abstract_dxl_driver.cpp

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/*
    abstract_motor_driver.cpp
    Copyright (C) 2020 Niryo
    All rights reserved.
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
    This program 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 General Public License for more details.
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http:// www.gnu.org/licenses/>.
*/
 
#include "ttl_driver/abstract_dxl_driver.hpp"
 
#include "common/model/dxl_command_type_enum.hpp"
#include "common/model/single_motor_cmd.hpp"
 
#include <cassert>
#include <memory>
#include <ros/ros.h>
#include <string>
#include <utility>
#include <vector>
 
using ::common::model::EDxlCommandType;
 
namespace ttl_driver
{
 
AbstractDxlDriver::AbstractDxlDriver(std::shared_ptr<dynamixel::PortHandler> portHandler,
                                     std::shared_ptr<dynamixel::PacketHandler> packetHandler)
  : AbstractMotorDriver(std::move(portHandler), std::move(packetHandler))
{
}
 
std::string AbstractDxlDriver::str() const
{
  return "Dynamixel Driver (" + AbstractMotorDriver::str() + ")";
}
 
int AbstractDxlDriver::writeSingleCmd(const std::unique_ptr<common::model::AbstractTtlSingleMotorCmd> &cmd)
{
  if (cmd && cmd->isValid() && cmd->isDxlCmd())
  {
    switch (EDxlCommandType(cmd->getCmdType()))
    {
      case EDxlCommandType::CMD_TYPE_VELOCITY:
        return writeVelocityGoal(cmd->getId(), cmd->getParam());
      case EDxlCommandType::CMD_TYPE_POSITION:
        return writePositionGoal(cmd->getId(), cmd->getParam());
      case EDxlCommandType::CMD_TYPE_EFFORT:
        return writeTorqueGoal(cmd->getId(), static_cast<uint16_t>(cmd->getParam()));
      case EDxlCommandType::CMD_TYPE_TORQUE:
        return writeTorquePercentage(cmd->getId(), static_cast<uint8_t>(cmd->getParam()));
      case EDxlCommandType::CMD_TYPE_LEARNING_MODE:
        return writeTorquePercentage(cmd->getId(), static_cast<uint8_t>(!cmd->getParam()));
      case EDxlCommandType::CMD_TYPE_PING:
        return ping(cmd->getId());
      case EDxlCommandType::CMD_TYPE_PID: {
        std::vector<uint16_t> params_conv;
        for (auto p : cmd->getParams())
        {
          params_conv.emplace_back(static_cast<uint16_t>(p));
        }
        return writePID(cmd->getId(), params_conv);
      }
      case EDxlCommandType::CMD_TYPE_PROFILE:
        return writeVelocityProfile(cmd->getId(), cmd->getParams());
      case EDxlCommandType::CMD_TYPE_CONTROL_MODE:
        return writeControlMode(cmd->getId(), static_cast<uint8_t>(cmd->getParam()));
      case EDxlCommandType::CMD_TYPE_LED_STATE:
        return writeLed(cmd->getId(), static_cast<uint8_t>(cmd->getParam()));
      case EDxlCommandType::CMD_TYPE_STARTUP:
        return writeStartupConfiguration(cmd->getId(), static_cast<uint8_t>(cmd->getParam()));
      case EDxlCommandType::CMD_TYPE_TEMPERATURE_LIMIT:
        return writeTemperatureLimit(cmd->getId(), static_cast<uint8_t>(cmd->getParam()));
      case EDxlCommandType::CMD_TYPE_SHUTDOWN:
        return writeShutdownConfiguration(cmd->getId(), static_cast<uint8_t>(cmd->getParam()));
      default:
        std::cout << "Command not implemented " << cmd->getCmdType() << std::endl;
    }
  }
 
  std::cout << "AbstractDxlDriver::writeSingleCmd : Command not validated: " << cmd->str() << std::endl;
  return COMM_RX_CORRUPT;
}
 
int AbstractDxlDriver::writeSyncCmd(int type, const std::vector<uint8_t> &ids, const std::vector<uint32_t> &params)
{
  assert(!ids.empty() && "AbstractDxlDriver::writeSyncCmd: ids is empty");
  assert(!params.empty() && "AbstractDxlDriver::writeSyncCmd: params is empty");
 
  switch (EDxlCommandType(type))
  {
    case EDxlCommandType::CMD_TYPE_POSITION:
      return syncWritePositionGoal(ids, params);
    case EDxlCommandType::CMD_TYPE_VELOCITY:
      return syncWriteVelocityGoal(ids, params);
    case EDxlCommandType::CMD_TYPE_EFFORT: {
      std::vector<uint16_t> params_conv;
      params_conv.reserve(params.size());
      for (auto const &p : params)
      {
        params_conv.emplace_back(static_cast<uint16_t>(p));
      }
      return syncWriteTorqueGoal(ids, params_conv);
    }
    case EDxlCommandType::CMD_TYPE_TORQUE: {
      std::vector<uint8_t> params_conv;
      params_conv.reserve(params.size());
      for (auto const &p : params)
      {
        params_conv.emplace_back(static_cast<uint8_t>(p));
      }
      return syncWriteTorquePercentage(ids, params_conv);
    }
    case EDxlCommandType::CMD_TYPE_LEARNING_MODE: {
      std::vector<uint8_t> params_inv;
      params_inv.reserve(params.size());
      for (auto const &p : params)
      {
        params_inv.emplace_back(!p);
      }
      return syncWriteTorquePercentage(ids, params_inv);
    }
    default:
      std::cout << "Command not implemented " << type << std::endl;
  }
 
  std::cout << "AbstractDxlDriver::writeSyncCmd : Command not validated: " << type << std::endl;
  return -1;
}
 
}  // namespace ttl_driver