hardware_interface.h

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//
// Created by qiayuan on 12/21/20.
//
 
#pragma once
 
#include <vector>
#include <string>
#include <memory>
#include <unordered_map>
 
// ROS
#include <ros/ros.h>
#include <urdf/model.h>
#include <XmlRpcValue.h>
 
// ROS control
#include <hardware_interface/robot_hw.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <transmission_interface/transmission_interface_loader.h>
#include <joint_limits_interface/joint_limits_interface.h>
 
#include <rm_common/hardware_interface/robot_state_interface.h>
#include <rm_common/hardware_interface/rm_imu_sensor_interface.h>
#include <rm_common/hardware_interface/actuator_extra_interface.h>
#include <rm_common/hardware_interface/tof_radar_interface.h>
#include <rm_common/hardware_interface/gpio_interface.h>
#include <rm_msgs/ActuatorState.h>
#include <rm_msgs/EnableImuTrigger.h>
 
#include "can_bus.h"
#include "gpio_manager.h"
 
namespace rm_hw
{
class RmRobotHW : public hardware_interface::RobotHW
{
public:
  RmRobotHW() = default;
  bool init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh) override;
  void read(const ros::Time& time, const ros::Duration& period) override;
 
  void write(const ros::Time& time, const ros::Duration& period) override;
 
  void setCanBusThreadPriority(int thread_priority);
 
private:
  bool parseActCoeffs(XmlRpc::XmlRpcValue& act_coeffs);
  bool parseActData(XmlRpc::XmlRpcValue& act_datas, ros::NodeHandle& robot_hw_nh);
  bool parseImuData(XmlRpc::XmlRpcValue& imu_datas, ros::NodeHandle& robot_hw_nh);
  bool parseGpioData(XmlRpc::XmlRpcValue& gpio_datas, ros::NodeHandle& robot_hw_nh);
  bool loadUrdf(ros::NodeHandle& root_nh);
 
  bool parseTofData(XmlRpc::XmlRpcValue& tof_datas, ros::NodeHandle& robot_hw_nh);
  bool setupTransmission(ros::NodeHandle& root_nh);
  bool setupJointLimit(ros::NodeHandle& root_nh);
  void publishActuatorState(const ros::Time& time);
 
  bool enableImuTrigger(rm_msgs::EnableImuTrigger::Request& req, rm_msgs::EnableImuTrigger::Response& res);
 
  ros::ServiceServer service_server_;
 
  bool is_actuator_specified_ = false;
  int thread_priority_;
  // Interface
  std::vector<CanBus*> can_buses_{};
  GpioManager gpio_manager_{};
  rm_control::GpioStateInterface gpio_state_interface_;
  rm_control::GpioCommandInterface gpio_command_interface_;
  hardware_interface::ActuatorStateInterface act_state_interface_;
  rm_control::ActuatorExtraInterface act_extra_interface_;
  hardware_interface::EffortActuatorInterface effort_act_interface_;
  rm_control::RobotStateInterface robot_state_interface_;
  hardware_interface::ImuSensorInterface imu_sensor_interface_;
  rm_control::RmImuSensorInterface rm_imu_sensor_interface_;
  std::unique_ptr<transmission_interface::TransmissionInterfaceLoader> transmission_loader_{};
  transmission_interface::RobotTransmissions robot_transmissions_;
  transmission_interface::ActuatorToJointStateInterface* act_to_jnt_state_{};
  transmission_interface::JointToActuatorEffortInterface* jnt_to_act_effort_{};
  joint_limits_interface::EffortJointSaturationInterface effort_jnt_saturation_interface_;
  joint_limits_interface::EffortJointSoftLimitsInterface effort_jnt_soft_limits_interface_;
  std::vector<hardware_interface::JointHandle> effort_joint_handles_{};
  rm_control::TofRadarInterface tof_radar_interface_;
 
  // URDF model of the robot
  std::string urdf_string_;                  // for transmission
  std::shared_ptr<urdf::Model> urdf_model_;  // for limit
 
  // Actuator
  std::unordered_map<std::string, ActCoeff> type2act_coeffs_{};
  std::unordered_map<std::string, std::unordered_map<int, ActData>> bus_id2act_data_{};
 
  // Imu
  std::unordered_map<std::string, std::unordered_map<int, ImuData>> bus_id2imu_data_{};
 
  // TF radar
  std::unordered_map<std::string, std::unordered_map<int, TofData>> bus_id2tof_data_{};
 
  ros::Time last_publish_time_;
  std::shared_ptr<realtime_tools::RealtimePublisher<rm_msgs::ActuatorState>> actuator_state_pub_;
};
 
}  // namespace rm_hw