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basic hardware component structure
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@NestorDP
NestorDP committed Jul 21, 2024
1 parent 148c6ec commit 7c6d89c
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Showing 3 changed files with 102 additions and 524 deletions.
41 changes: 36 additions & 5 deletions littlebot_base/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,34 @@ ament_export_dependencies(
ament_package()






























cmake_minimum_required(VERSION 3.8)
project(bravo_seven_driver)

Expand Down Expand Up @@ -172,6 +200,12 @@ ament_target_dependencies(bravo_seven_udp_communication PUBLIC
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

pluginlib_export_plugin_description_file(bravo_seven_driver
bravo_seven_udp_communication.xml
)



add_library(bravo_seven_hardware_component SHARED
src/bravo_seven_hardware_component.cpp
)
Expand All @@ -181,17 +215,14 @@ target_include_directories(bravo_seven_hardware_component PUBLIC
$<INSTALL_INTERFACE:include>
)

pluginlib_export_plugin_description_file(bravo_seven_driver
bravo_seven_udp_communication.xml
ament_target_dependencies(bravo_seven_hardware_component PUBLIC
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

pluginlib_export_plugin_description_file(hardware_interface
bravo_seven_hardware_plugin.xml
)

ament_target_dependencies(bravo_seven_hardware_component PUBLIC
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

install(
TARGETS bravo_seven_udp_communication
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234 changes: 19 additions & 215 deletions littlebot_base/include/littlebot_base/littlebot_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ class LittlebotHardwareComponent : public hardware_interface::SystemInterface
* @brief Deconstructor for the LittlebotHardwareComponent class
*
*/
~LittlebotHardwareComponent() override;
// ~LittlebotHardwareComponent() override;

/**
* @brief
Expand Down Expand Up @@ -87,266 +87,70 @@ class LittlebotHardwareComponent : public hardware_interface::SystemInterface
const rclcpp::Time & time, const rclcpp::Duration & period) override;



private:
/**
* @brief Get the state interfaces from the Force Torque Sensor through the Urdf.
*
* This method checks the Force Torque state interfaces listed in Urdf and saves them
* in the @ref all_sensor_state_interface_names_ variable.
*
* @param sensors The vector of sensors (ComponentInfo).
* @throw std::invalid_argument If the Force Torque is not listed.
*/
void fillForceTorqueStateInterfacesMapFromUrdf(
const std::vector<hardware_interface::ComponentInfo> & sensors);

/**
* @brief Get the Joints passed through the Urdf.
*
* This method calls @ref areJointParametersValid and @ref getJointStateInterfaces to check the parameters and map the state interfaces to each joint, respectively. When the joints are correctly configured, they are saved in the vector @ref joints_.
*
* @param joints The vector of joints (ComponentInfo).
* @throw std::invalid_argument If there are not eight joints correctly named.
* @throw std::invalid_argument If the parameters have invalid values.
*/
void fillJointsConfigurationMapFromUrdf(
const std::vector<hardware_interface::ComponentInfo> & joints);

/**
* @brief The Data structure of one joint of the Bravo 7 Manipulator.
*
*/
struct ManipulatorJointData
{
/// The name of the joint.
std::string name;
/// The ID of the joint, according to the map @ref bravo_seven_devices_map_.
types::DeviceId id;
/// The map of state interfaces.
std::unordered_map<std::string, double> state_interfaces;
/// The map of limit values, the first one the minimum limit and the second one the maximum.
std::unordered_map<std::string, std::pair<float, float>> limit_values;
};

/**
* @brief Check the parameters of the Joint component.
*
* @param valid_joint The joint data, where the parameter values are saved.
* @return true If the parameters are valid.
* @return false If the parameters have invalid values.
*/
bool areJointParametersValid(ManipulatorJointData & valid_joint);

/**
* @brief Get the Joint State Interfaces.
*
* This method checks if the state interfaces are valid and saves them. Otherwise the
* state interface will not be exported.
*
* @param state_interfaces The vector of state interfaces.
* @param valid_joint The data of the joint.
*/
void getJointStateInterfaces(
const std::vector<hardware_interface::InterfaceInfo> & state_interfaces,
ManipulatorJointData & valid_joint);

/**
* @brief Configure the limits of the joints.
*
* This method calls the @ref setJointLimits to configure the positions, current
* and voltage limits, to all the joints mapped in @ref configurations_map_. If no limit
* parameter is set for a joint, the limits are not set.
*
*/
void configureLimitsOfJoints();

/**
* @brief Get the Float Component Parameter object
*
* @param joint_data
* @param float_parameter
* @param parameter_name
*/
void getFloatComponentParameter(
ManipulatorJointData & joint_data, float & float_parameter, std::string parameter_name);

/**
* @brief Get the Joint Position Limits Parameters passed through the Urdf.
*
* @param joint_name The name of the joint to get the parameters.
* @param minimum_position The minimum limit to set.
* @param maximum_position The maximum limit to set.
*/
void getJointPositionLimitsParameters(
std::string joint_name, float & minimum_position, float & maximum_position);

/**
* @brief The name of the hardware component.
*/
const std::string hardware_component_name_{"LittlebotHardwareComponent"};

/**
* @brief This class uses this pointer to store the concrete LittlebotCommunicationInterface.
*/
std::shared_ptr<LittlebotCommunicationInterface> manipulator_communication_ptr_;

