Abstract interface for robot hardware drivers. More...

#include <sas_robot_driver.hpp>

Inheritance diagram for sas::RobotDriver:

Public Types
enum class	Functionality { None =0 , PositionControl , VelocityControl , ForceControl , Homing , ClearPositions , Watchdog }
	Enumeration of optional driver functionalities.

Public Member Functions
	~RobotDriver ()
	Virtual destructor for RobotDriver.
virtual VectorXd	get_joint_positions ()=0
	Get current joint positions.
virtual void	set_target_joint_positions (const VectorXd &set_target_joint_positions_rad)=0
	Set target joint positions.
virtual VectorXd	get_joint_velocities ()
	Get current joint velocities.
virtual void	set_target_joint_velocities (const VectorXd &set_target_joint_velocities)
	Set target joint velocities.
virtual VectorXd	get_joint_torques ()
	Get current joint torques.
virtual void	set_target_joint_torques (const VectorXd &set_target_joint_torques)
	Set target joint torques.
virtual std::tuple< VectorXd, VectorXd >	get_joint_limits ()
	Get joint limits (min, max).
virtual void	set_joint_limits (const std::tuple< VectorXd, VectorXd > &joint_limits)
	Set joint limits (min, max).
void	watchdog_start (const std::chrono::nanoseconds &period)
	Start the watchdog thread with the given period.
void	watchdog_trigger (const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_client, const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_server, const bool &status)
	Trigger the watchdog with timestamps from client/server and the current status.
void	watchdog_set_maximum_acceptable_delay (const double &max_acceptable_delay)
	Set the maximum acceptable delay for the watchdog (seconds).
void	check_for_watchdog_exceptions ()
	Check for exceptions thrown by the watchdog thread and rethrow if present.
virtual void	connect ()=0
	Connect to the underlying robot/hardware.
virtual void	disconnect ()=0
	Disconnect from the underlying robot/hardware.
virtual void	initialize ()=0
	Initialize the driver resources.
virtual void	deinitialize ()=0
	Deinitialize the driver resources.
void	set_control_loop_callback (std::function< void()> callback)
	Set the control loop callback function.
void	execute_control_loop_callback ()
	Execute the control loop callback if it has been set.
bool	control_loop_callback_is_set ()
	Check if a control loop callback has been set.

Protected Member Functions
void	_watchdog_thread_function ()
	RobotDriver::_watchdog_thread_function throws an exception if the elapsed time since the last trigger exceeds the specified period.
	RobotDriver (const std::shared_ptr< ShutdownSignaler > &shutdown_signaler_)
	RobotDriver (std::atomic_bool *break_loops)
	RobotDriver (const RobotDriver &)=delete

Protected Attributes
std::atomic_bool *	break_loops_
std::shared_ptr< ShutdownSignaler >	shutdown_signaler_
std::tuple< VectorXd, VectorXd >	joint_limits_
VectorXd	joint_velocities_
VectorXd	joint_torques_
std::unique_ptr< sas::Clock >	clock_
std::unique_ptr< std::thread >	watchdog_thread_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_client_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_server_
bool	watchdog_status_
std::mutex	mutex_watchdog_
double	max_acceptable_delay_ = 0.1
double	watchdog_period_
std::exception_ptr	watchdog_exception_ {nullptr}
std::mutex	watchdog_exception_mutex_
std::function< void()>	control_loop_callback_

Detailed Description

Abstract interface for robot hardware drivers.

RobotDriver declares the virtual API that concrete drivers must implement to interact with robot hardware.

Member Function Documentation

◆ check_for_watchdog_exceptions()

void RobotDriver::check_for_watchdog_exceptions ( )

Check for exceptions thrown by the watchdog thread and rethrow if present.

RobotDriver::check_for_watchdog_exceptions this method rethrows any exception thrown in the watchdog thread control loop.

Exceptions

std::runtime_error	if the watchdog thread detected a timing or status error
std::exception	rethrows any exception captured from the watchdog thread

◆ connect()

virtual void sas::RobotDriver::connect ( )

pure virtual

Connect to the underlying robot/hardware.

Implemented in sas::RobotDriverCoppeliaSim, sas::RobotDriverExample, sas::RobotDriverKuka, sas::RobotDriverPy, sas::RobotDriverROSComposer, and sas::RobotDriverUR.

◆ control_loop_callback_is_set()

bool RobotDriver::control_loop_callback_is_set ( )

Check if a control loop callback has been set.

Returns: true if a callback has been set, false otherwise

◆ deinitialize()

virtual void sas::RobotDriver::deinitialize ( )

pure virtual

Deinitialize the driver resources.

Implemented in sas::RobotDriverCoppeliaSim, sas::RobotDriverExample, sas::RobotDriverKuka, sas::RobotDriverPy, sas::RobotDriverROSComposer, and sas::RobotDriverUR.

◆ disconnect()

virtual void sas::RobotDriver::disconnect ( )

pure virtual

Disconnect from the underlying robot/hardware.

Implemented in sas::RobotDriverCoppeliaSim, sas::RobotDriverExample, sas::RobotDriverKuka, sas::RobotDriverPy, sas::RobotDriverROSComposer, and sas::RobotDriverUR.

◆ execute_control_loop_callback()

void RobotDriver::execute_control_loop_callback ( )

Execute the control loop callback if it has been set.

This method should be called by RobotDriverROS or any other class that runs the control loop. It will execute the callback that was set by the concrete RobotDriver implementation.

◆ get_joint_limits()

std::tuple< VectorXd, VectorXd > RobotDriver::get_joint_limits ( )

virtual

Get joint limits (min, max).

