end_effector_driver.hpp

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/*
end_effector_driver.hpp
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/>.
*/
 
#ifndef END_EFFECTOR_DRIVER_HPP
#define END_EFFECTOR_DRIVER_HPP
 
#include <memory>
#include <vector>
#include <string>
#include <iostream>
#include <sstream>
#include <cassert>
 
#include "abstract_end_effector_driver.hpp"
 
#include "end_effector_reg.hpp"
#include "common/model/end_effector_command_type_enum.hpp"
#include "common/model/end_effector_state.hpp"
 
using ::common::model::EEndEffectorCommandType;
 
namespace ttl_driver
{
 
template <typename reg_type = EndEffectorReg>
class EndEffectorDriver : public AbstractEndEffectorDriver
{
public:
  EndEffectorDriver(std::shared_ptr<dynamixel::PortHandler> portHandler,
                    std::shared_ptr<dynamixel::PacketHandler> packetHandler);
 
public:
  // AbstractTtlDriver interface : we cannot define them globally in AbstractTtlDriver
  // as it is needed here for polymorphism (AbstractTtlDriver cannot be a template class and does not
  // have access to reg_type). So it seems like a duplicate of StepperDriver
  std::string str() const override;
 
  int checkModelNumber(uint8_t id, uint16_t &model_number) override;
  int readFirmwareVersion(uint8_t id, std::string &version) override;
 
  int readTemperature(uint8_t id, uint8_t &temperature) override;
  int readVoltage(uint8_t id, double &voltage) override;
  int readHwErrorStatus(uint8_t id, uint8_t &hardware_error_status) override;
 
  int syncReadFirmwareVersion(const std::vector<uint8_t> &id_list, std::vector<std::string> &firmware_list) override;
  int syncReadTemperature(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &temperature_list) override;
  int syncReadVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
  int syncReadRawVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
  int syncReadHwStatus(const std::vector<uint8_t> &id_list,
                       std::vector<std::pair<double, uint8_t> > &data_list) override;
 
  int syncReadHwErrorStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &hw_error_list) override;
 
public:
  // AbstractEndEffectorDriver
 
  int readButton0Status(uint8_t id, common::model::EActionType &action) override;
  int readButton1Status(uint8_t id, common::model::EActionType &action) override;
  int readButton2Status(uint8_t id, common::model::EActionType &action) override;
  int syncReadButtonsStatus(const uint8_t &id, std::vector<common::model::EActionType> &action_list) override;
 
  int readAccelerometerXValue(uint8_t id, uint32_t &x_value) override;
  int readAccelerometerYValue(uint8_t id, uint32_t &y_value) override;
  int readAccelerometerZValue(uint8_t id, uint32_t &z_value) override;
 
  int readCollisionStatus(uint8_t id, bool &status) override;
 
  int readDigitalInput(uint8_t id, bool &in) override;
  int writeDigitalInput(uint8_t id, bool in) override;
  int writeDigitalOutput(uint8_t id, bool out) override;
 
  int writeCollisionThresh(uint8_t id, int thresh) override;
  int writeCollisionThreshAlgo2(uint8_t id, int thresh) override;
};
 
// definition of methods
 
template <typename reg_type>
EndEffectorDriver<reg_type>::EndEffectorDriver(std::shared_ptr<dynamixel::PortHandler> portHandler,
                                               std::shared_ptr<dynamixel::PacketHandler> packetHandler)
  : AbstractEndEffectorDriver(std::move(portHandler), std::move(packetHandler))
{
}
 
//*****************************
// AbstractTtlDriver interface
//*****************************
 
template <typename reg_type>
std::string EndEffectorDriver<reg_type>::str() const
{
  return common::model::HardwareTypeEnum(reg_type::motor_type).toString() + " : " +
         ttl_driver::AbstractEndEffectorDriver::str();
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::checkModelNumber(uint8_t id, uint16_t &model_number)
{
  int ping_result = getModelNumber(id, model_number);
 
  if (ping_result == COMM_SUCCESS)
  {
    if (model_number && model_number != reg_type::MODEL_NUMBER)
    {
      return PING_WRONG_MODEL_NUMBER;
    }
  }
 
  return ping_result;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readFirmwareVersion(uint8_t id, std::string &version)
{
  int res = COMM_RX_FAIL;
  uint32_t data{};
  res = read<typename reg_type::TYPE_FIRMWARE_VERSION>(reg_type::ADDR_FIRMWARE_VERSION, id, data);
  version = interpretFirmwareVersion(data);
  return res;
}
 