/**
* @brief Unique pointer to an instance of the PluginlibLoaderWrapper class.
*
* The ros2_control_toolbox::PluginlibLoaderWrapper loads and unloads a communication plugin,
* from base class LittlebotCommunicationInterface.
*/
std::unique_ptr<ros2_control_toolbox::PluginlibLoaderWrapper
<littlebot_base::LittlebotCommunicationInterface>> plugin_loader_wrapper_ptr_;

/**
* @brief The name of the package where the communication plugin is implemented.
*
*/
const std::string communication_plugin_package_name_{"littlebot_base"};

/**
* @brief The name of the communication plugin.
*
*/
std::string communication_plugin_name_{""};

/**
* @brief The base class of the communication plugin.
*
* @brief command interface.
*/
const std::string communication_plugin_base_class_{"LittlebotCommunicationInterface"};
std::vector<double> hw_commands_;

/**
* @brief The driver_base uses this URI to know the communication channel with the manipulator.
* @brief position state interface.
*/
std::string uri_{""};
std::vector<double> hw_positions_;

/**
* @brief Default driver_base read timeout.
* @brief velocity state interface.
*/
std::chrono::milliseconds read_timeout_{0};
std::vector<double> hw_velocities_;

/**
* @brief Default driver_base write timeout.
* @brief
*/
std::chrono::milliseconds write_timeout_{0};
static constexpr int kNumCommandInterface_{1};

/**
* @brief Default read timeout.
* @brief
*/
static constexpr std::chrono::milliseconds kDefaultReadTimeout{1000};
static constexpr int kNumStateInterface_{2};

/**
* @brief Default write timeout.
*/
static constexpr std::chrono::milliseconds kDefaultWriteTimeout{1000};

/**
* @brief The pointer used to access the HardwareDescriptionHelper methods, which gets the
* hardware component parameters.
*
*/
std::unique_ptr<ros2_control_toolbox::HardwareDescriptionHelper> hardware_description_helper_ptr_;

/**
* @brief Maps the state interfaces by the joints ID.
*
*/
std::unordered_map<std::string, std::vector<types::DeviceId>> state_interfaces_map_;

/**
* @brief Maps the configuration parameters by the joints ID.
*
*/
std::unordered_map<std::string, std::vector<types::DeviceId>> configurations_map_;

/**
* @brief Maps the state interface values of the Force Torque sensor.
*
*/
std::unordered_map<std::string, double> force_torque_state_interfaces_map_;

/**
* @brief Lists the sensor state interfaces that should be exported.
*
*/
std::vector<std::string> sensor_state_interfaces_in_use_;

/**
* @brief Maps the configuration parameters with the function related (listed in
* @ref LittlebotCommunicationInterface::PacketId).
*
*/
std::unordered_map<std::string, types::PacketId> configurations_functions_map_{
{"maximum_velocity", types::PacketId::SET_VELOCITY_LIMITS},
{"maximum_current", types::PacketId::SET_CURRENT_LIMITS},
{"maximum_position", types::PacketId::SET_POSITION_LIMITS},
};

/**
* @brief The data vector of the manipulator's joints.
*
*/
std::array<ManipulatorJointData, types::kJointsInManipulator> joints_;

/**
* @brief The actual data of the Force Torque sensor.
*
*/
types::ForceTorque force_toque_measurements_;

/**
* @brief Number of sensors in the Bravo Seven Manipulator.
*
*/
static constexpr uint8_t kSensorsInManipulator{1};

/**
* @brief The name of the Force Torque sensor.
*/
std::string sensor_name_{"force_torque"};

/**
* @brief Number of state interfaces in the force torque sensor (hardware interface).
*
*/
static constexpr uint8_t kSensorStateInterfaces{6};

/**
* @brief Number of state interfaces available for each joint.
*
* @brief
*/
static constexpr uint8_t kJointStateInterfacesAvailable{8};
//std::shared_ptr<LittlebotCommunicationInterface> littlebot_communication_ptr_;

/**
* @brief Numbers of parameters by joint.
* @brief The name of the package where the communication plugin is implemented.
*
*/
static constexpr uint8_t kJointParameters{4};
//const std::string communication_plugin_package_name_{"littlebot_base"};

/**
* @brief List of all the state interface names available for one joint.
* @brief The name of the communication plugin.
*
*/
std::array<std::string, kJointStateInterfacesAvailable> all_joint_state_interface_names_ =
{"position", "relative_position", "velocity", "voltage", "current", "internal_humidity",
"internal_temperature", "internal_pressure"};
//std::string communication_plugin_name_{""};

/**
* @brief List all the configuration parameters available for one joint.
* @brief The base class of the communication plugin.
*
*/
std::array<std::string, kJointParameters> configuration_parameters_names_ =
{"maximum_velocity", "maximum_current", "minimum_position", "maximum_position"};
//const std::string communication_plugin_base_class_{"LittlebotCommunicationInterface"};

/**
* @brief List all the state interface names available for the Force Torque sensor.
*
*/
std::array<std::string, kSensorStateInterfaces> all_sensor_state_interface_names_ = {"force_x",
"force_y", "force_z", "torque_x", "torque_y", "torque_z"};
};

} // namespace littlebot_base
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