humotion

#include "mekajointinterface.h"

using namespace std;

//WARNING: DO NOT CHANGE THIS; VELOCITYMODE IS NOT YET IMPLEMENTED

#define POSITION_CONTROL 1

void MekaJointInterface::incoming_controlstate(const m3meka_msgs::M3ControlStates &control_state){

    //incoming controller status

    for (unsigned int i = 0; i<control_state.group_name.size(); i++){

        if (control_state.group_name[i] == "head"){

            //enable/disable based on controller status

            if (control_state.state[i] == m3meka_msgs::M3ControlStates::START){

                //controller up and running

                if (!controller_enabled){

                    printf("> incoming control state (%d), enabling jointstate output\n",control_state.state[i]);

                    controller_enabled = true;

                }

            }else{

                //controller in estop/stopped etc

                if (controller_enabled){

                    printf("> incoming control state (%d), DISABLING jointstate output\n",control_state.state[i]);

                    controller_enabled = false;

                }

            }

        }

    }

}

void MekaJointInterface::incoming_jointstates(const sensor_msgs::JointState & msg){

    //fetch current timestamp

    double timestamp = msg.header.stamp.toSec();

    //iterate through incoming joints and filter out joints we need:

    for(int i=0; i<msg.name.size(); i++){

        string name = msg.name[i];

        //printf("incoming data for joint '%s'\n", name.c_str());

        int id = -1;

        if (name == "head_j1"){

            id = ID_NECK_PAN;

        }else if(name == "head_j0"){

            id = ID_NECK_TILT;

        }

        //store data:

        if (id != -1){

            //printf("> storing joint data for joint id %d\n", id);

            if (i >= msg.position.size()){

                printf("> joint state msg is missing position data for joint '%s'...\n", name.c_str());

                return;

            }

            if (i >= msg.velocity.size()){

                //printf("> joint state msg is missing velocity data for joint '%s'...\n", name.c_str());

                //exit(EXIT_FAILURE);

                return;

            }

            //ok, safe to access data

            if (id == ID_NECK_PAN){

                //joint is inverted

                JointInterface::store_incoming_position(id, -180.0 / M_PI * msg.position[i], timestamp);

                JointInterface::store_incoming_speed(   id, -180.0 / M_PI * msg.velocity[i], timestamp);

            }else if (id == ID_NECK_TILT){

                JointInterface::store_incoming_position(id, 180.0 / M_PI * msg.position[i], timestamp);

                JointInterface::store_incoming_speed(   id, 180.0 / M_PI * msg.velocity[i], timestamp);

            }

        }

    }

    //dummy data uses current time

    timestamp = get_timestamp_s();

    //store dummy positions for joints we do not know about:

    store_dummy_data(ID_LIP_LEFT_UPPER, timestamp);

    store_dummy_data(ID_LIP_LEFT_LOWER, timestamp);

    store_dummy_data(ID_LIP_CENTER_UPPER, timestamp);

    store_dummy_data(ID_LIP_CENTER_LOWER, timestamp);

    store_dummy_data(ID_LIP_RIGHT_UPPER, timestamp);

    store_dummy_data(ID_LIP_RIGHT_LOWER, timestamp);

    store_dummy_data(ID_NECK_ROLL, timestamp);

    store_dummy_data(ID_EYES_BOTH_UD, timestamp);

    store_dummy_data(ID_EYES_LEFT_LR, timestamp);

    store_dummy_data(ID_EYES_RIGHT_LR, timestamp);

    store_dummy_data(ID_EYES_LEFT_LID_LOWER, timestamp);

    store_dummy_data(ID_EYES_LEFT_LID_UPPER, timestamp);

    store_dummy_data(ID_EYES_LEFT_BROW, timestamp);

    store_dummy_data(ID_EYES_RIGHT_LID_LOWER, timestamp);

    store_dummy_data(ID_EYES_RIGHT_LID_UPPER, timestamp);

    store_dummy_data(ID_EYES_RIGHT_BROW, timestamp);

}

void MekaJointInterface::store_dummy_data(int id, double timestamp){

    JointInterface::store_incoming_position(id, 0.0, timestamp);

    JointInterface::store_incoming_speed(id, 0.0, timestamp);

}

//! constructor

MekaJointInterface::MekaJointInterface(string _input_scope, string control_scope, string _output_scope) : humotion::server::JointInterface(){

    input_scope = _input_scope;

    output_scope = _output_scope;

    controller_enabled = false;