Returns: Tuple of (min_limits, max_limits)

Reimplemented in sas::RobotDriverCoppeliaSim, and sas::RobotDriverROSComposer.

◆ get_joint_positions()

virtual VectorXd sas::RobotDriver::get_joint_positions ( )

pure virtual

Get current joint positions.

Returns: Vector of joint positions (radians)

Implemented in sas::RobotDriverCoppeliaSim, sas::RobotDriverExample, sas::RobotDriverKuka, sas::RobotDriverPy, sas::RobotDriverROSComposer, and sas::RobotDriverUR.

◆ get_joint_torques()

VectorXd RobotDriver::get_joint_torques ( )

virtual

Get current joint torques.

Returns: Vector of joint torques

Exceptions

std::runtime_error if the default implementation is called (not implemented by derived driver)

Reimplemented in sas::RobotDriverKuka, and sas::RobotDriverPy.

◆ get_joint_velocities()

VectorXd RobotDriver::get_joint_velocities ( )

virtual

Get current joint velocities.

Returns: Vector of joint velocities

Exceptions

std::runtime_error if the default implementation is called (not implemented by derived driver)

Reimplemented in sas::RobotDriverPy, and sas::RobotDriverUR.

◆ initialize()

virtual void sas::RobotDriver::initialize ( )

pure virtual

Initialize the driver resources.

Implemented in sas::RobotDriverCoppeliaSim, sas::RobotDriverExample, sas::RobotDriverKuka, sas::RobotDriverPy, sas::RobotDriverROSComposer, and sas::RobotDriverUR.

◆ set_control_loop_callback()

void RobotDriver::set_control_loop_callback ( std::function< void()> callback )

Set the control loop callback function.

RobotDriver::set_control_loop_callback.

Parameters

callback	The callback function to be executed in the control loop
callback

◆ set_joint_limits()

void RobotDriver::set_joint_limits ( const std::tuple< VectorXd, VectorXd > & joint_limits )

virtual

Set joint limits (min, max).

Parameters

joint_limits Tuple of (min_limits, max_limits)

Reimplemented in sas::RobotDriverPy, and sas::RobotDriverROSComposer.

◆ set_target_joint_positions()

virtual void sas::RobotDriver::set_target_joint_positions ( const VectorXd & set_target_joint_positions_rad )

pure virtual

Set target joint positions.

Parameters

set_target_joint_positions_rad Target joint positions (radians)

Implemented in sas::RobotDriverCoppeliaSim, sas::RobotDriverExample, sas::RobotDriverKuka, sas::RobotDriverPy, sas::RobotDriverROSComposer, and sas::RobotDriverUR.

◆ set_target_joint_torques()

void RobotDriver::set_target_joint_torques ( const VectorXd & set_target_joint_torques )

virtual

Set target joint torques.

Parameters

set_target_joint_torques Target joint torques

Exceptions

std::runtime_error if the default implementation is called (not implemented by derived driver)

Reimplemented in sas::RobotDriverPy.

◆ set_target_joint_velocities()

void RobotDriver::set_target_joint_velocities ( const VectorXd & set_target_joint_velocities )

virtual

Set target joint velocities.

Parameters

set_target_joint_velocities Target joint velocities

Exceptions

std::runtime_error if the default implementation is called (not implemented by derived driver)

Reimplemented in sas::RobotDriverPy.

◆ watchdog_set_maximum_acceptable_delay()

void RobotDriver::watchdog_set_maximum_acceptable_delay ( const double & max_acceptable_delay )

Set the maximum acceptable delay for the watchdog (seconds).

RobotDriver::watchdog_set_maximum_acceptable_delay sets the maximum acceptable clock skew to check the synchronization or potential delays between the time point of watchdog signal sent by the client and the time point when the watchdog signal was received.

Parameters

max_acceptable_delay	Maximum delay in seconds
max_acceptable_delay

◆ watchdog_start()

void RobotDriver::watchdog_start ( const std::chrono::nanoseconds & period )

Start the watchdog thread with the given period.

RobotDriver::watchdog_start starts the watchdog thread.

Parameters

period	Watchdog period as nanoseconds
period	The period of time.

◆ watchdog_trigger()

void RobotDriver::watchdog_trigger	(	const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &	time_point_from_the_client,
		const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &	time_point_from_the_server,
		const bool &	status )

Trigger the watchdog with timestamps from client/server and the current status.

RobotDriver::watchdog_trigger updates the trigger signal.

Parameters

time_point_from_the_client	Time point provided by the client
time_point_from_the_server	Time point provided by the server
status	Current watchdog status flag
time_point_from_the_client	This time point corresponds to the moment the signal was sent, as recorded by the client computer's clock.
time_point_from_the_server	The time point when the watchdog signal was received. This time point uses the computer's clock on which the server (robot) is running.
status	The desired status. If false, the driver is going to stop.

The documentation for this class was generated from the following files:

src/sas_core/include/sas_core/sas_robot_driver.hpp
src/sas_core/src/sas_robot_driver.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ check_for_watchdog_exceptions()

◆ connect()

◆ control_loop_callback_is_set()

◆ deinitialize()

◆ disconnect()

◆ execute_control_loop_callback()

◆ get_joint_limits()

◆ get_joint_positions()

◆ get_joint_torques()

◆ get_joint_velocities()

◆ initialize()

◆ set_control_loop_callback()

◆ set_joint_limits()

◆ set_target_joint_positions()

◆ set_target_joint_torques()

◆ set_target_joint_velocities()

◆ watchdog_set_maximum_acceptable_delay()

◆ watchdog_start()

◆ watchdog_trigger()