force_torque_sensor_config.cpp

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/****************************************************************
 *
 * Copyright 2016 Intelligent Industrial Robotics (IIROB) Group,
 * Institute for Anthropomatics and Robotics (IAR) -
 * Intelligent Process Control and Robotics (IPR),
 * Karlsruhe Institute of Technology
 *
 * Author: Denis Štogl, email: denis.stogl@kit.edu
 *
 * Date of creation: 2014-2016
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms,
 * with or without 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.
 *     * 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 program 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 of the License, or
 * (at your option) any later version.
 *
 * This package 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 package. If not, see <http://www.gnu.org/licenses/>.
 ****************************************************************/

#include <stdint.h>
typedef unsigned char uint8_t;
#include <inttypes.h>
#include <iostream>
#include <ros/ros.h>
#include <cob_forcetorque/ForceTorqueCtrl.h>

#include <std_srvs/Trigger.h>

#include <math.h>
#include <iostream>
#define PI 3.14159265

class ForceTorqueConfig
{
public:
  ForceTorqueConfig();

  bool initFts();
  bool srvCallback_SetBaudRate(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
  bool srvCallback_SetBaseIdentifier(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
  bool srvCallback_Reset(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
  // create a handle for this node, initialize node
  ros::NodeHandle nh_;

private:
  // CAN parameters
  int canType;
  std::string canPath;
  int canBaudrate;
  int ftsBaseID;
  int ftsFutureBaudrate;
  int ftsFutureBaseID;

  // service servers
  ros::ServiceServer srvServer_SetBaudRate_;
  ros::ServiceServer srvServer_SetBaseIdentifier_;
  ros::ServiceServer srvSever_Reset_;

  bool m_isInitialized;
  ForceTorqueCtrl *p_Ftc;
};

ForceTorqueConfig::ForceTorqueConfig()
{
  m_isInitialized = false;

  srvServer_SetBaudRate_ = nh_.advertiseService("SetBaudRate", &ForceTorqueConfig::srvCallback_SetBaudRate, this);
  srvServer_SetBaseIdentifier_ =
      nh_.advertiseService("SetBaseIdentifier", &ForceTorqueConfig::srvCallback_SetBaseIdentifier, this);
  srvSever_Reset_ = nh_.advertiseService("Reset", &ForceTorqueConfig::srvCallback_Reset, this);

  // Read data from parameter server
  nh_.param<int>("HWComm/type", canType, -1);
  nh_.param<std::string>("HWComm/path", canPath, "");
  nh_.param<int>("HWComm/baudrate", canBaudrate, -1);
  nh_.param<int>("FTS/base_identifier", ftsBaseID, -1);
  nh_.param<int>("FTS/future_baudrate", ftsFutureBaudrate, 7);
  nh_.param<int>("FTS/future_base_id", ftsFutureBaseID, 0x20);

  if (canType != -1)
  {
    p_Ftc = new ForceTorqueCtrl(canType, canPath, canBaudrate, ftsBaseID);
  }
  else
  {
    p_Ftc = new ForceTorqueCtrl();
  }

  initFts();
}

bool ForceTorqueConfig::initFts()
{
  if (!m_isInitialized)
  {
    // read return init status and check it!
    if (p_Ftc->Init())
    {
      ROS_INFO("FTC initialized");
      m_isInitialized = true;
    }
    else
    {
      m_isInitialized = false;
      ROS_INFO("FTC initialisation failed");
    }
  }
  return m_isInitialized;
}

bool ForceTorqueConfig::srvCallback_SetBaudRate(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
{
  if (m_isInitialized)
  {
    if (p_Ftc->SetBaudRate(ftsFutureBaudrate))
    {
      ROS_INFO("New baud rate successfully set to: %d", ftsFutureBaudrate);

      res.success = true;
      res.message = "All good, you are nice person! :)";
    }
    else
    {
      res.success = false;
      res.message = "Could not set baud rate :)";
    }
  }
  else
  {
    res.success = false;
    res.message = "FTS not initialised! :/";
  }

  return true;
}

bool ForceTorqueConfig::srvCallback_SetBaseIdentifier(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
{
  if (m_isInitialized)
  {
    if (p_Ftc->SetBaseIdentifier(ftsFutureBaseID))
    {
      ROS_INFO("New base identifier successfully set to HEX: %x", ftsFutureBaseID);

      res.success = true;
      res.message = "All good, you are nice person! :)";
    }
    else
    {
      res.success = false;
      res.message = "Could not set base identifier :)";
    }
  }
  else
  {
    res.success = false;
    res.message = "FTS not initialised! :/";
  }

  return true;
}

bool ForceTorqueConfig::srvCallback_Reset(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
{
  ROS_WARN("Going to reset NETCANOEM!");

  if (p_Ftc->Reset())
  {
    res.success = true;
    res.message = "Reset succeded!";
  }
  else
  {
    res.success = false;
    res.message = "Reset NOT succeded!";
  }

  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "forcetorque_config");
  ForceTorqueConfig ftn;

  ROS_INFO("ForceTorque Config Node running.");

  ros::spin();

  return 0;
}