sas_robot_driver_client.hpp

#pragma once
/*
# Copyright (c) 2016-2022 Murilo Marques Marinho
#
#    This file is part of sas_robot_driver.
#
#    sas_robot_driver is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_robot_driver is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#
# ################################################################
# Contributors:
#
#   1. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
#      Added the Watchdog functionality.
#
*/
 
#include <atomic>
#include <tuple>
 
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
#include <std_msgs/msg/int32_multi_array.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <sas_msgs/msg/watchdog_trigger.hpp>
#include <sas_core/sas_robot_driver.hpp>
#include <sas_core/sas_object.hpp>
#include <sas_msgs/msg/bool.hpp>
 
 
 
namespace sas
{

class RobotDriverClient: private sas::Object
{
public:
    enum class MODE_BLACKLIST_FLAG
    {
        JOINT_CONTROL=0,
        JOINT_MONITORING,
        WATCHDOG_CONTROL
    };
private:
    std::shared_ptr<rclcpp::Node> node_;
 
    std::vector<MODE_BLACKLIST_FLAG> blacklisted_modes_;
    std::atomic_bool enabled_;
    std::string topic_prefix_;
 
    rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr subscriber_joint_states_;
    Eigen::VectorXd joint_positions_;
    Eigen::VectorXd joint_velocities_;
    Eigen::VectorXd joint_forces_;
    rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_joint_limits_min_;
    Eigen::VectorXd joint_limits_min_;
    rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_joint_limits_max_;
    Eigen::VectorXd joint_limits_max_;
    rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscriber_home_state_;
    Eigen::VectorXi home_states_;
 
    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_positions_;
    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_velocities_;
    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_forces_;
    rclcpp::Publisher<std_msgs::msg::Int32MultiArray>  ::SharedPtr publisher_homing_signal_;
    rclcpp::Publisher<std_msgs::msg::Int32MultiArray>  ::SharedPtr publisher_clear_positions_signal_;
    rclcpp::Publisher<sas_msgs::msg::WatchdogTrigger>  ::SharedPtr publisher_watchdog_trigger_;
    rclcpp::Publisher<sas_msgs::msg::Bool>             ::SharedPtr publisher_shutdown_signal_;
 
    void _callback_joint_states(const sensor_msgs::msg::JointState& msg);
    void _callback_joint_limits_min(const std_msgs::msg::Float64MultiArray& msg);
    void _callback_joint_limits_max(const std_msgs::msg::Float64MultiArray& msg);
    void _callback_home_states(const std_msgs::msg::Int32MultiArray& msg);
public:
    RobotDriverClient() = delete;
    RobotDriverClient(const RobotDriverClient&) = delete;

    RobotDriverClient(const std::shared_ptr<rclcpp::Node> &node,
                      const std::string topic_prefix="GET_FROM_NODE",
                      const std::vector<MODE_BLACKLIST_FLAG>& blacklisted_modes = std::vector<MODE_BLACKLIST_FLAG>{});

    void send_target_joint_positions(const Eigen::VectorXd& target_joint_positions);

    void send_target_joint_velocities(const Eigen::VectorXd& target_joint_velocities);

    void send_target_joint_forces(const Eigen::VectorXd& target_joint_forces);

    void send_homing_signal(const Eigen::VectorXi& homing_signal);

    void send_clear_positions_signal(const Eigen::VectorXi& clear_positions_signal);

    void send_watchdog_trigger(const bool& watchdog_trigger_status,
                               const double& period_in_seconds = 1.0,
                               const double& maximum_acceptable_delay = 0.5);

    void send_shutdown_signal();

    Eigen::VectorXd get_joint_positions() const;

    Eigen::VectorXd get_joint_velocities() const;

    Eigen::VectorXd get_joint_forces() const;

    std::tuple<Eigen::VectorXd, Eigen::VectorXd> get_joint_limits() const;

    Eigen::VectorXi get_home_states() const;

    bool is_enabled(const RobotDriver::Functionality& supported_functionality=RobotDriver::Functionality::PositionControl) const;

    std::string get_topic_prefix() const;
};
 
}