Fawkes API  Fawkes Development Version
driver_thread.h
1 
2 /***************************************************************************
3  * driver_thread.h - Robotis dynamixel servo driver thread
4  *
5  * Created: Mon Mar 23 20:26:52 2015
6  * Copyright 2006-2015 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_DYNAMIXEL_DRIVER_THREAD_H_
23 #define _PLUGINS_DYNAMIXEL_DRIVER_THREAD_H_
24 
25 #include <aspect/blackboard.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <blackboard/interface_listener.h>
30 #include <core/threading/read_write_lock.h>
31 #include <core/threading/scoped_rwlock.h>
32 #include <core/threading/thread.h>
33 #include <utils/time/time.h>
34 
35 #ifdef USE_TIMETRACKER
36 # include <utils/time/tracker.h>
37 #endif
38 #include <memory>
39 #include <string>
40 
41 namespace fawkes {
42 class DynamixelServoInterface;
43 class LedInterface;
44 class JointInterface;
45 } // namespace fawkes
46 
47 class DynamixelChain;
48 
49 class Dynamixel;
50 
52  public fawkes::LoggingAspect,
56 {
57 public:
58  DynamixelDriverThread(std::string &cfg_name, std::string &cfg_prefix);
59 
60  virtual void init();
61  virtual void finalize();
62  virtual void loop();
63 
64  // For BlackBoardInterfaceListener
65  virtual bool bb_interface_message_received(fawkes::Interface *interface,
66  fawkes::Message * message) noexcept;
67 
68  void exec_sensor();
69  void exec_act();
70 
71  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
72 protected:
73  virtual void
74  run()
75  {
76  Thread::run();
77  }
78 
79 private:
80  class Servo
81  {
82  public:
84  fawkes::LedInterface * led_if;
85  fawkes::JointInterface * joint_if;
86 
87  fawkes::ReadWriteLock *value_rwlock;
88 
89  bool move_pending;
90  float target_angle;
91  bool enable;
92  bool disable;
93  bool velo_pending;
94  unsigned int vel;
95  bool mode_set_pending;
96  bool recover_pending;
97  unsigned int new_mode;
98  bool led_enable;
99  bool led_disable;
100  float max_speed;
101  float angle_margin;
102  unsigned int torque_limit;
103  fawkes::Time time;
104  float last_angle;
105  };
106  std::map<unsigned int, Servo> servos_;
107 
109  fawkes::ReadWriteLock * chain_rwlock_;
110 
111  std::string cfg_prefix_;
112  std::string cfg_name_;
113  std::string cfg_device_;
114  unsigned int cfg_read_timeout_ms_;
115  unsigned int cfg_disc_timeout_ms_;
116  bool cfg_goto_zero_start_;
117  bool cfg_turn_off_;
118  unsigned int cfg_cw_compl_margin_;
119  unsigned int cfg_ccw_compl_margin_;
120  unsigned int cfg_cw_compl_slope_;
121  unsigned int cfg_ccw_compl_slope_;
122  float cfg_def_angle_margin_;
123  bool cfg_enable_echo_fix_;
124  bool cfg_enable_connection_stability_;
125  bool cfg_autorecover_enabled_;
126  unsigned char cfg_autorecover_flags_;
127  float cfg_torque_limit_;
128  unsigned char cfg_temperature_limit_;
129  bool cfg_prevent_alarm_shutdown_;
130  float cfg_prevent_alarm_shutdown_threshold_;
131  float cfg_min_voltage_;
132  float cfg_max_voltage_;
133  std::vector<unsigned int> cfg_servos_to_discover_;
134  bool cfg_enable_verbose_output_;
135 
136  void goto_angle(unsigned int servo_id, float angle);
137  void goto_angle_timed(unsigned int servo_id, float angle, float time_sec);
138  float get_angle(unsigned int servo_id);
139  float get_angle(unsigned int servo_id, fawkes::Time &time);
140  void set_velocity(unsigned int servo_id, float vel);
141  float get_velocity(unsigned int servo_id);
142  void set_speed(unsigned int servo_id, unsigned int speed);
143  void set_mode(unsigned int servo_id, unsigned int new_mode);
144  void set_margin(unsigned int servo_id, float margin);
145  bool is_final(unsigned int servo_id);
146  bool is_enabled(unsigned int servo_id);
147  void set_enabled(unsigned int servo_id, bool enabled);
148  void set_led_enabled(unsigned int servo_id, bool enabled);
149  void stop_motion(unsigned int servo_id);
150  bool has_fresh_data();
151  void wait_for_fresh_data();
152 
153  void exec_goto_angle(unsigned int servo_id, float angle);
154  void exec_set_mode(unsigned int servo_id, unsigned int new_mode);
155 
156 private:
157  fawkes::WaitCondition *update_waitcond_;
158 
159  bool fresh_data_;
160  fawkes::Mutex *fresh_data_mutex_;
161 };
162 
163 #endif
Class to access a chain of Robotis dynamixel servos.
Definition: servo_chain.h:37
Driver thread for Robotis dynamixel servos.
Definition: driver_thread.h:56
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: driver_thread.h:74
virtual void finalize()
Finalize the thread.
DynamixelDriverThread(std::string &cfg_name, std::string &cfg_prefix)
Constructor.
void exec_sensor()
Update sensor values as necessary.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
virtual bool bb_interface_message_received(fawkes::Interface *interface, fawkes::Message *message) noexcept
BlackBoard message received notification.
void exec_act()
Process commands.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
BlackBoard interface listener.
Thread aspect to access configuration data.
Definition: configurable.h:33
DynamixelServoInterface Fawkes BlackBoard Interface.
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
JointInterface Fawkes BlackBoard Interface.
LedInterface Fawkes BlackBoard Interface.
Definition: LedInterface.h:34
Thread aspect to log output.
Definition: logging.h:33
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
Mutex mutual exclusion lock.
Definition: mutex.h:33
Read/write lock to allow multiple readers but only a single writer on the resource at a time.
Thread class encapsulation of pthreads.
Definition: thread.h:46
A class for handling time.
Definition: time.h:93
Wait until a given condition holds.
Fawkes library namespace.