANALOG_INPUTS = 38,
  ANALOG_IO_TYPES = 40,
  TOOL_MODE = 44,
  TOOL_OUTPUT_VOLTAGE = 45,
  TOOL_OUTPUT_CURRENT = 46,
  TOOL_TEMPERATURE = 47,
  TOOL_ANALOG_INPUTS = 48,
  TOOL_ANALOG_IO_TYPES = 50,
  ROBOT_MODE = 52,
  ROBOT_STATUS_BITS = 53,
  SAFETY_MODE = 57,
  SAFETY_STATUS_BITS = 58,
  INITIALIZED_FLAG = 69,
  PROGRAM_RUNNING = 70,
};

class GPIOController : public controller_interface::ControllerInterface
{
public:
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;

  controller_interface::InterfaceConfiguration state_interface_configuration() const override;

  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;

  CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;

  CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;

  CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;

  CallbackReturn on_init() override;

private:
  bool setIO(ur_msgs::srv::SetIO::Request::SharedPtr req, ur_msgs::srv::SetIO::Response::SharedPtr resp);

  bool setSpeedSlider(ur_msgs::srv::SetSpeedSliderFraction::Request::SharedPtr req,
                      ur_msgs::srv::SetSpeedSliderFraction::Response::SharedPtr resp);

  bool resendRobotProgram(std_srvs::srv::Trigger::Request::SharedPtr req,
                          std_srvs::srv::Trigger::Response::SharedPtr resp);

  bool handBackControl(std_srvs::srv::Trigger::Request::SharedPtr req,
                       std_srvs::srv::Trigger::Response::SharedPtr resp);

  bool setPayload(const ur_msgs::srv::SetPayload::Request::SharedPtr req,
                  ur_msgs::srv::SetPayload::Response::SharedPtr resp);

  bool zeroFTSensor(std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr resp);

  void publishIO();

  void publishToolData();

  void publishRobotMode();

  void publishSafetyMode();

  void publishProgramRunning();

protected:
  void initMsgs();

  bool first_pass_;

  // internal commands
  std::array<double, 18> standard_digital_output_cmd_;
  std::array<double, 18> standard_analog_output_cmd_;
  double target_speed_fraction_cmd_;

  // services
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resend_robot_program_srv_;
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr hand_back_control_srv_;
  rclcpp::Service<ur_msgs::srv::SetSpeedSliderFraction>::SharedPtr set_speed_slider_srv_;
  rclcpp::Service<ur_msgs::srv::SetIO>::SharedPtr set_io_srv_;
  rclcpp::Service<ur_msgs::srv::SetPayload>::SharedPtr set_payload_srv_;
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr tare_sensor_srv_;

  std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::IOStates>> io_pub_;
  std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::ToolDataMsg>> tool_data_pub_;
  std::shared_ptr<rclcpp::Publisher<ur_dashboard_msgs::msg::RobotMode>> robot_mode_pub_;
  std::shared_ptr<rclcpp::Publisher<ur_dashboard_msgs::msg::SafetyMode>> safety_mode_pub_;
  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>> program_state_pub_;

  ur_msgs::msg::IOStates io_msg_;
  ur_msgs::msg::ToolDataMsg tool_data_msg_;
  ur_dashboard_msgs::msg::RobotMode robot_mode_msg_;
  ur_dashboard_msgs::msg::SafetyMode safety_mode_msg_;
  std_msgs::msg::Bool program_running_msg_;

  // Parameters from ROS for gpio_controller
  std::shared_ptr<gpio_controller::ParamListener> param_listener_;
  gpio_controller::Params params_;

  static constexpr double ASYNC_WAITING = 2.0;
  // TODO(anyone) publishers to add: tcp_pose_pub_
  // TODO(anyone) subscribers to add: script_command_sub_
  // TODO(anyone) service servers to add: resend_robot_program_srv_, deactivate_srv_, set_payload_srv_, tare_sensor_srv_

  bool waitForAsyncCommand(std::function<double(void)> get_value);
};
}  // namespace ur_controllers

#endif  // UR_CONTROLLERS__GPIO_CONTROLLER_HPP_