sr_hand_finder.cpp

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/*
* Copyright 2015 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program 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 General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

/*
* File:  sf_hand_finder.cpp
* Author: Vahid Aminzadeh <vahid@shadowrobot.com>
* @brief see README.md
*/

#include "sr_utilities/sr_hand_finder.hpp"
#include "urdf_parser/urdf_parser.h"
#include "urdf_model/model.h"
#include "urdf_model/joint.h"
#include <ros/package.h>
#include <boost/assign/list_of.hpp>
#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/algorithm/string/predicate.hpp>
#include <utility>
#include <map>
#include <set>
#include <vector>
#include <string>
#include <iostream>

using boost::assign::list_of;

namespace shadow_robot
{
const std::vector<std::string> SrHandFinder::joint_names_ = list_of("FFJ1")("FFJ2")("FFJ3")("FFJ4")("MFJ1")("MFJ2")(
        "MFJ3")("MFJ4")("RFJ1")("RFJ2")("RFJ3")("RFJ4")("LFJ1")("LFJ2")("LFJ3")("LFJ4")("LFJ5")("THJ1")("THJ2")(
        "THJ3")("THJ4")("THJ5")("WRJ1")("WRJ2");

const std::vector<std::string> SrHandFinder::get_default_joints()
{
  return SrHandFinder::joint_names_;
}

HandConfig SrHandFinder::get_hand_parameters()
{
  return hand_config_;
}

SrHandFinder::SrHandFinder()
{
  if (ros::param::has("/hand"))
  {
    std::map<std::string, std::string> mapping_map;
    ros::param::get("/hand/mapping", hand_config_.mapping_);
    ros::param::get("/hand/joint_prefix", hand_config_.joint_prefix_);

    std::pair<std::string, std::string> pair;
    BOOST_FOREACH(pair, hand_config_.mapping_)
    {
      // hand empty mapping
      if (pair.second.empty())
      {
        hand_config_.mapping_[pair.first] = pair.first;
        ROS_INFO_STREAM("detected hands are \n" << "hand serial:" << pair.first << " hand_id:"
                        << pair.second << " , replaced internally by: " << pair.first);
      }
      else
        ROS_INFO_STREAM("detected hands are \n" << "hand serial:" << pair.first << " hand_id:" << pair.second);
    }

    generate_joints_with_prefix();
    generate_calibration_path();
    generate_hand_controller_tuning_path();
  }
  else
  {
    ROS_ERROR_STREAM("No hand found");
  }
}

void SrHandFinder::generate_joints_with_prefix()
{
  std::pair<std::string, std::string> hand;
  if (ros::param::has("robot_description"))
  {
    std::set<std::string> hand_joints;

    BOOST_FOREACH(hand, hand_config_.joint_prefix_)
    {
      BOOST_FOREACH(std::string default_joint_name, joint_names_)
      {
        hand_joints.insert(hand.second + default_joint_name);
      }
    }
    std::string robot_description;
    ros::param::get("robot_description", robot_description);
    const urdf::ModelInterfaceSharedPtr hand_urdf = urdf::parseURDF(robot_description);
    BOOST_FOREACH(hand, hand_config_.joint_prefix_)
    {
      std::set<std::string> joints_tmp;
      std::pair<std::string, urdf::JointSharedPtr> joint;
      BOOST_FOREACH(joint, hand_urdf->joints_)
      {
        if (urdf::Joint::FIXED != joint.second->type)
        {
          const std::string joint_name = joint.first;
          bool found_prefix = false;
          std::pair<std::string, std::string> hand_prefix;
          BOOST_FOREACH(hand_prefix, hand_config_.joint_prefix_)
          {
            if (boost::starts_with(joint_name, hand_prefix.second))
            {
              found_prefix = true;
            }
          }

          if (!found_prefix)
          {
            ROS_DEBUG_STREAM("Joint " + joint_name + "has invalid prefix");
          }
          else if (0 == joint_name.find(hand.second))
          {
            joints_tmp.insert(joint_name);
          }
        }
      }

      std::set_intersection(joints_tmp.begin(), joints_tmp.end(), hand_joints.begin(), hand_joints.end(),
                            std::back_inserter(joints_[hand_config_.mapping_[hand.first]]));
    }
  }
  else
  {
    ROS_WARN_STREAM("No robot_description found on parameter server. Joint names are loaded for 5 finger hand");
    BOOST_FOREACH(hand, hand_config_.mapping_)
    {
      const std::string hand_mapping = hand.second;
      BOOST_FOREACH(std::string default_joint_name, joint_names_)
      {
        joints_[hand_mapping].push_back(hand_config_.joint_prefix_[hand.first] + default_joint_name);
      }
    }
  }
}

void SrHandFinder::generate_calibration_path()
{
  std::string ethercat_path = ros::package::getPath("sr_ethercat_hand_config");
  for (std::map<std::string, std::string>::const_iterator mapping_iter = hand_config_.mapping_.begin();
       mapping_iter != hand_config_.mapping_.end(); ++mapping_iter)
  {
    calibration_path_[mapping_iter->second] = ethercat_path + "/calibrations/"
                                              + mapping_iter->second + "/" + "calibration.yaml";
  }
}

void SrHandFinder::generate_hand_controller_tuning_path()
{
  std::string ethercat_path = ros::package::getPath("sr_ethercat_hand_config");
  for (std::map<std::string, std::string>::const_iterator mapping_iter = hand_config_.mapping_.begin();
       mapping_iter != hand_config_.mapping_.end(); ++mapping_iter)
  {
    hand_controller_tuning_.friction_compensation_[mapping_iter->second] =
            ethercat_path + "/controls/" + "friction_compensation.yaml";
    hand_controller_tuning_.motor_control_[mapping_iter->second] =
            ethercat_path + "/controls/motors/" + mapping_iter->second + "/motor_board_effort_controllers.yaml";
    std::string host_path(ethercat_path + "/controls/host/" + mapping_iter->second + "/");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_calibration_controllers.yaml");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_joint_velocity_controllers_PWM.yaml");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_effort_controllers_PWM.yaml");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_joint_velocity_controllers.yaml");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_effort_controllers.yaml");

    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_joint_position_controllers_PWM.yaml");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_mixed_position_velocity_joint_controllers.yaml");
    hand_controller_tuning_.host_control_[mapping_iter->second].push_back(
            host_path + "sr_edc_joint_position_controllers.yaml");
  }
}

std::map<std::string, std::vector<std::string> > SrHandFinder::get_joints()
{
  return joints_;
}

std::map<std::string, std::string> SrHandFinder::get_calibration_path()
{
  return calibration_path_;
}

HandControllerTuning SrHandFinder::get_hand_controller_tuning()
{
  return hand_controller_tuning_;
}
} /* namespace shadow_robot */