Program Listing for File opencr.hpp
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// Copyright 2022 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef TURTLEBOT3_MANIPULATION_HARDWARE__OPENCR_HPP_
#define TURTLEBOT3_MANIPULATION_HARDWARE__OPENCR_HPP_
#include <stdlib.h>
#include <array>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
#include "turtlebot3_manipulation_hardware/dynamixel_sdk_wrapper.hpp"
#include "turtlebot3_manipulation_hardware/opencr_control_table.hpp"
#include "turtlebot3_manipulation_hardware/opencr_definitions.hpp"
namespace robotis
{
namespace turtlebot3_manipulation_hardware
{
class OpenCR
{
public:
explicit OpenCR(const uint8_t & id);
virtual ~OpenCR();
template<typename DataByteT>
DataByteT get_data(const uint16_t & address, const uint16_t & length)
{
DataByteT data = 0;
uint8_t * p_data = reinterpret_cast<uint8_t *>(&data);
std::lock_guard<std::mutex> lock(buffer_m_);
switch (length) {
case 1:
p_data[0] = data_[address + 0];
break;
case 2:
p_data[0] = data_[address + 0];
p_data[1] = data_[address + 1];
break;
case 4:
p_data[0] = data_[address + 0];
p_data[1] = data_[address + 1];
p_data[2] = data_[address + 2];
p_data[3] = data_[address + 3];
break;
default:
p_data[0] = data_[address + 0];
break;
}
return data;
}
bool open_port(const std::string & usb_port);
bool set_baud_rate(const uint32_t & baud_rate);
uint16_t ping();
bool is_connect_manipulator();
bool is_connect_wheels();
void play_sound(uint8_t sound) const;
void imu_recalibration();
opencr::IMU get_imu();
opencr::Battery get_battery();
void joints_torque(uint8_t onoff) const;
void wheels_torque(uint8_t onoff) const;
bool read_all();
std::array<double, 2> get_wheel_positions();
std::array<double, 2> get_wheel_velocities();
bool set_wheel_velocities(const std::vector<double> & velocities);
std::array<double, 4> get_joint_positions();
std::array<double, 4> get_joint_velocities();
double get_gripper_position();
double get_gripper_velocity();
bool set_joint_positions(const std::vector<double> & radians);
bool set_joint_profile_acceleration(
const std::array<int32_t, 4> & acceleration);
bool set_joint_profile_velocity(const std::array<int32_t, 4> & velocity);
bool set_gripper_position(const double & meters);
bool set_gripper_profile_acceleration(const int32_t & acceleration);
bool set_gripper_profile_velocity(const int32_t & velocity);
bool set_home_pose();
bool set_init_pose();
bool set_zero_pose();
bool set_gripper_current();
bool open_gripper();
bool close_gripper();
bool init_gripper();
void send_heartbeat(const uint8_t & count);
void write_byte(const uint16_t & address, uint8_t data);
uint8_t read_byte(const uint16_t & address);
private:
bool set_joints_variables(
const uint16_t & address,
const std::array<int32_t, 4> & variables);
bool set_gripper_variables(
const uint16_t & address, const int32_t & variables);
std::unique_ptr<DynamixelSDKWrapper> dxl_sdk_wrapper_;
uint8_t data_[CONTROL_TABLE_SIZE];
uint8_t data_buffer_[CONTROL_TABLE_SIZE];
std::mutex buffer_m_;
};
} // namespace turtlebot3_manipulation_hardware
} // namespace robotis
#endif // TURTLEBOT3_MANIPULATION_HARDWARE__OPENCR_HPP_