    //subscribe to meka joint states

    int argc = 0;

    ros::init(argc, (char**)NULL, "meka_humotion");

    ros::NodeHandle n;

    printf("> listening on jointstates on '%s'\n",input_scope.c_str());

    joint_state_subscriber = n.subscribe(input_scope, 150, &MekaJointInterface::incoming_jointstates, this);

    printf("> listening on controlstates on '%s'\n",control_scope.c_str());

    control_state_subscriber = n.subscribe(control_scope, 150, &MekaJointInterface::incoming_controlstate, this);

    printf("> sending targets on '%s'\n", output_scope.c_str());

    target_publisher = n.advertise<trajectory_msgs::JointTrajectory>(output_scope, 100);

    //tell humotion about min/max joint values:

    init_joints();

}

//! destructor

MekaJointInterface::~MekaJointInterface(){

}

void MekaJointInterface::run(){

   ros::spin();

}

double MekaJointInterface::get_timestamp_s(){

    struct timespec spec;

    clock_gettime(CLOCK_REALTIME, &spec);

    return spec.tv_sec + spec.tv_nsec / 1.0e9;

}

//! set the target position of a joint

//! \param enum id of joint

//! \param float value

void MekaJointInterface::publish_target(int e, float position, float velocity){

   //we do this in execute motion for all joints at once...

}

//! actually execute the scheduled motion commands

void MekaJointInterface::execute_motion(){

    if (controller_enabled){

        //build msg

        trajectory_msgs::JointTrajectory msg;

        msg.joint_names.push_back("head_j0");

        msg.joint_names.push_back("head_j1");

        trajectory_msgs::JointTrajectoryPoint p;

        p.positions.push_back(get_target_position(ID_NECK_TILT) * M_PI / 180.0);

        //pan joint is inverted!

        p.positions.push_back(-get_target_position(ID_NECK_PAN) * M_PI / 180.0);

        //printf("targets pan=%4.1f tilt=%4.1f (eye p %4.1f t %4.2f)\n",joint_target[ID_NECK_TILT],joint_target[ID_NECK_PAN],joint_target[ID_EYES_LEFT_LR],joint_target[ID_EYES_BOTH_UD]);

        p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);

        msg.points.push_back(p);

        target_publisher.publish(msg);

    }

}

//! prepare and enable a joint

//! NOTE: this should also prefill the min/max positions for this joint

//! \param the enum id of a joint

void MekaJointInterface::enable_joint(int e){

    //meka does not support this, joints are always enabled

}

//! shutdown and disable a joint

//! \param the enum id of a joint

void MekaJointInterface::disable_joint(int e){

    //meka does not support this, joints are always enabled

}

void MekaJointInterface::store_min_max(int id, float min, float max){

    joint_min[id] = min;

    joint_max[id] = max;

}

void MekaJointInterface::init_joints(){

    store_min_max(ID_NECK_TILT, -37, 1);

    store_min_max(ID_NECK_PAN, -70, 70);

    store_min_max(ID_NECK_ROLL, -1, 1);

    store_min_max(ID_EYES_BOTH_UD, -1, 1);

    store_min_max(ID_EYES_LEFT_LR, -1, 1);

    store_min_max(ID_EYES_RIGHT_LR, -1, 1);

    store_min_max(ID_EYES_LEFT_LID_UPPER, -1, 1);

    store_min_max(ID_EYES_LEFT_LID_LOWER, -1, 1);

    store_min_max(ID_EYES_RIGHT_LID_UPPER, -1, 1);

    store_min_max(ID_EYES_RIGHT_LID_LOWER, -1, 1);

    store_min_max(ID_EYES_LEFT_BROW, -1, 1);

    store_min_max(ID_EYES_RIGHT_BROW, -1, 1);

    store_min_max(ID_LIP_CENTER_UPPER, -1, 1);

    store_min_max(ID_LIP_CENTER_LOWER, -1, 1);

    store_min_max(ID_LIP_LEFT_UPPER, -1, 1);

    store_min_max(ID_LIP_LEFT_LOWER, -1, 1);

    store_min_max(ID_LIP_RIGHT_UPPER, -1, 1);

    store_min_max(ID_LIP_RIGHT_LOWER, -1, 1);

}