// ram read
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readTemperature(uint8_t id, uint8_t &temperature)
{
  return read<typename reg_type::TYPE_PRESENT_TEMPERATURE>(reg_type::ADDR_PRESENT_TEMPERATURE, id, temperature);
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readVoltage(uint8_t id, double &voltage)
{
  uint16_t voltage_mV = 0;
  int res = read<typename reg_type::TYPE_PRESENT_VOLTAGE>(reg_type::ADDR_PRESENT_VOLTAGE, id, voltage_mV);
  voltage = static_cast<double>(voltage_mV) / reg_type::VOLTAGE_CONVERSION;
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readHwErrorStatus(uint8_t id, uint8_t &hardware_error_status)
{
  hardware_error_status = 0;
  return read<typename reg_type::TYPE_HW_ERROR_STATUS>(reg_type::ADDR_HW_ERROR_STATUS, id, hardware_error_status);
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::syncReadFirmwareVersion(const std::vector<uint8_t> &id_list,
                                                         std::vector<std::string> &firmware_list)
{
  int res = 0;
  firmware_list.clear();
  std::vector<uint32_t> data_list{};
  res = syncRead<typename reg_type::TYPE_FIRMWARE_VERSION>(reg_type::ADDR_FIRMWARE_VERSION, id_list, data_list);
  for (auto const &data : data_list)
    firmware_list.emplace_back(interpretFirmwareVersion(data));
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::syncReadTemperature(const std::vector<uint8_t> &id_list,
                                                     std::vector<uint8_t> &temperature_list)
{
  return syncRead<typename reg_type::TYPE_PRESENT_TEMPERATURE>(reg_type::ADDR_PRESENT_TEMPERATURE, id_list,
                                                               temperature_list);
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::syncReadVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list)
{
  voltage_list.clear();
  std::vector<uint16_t> v_read;
  int res = syncRead<typename reg_type::TYPE_PRESENT_VOLTAGE>(reg_type::ADDR_PRESENT_VOLTAGE, id_list, v_read);
  for (auto const &v : v_read)
    voltage_list.emplace_back(static_cast<double>(v) / reg_type::VOLTAGE_CONVERSION);
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::syncReadRawVoltage(const std::vector<uint8_t> &id_list,
                                                    std::vector<double> &voltage_list)
{
  voltage_list.clear();
  std::vector<uint16_t> v_read;
  int res = syncRead<typename reg_type::TYPE_PRESENT_VOLTAGE>(reg_type::ADDR_PRESENT_VOLTAGE, id_list, v_read);
  for (auto const &v : v_read)
    voltage_list.emplace_back(static_cast<double>(v));
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::syncReadHwStatus(const std::vector<uint8_t> &id_list,
                                                  std::vector<std::pair<double, uint8_t> > &data_list)
{
  data_list.clear();
 
  std::vector<std::array<uint8_t, 3> > raw_data;
  int res = syncReadConsecutiveBytes<uint8_t, 3>(reg_type::ADDR_PRESENT_VOLTAGE, id_list, raw_data);
 
  for (auto const &data : raw_data)
  {
    // Voltage is first reg, uint16
    auto voltage = static_cast<double>((static_cast<uint16_t>(data.at(1)) << 8) | data.at(0));
 
    // Temperature is second reg, uint8
    uint8_t temperature = data.at(2);
 
    data_list.emplace_back(std::make_pair(voltage, temperature));
  }
 
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::syncReadHwErrorStatus(const std::vector<uint8_t> &id_list,
                                                       std::vector<uint8_t> &hw_error_list)
{
  return syncRead<typename reg_type::TYPE_HW_ERROR_STATUS>(reg_type::ADDR_HW_ERROR_STATUS, id_list, hw_error_list);
}
 
