robot_state_interface.cpp

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#include "motoman_driver/industrial_robot_client/robot_state_interface.h"
#include "motoman_driver/industrial_robot_client/motoman_utils.h"
#include "industrial_utils/param_utils.h"
#include <map>
#include <string>
#include <vector>

using industrial::smpl_msg_connection::SmplMsgConnection;
using industrial_utils::param::getJointNames;
using industrial_robot_client::motoman_utils::getJointGroups;

namespace industrial_robot_client
{
namespace robot_state_interface
{

RobotStateInterface::RobotStateInterface()
{
  this->connection_ = NULL;
  this->add_handler(&default_joint_handler_);
  this->add_handler(&default_joint_feedback_handler_);
  this->add_handler(&default_joint_feedback_ex_handler_);
  this->add_handler(&default_robot_status_handler_);
}

bool RobotStateInterface::init(std::string default_ip, int default_port, bool version_0)
{
  std::string ip;
  int port;

  // override IP/port with ROS params, if available
  ros::param::param<std::string>("robot_ip_address", ip, default_ip);
  ros::param::param<int>("~port", port, default_port);
  // check for valid parameter values
  if (ip.empty())
  {
    ROS_ERROR("No valid robot IP address found.  Please set ROS 'robot_ip_address' param");
    return false;
  }
  if (port <= 0)
  {
    ROS_ERROR("No valid robot TCP port found.  Please set ROS '~port' param");
    return false;
  }

  char* ip_addr = strdup(ip.c_str());  // connection.init() requires "char*", not "const char*"
  ROS_INFO("Robot state connecting to IP address: '%s:%d'", ip_addr, port);
  default_tcp_connection_.init(ip_addr, port);
  free(ip_addr);

  return init(&default_tcp_connection_);
}

bool RobotStateInterface::init(SmplMsgConnection* connection)
{
  std::map<int, RobotGroup> robot_groups;
  if (getJointGroups("topic_list", robot_groups))
  {
    this->version_0_ = false;
    return init(connection, robot_groups);
  }
  else
  {
    this->version_0_ = true;
    std::vector<std::string> joint_names;
    if (!getJointNames("controller_joint_names", "robot_description", joint_names))
    {
      ROS_WARN("Unable to read 'controller_joint_names' param.  Using standard 6-DOF joint names.");
    }
    return init(connection, joint_names);
  }
  return false;
}

bool RobotStateInterface::init(SmplMsgConnection* connection, std::map<int, RobotGroup> robot_groups)
{
  ROS_INFO_STREAM(" Initializing robot state " << robot_groups.size() << " groups");
  this->robot_groups_ = robot_groups;
  this->connection_ = connection;

  // initialize message-manager
  if (!manager_.init(connection_))
  {
    ROS_ERROR("Failed to initialize message manager");
    return false;
  }

  // initialize default handlers
  if (!default_joint_handler_.init(connection_, robot_groups_))
  {
    ROS_ERROR("Failed to initialialze joint handler");
    return false;
  }
  this->add_handler(&default_joint_handler_);

  if (!default_joint_feedback_handler_.init(connection_, robot_groups_))
  {
    ROS_ERROR("Failed to initialize joint feedback handler");
    return false;
  }
  this->add_handler(&default_joint_feedback_handler_);

  if (!default_joint_feedback_ex_handler_.init(connection_, robot_groups_))
  {
    ROS_ERROR("Failed to initialize joint(extended) feedback handler");
    return false;
  }
  this->add_handler(&default_joint_feedback_ex_handler_);

  if (!default_robot_status_handler_.init(connection_))
  {
    ROS_ERROR("Failed to initialize robot status handler");
    return false;
  }
  this->add_handler(&default_robot_status_handler_);

  connection_->makeConnect();

  ROS_INFO("Successfully initialized robot state interface");
  return true;
}

bool RobotStateInterface::init(SmplMsgConnection* connection, std::vector<std::string>& joint_names)
{
  this->joint_names_ = joint_names;
  this->connection_ = connection;
  connection_->makeConnect();

  // initialize message-manager
  if (!manager_.init(connection_))
    return false;

  // initialize default handlers
  if (!default_joint_handler_.init(connection_, joint_names_))
    return false;
  this->add_handler(&default_joint_handler_);

  if (!default_joint_feedback_handler_.init(connection_, joint_names_))
    return false;
  this->add_handler(&default_joint_feedback_handler_);

  if (!default_robot_status_handler_.init(connection_))
    return false;
  this->add_handler(&default_robot_status_handler_);

  return true;
}

void RobotStateInterface::run()
{
  manager_.spin();
}

}  // namespace robot_state_interface
}  // namespace industrial_robot_client