// buttons status
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readButton0Status(uint8_t id, common::model::EActionType &action)
{
  uint8_t status;
  int res = read<typename reg_type::TYPE_BUTTON_STATUS>(reg_type::ADDR_BUTTON_0_STATUS, id, status);
  action = interpretActionValue(status);
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readButton1Status(uint8_t id, common::model::EActionType &action)
{
  uint8_t status;
  int res = read<typename reg_type::TYPE_BUTTON_STATUS>(reg_type::ADDR_BUTTON_1_STATUS, id, status);
  action = interpretActionValue(status);
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readButton2Status(uint8_t id, common::model::EActionType &action)
{
  uint8_t status;
  int res = read<typename reg_type::TYPE_BUTTON_STATUS>(reg_type::ADDR_BUTTON_2_STATUS, id, status);
  action = interpretActionValue(status);
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::syncReadButtonsStatus(const uint8_t &id,
                                                       std::vector<common::model::EActionType> &action_list)
{
  std::vector<std::array<typename reg_type::TYPE_BUTTON_STATUS, 3> > data_array_list;
  int res;
  res = syncReadConsecutiveBytes<typename reg_type::TYPE_BUTTON_STATUS, 3>(reg_type::ADDR_BUTTON_0_STATUS, { id },
                                                                           data_array_list);
  if (res == COMM_SUCCESS && data_array_list.size() == 1)
  {
    for (auto data : data_array_list.at(0))
    {
      action_list.push_back(interpretActionValue(data));
    }
  }
  return res;
}
// accelerometers and collision
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readAccelerometerXValue(uint8_t id, uint32_t &x_value)
{
  return read<typename reg_type::TYPE_ACCELERO_VALUE_X>(reg_type::ADDR_ACCELERO_VALUE_X, id, x_value);
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readAccelerometerYValue(uint8_t id, uint32_t &y_value)
{
  return read<typename reg_type::TYPE_ACCELERO_VALUE_Y>(reg_type::ADDR_ACCELERO_VALUE_Y, id, y_value);
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readAccelerometerZValue(uint8_t id, uint32_t &z_value)
{
  return read<typename reg_type::TYPE_ACCELERO_VALUE_Z>(reg_type::ADDR_ACCELERO_VALUE_Z, id, z_value);
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readCollisionStatus(uint8_t id, bool &status)
{
  uint8_t value = 0;
  status = false;
  int res = read<typename reg_type::TYPE_COLLISION_STATUS>(reg_type::ADDR_COLLISION_STATUS, id, value);
  if (COMM_SUCCESS == res)
  {
    status = (value > 0) ? true : false;
  }
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::readDigitalInput(uint8_t id, bool &in)
{
  uint8_t value;
  int res = read<typename reg_type::TYPE_DIGITAL_IN>(reg_type::ADDR_DIGITAL_IN, id, value);
  in = (value > 0) ? true : false;
  return res;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::writeDigitalInput(uint8_t id, bool in)
{
  return COMM_TX_ERROR;
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::writeDigitalOutput(uint8_t id, bool out)
{
  return write<typename reg_type::TYPE_DIGITAL_OUT>(reg_type::ADDR_DIGITAL_OUT, id, static_cast<uint8_t>(out));
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::writeCollisionThresh(uint8_t id, int thresh)
{
  return write<typename reg_type::TYPE_COLLISION_THRESHOLD>(reg_type::ADDR_COLLISION_THRESHOLD, id,
                                                            static_cast<uint8_t>(thresh));
}
 
template <typename reg_type>
int EndEffectorDriver<reg_type>::writeCollisionThreshAlgo2(uint8_t id, int thresh)
{
  std::cout << "writeCollisionThreshAlgo2 not implemented for end effector" << std::endl;
 
  return 0;
}
 
}  // namespace ttl_driver
 
#endif  // EndEffectorDriver