mock_dxl_driver.cpp

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/*
mock_dxl_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/mock_dxl_driver.hpp"
#include "dynamixel_sdk/packet_handler.h"
#include <cstdint>
#include <cstdio>
#include <map>
#include <memory>
#include <set>
#include <string>
#include <type_traits>
#include <utility>
#include <vector>
 
namespace ttl_driver
{
 
MockDxlDriver::MockDxlDriver(std::shared_ptr<FakeTtlData> data) : _fake_data(std::move(data))
{
  // retrieve list of ids
  for (auto const &imap : _fake_data->dxl_registers)
    _id_list.emplace_back(imap.first);
}
 
std::string MockDxlDriver::str() const
{
  return "Mock Dynamixel Driver (OK)";
}
 
//*****************************
// AbstractTtlDriver interface
//*****************************
 
int MockDxlDriver::ping(uint8_t id)
{
  if (std::find(_fake_data->full_id_list.begin(), _fake_data->full_id_list.end(), id) != _fake_data->full_id_list.end())
    return COMM_SUCCESS;
  return COMM_TX_FAIL;
}
 
int MockDxlDriver::getModelNumber(uint8_t id, uint16_t &model_number)
{
  if (_fake_data->dxl_registers.count(id))
    model_number = _fake_data->dxl_registers.at(id).model_number;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::checkModelNumber(uint8_t id, uint16_t &model_number)
{
  int ping_result = getModelNumber(id, model_number);
 
  if (ping_result == COMM_SUCCESS)
  {
    if (model_number)
    {
      return PING_WRONG_MODEL_NUMBER;
    }
  }
 
  return ping_result;
}
 
int MockDxlDriver::scan(std::vector<uint8_t> &id_list)
{
  id_list = _fake_data->full_id_list;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::reboot(uint8_t id)
{
  return ping(id);
}
 
std::string MockDxlDriver::interpretErrorState(uint32_t /*hw_state*/) const
{
  return "";
}
 
int MockDxlDriver::readCustom(uint16_t address, uint8_t data_len, uint8_t id, uint32_t &data)
{
  (void)address;   // unused
  (void)data_len;  // unused
  (void)id;        // unused
  (void)data;      // unused
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writeCustom(uint16_t address, uint8_t data_len, uint8_t id, uint32_t data)
{
  (void)address;   // unused
  (void)data_len;  // unused
  (void)id;        // unused
  (void)data;      // unused
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::changeId(uint8_t id, uint8_t new_id)
{
  if (id == new_id)
  {
    return COMM_SUCCESS;
  }
 
  if (id != 0)
  {
    auto it = _fake_data->dxl_registers.find(id);
 
    if (it == _fake_data->dxl_registers.end())
    {
      return COMM_TX_FAIL;
    }
 
    if (new_id != 0)
    {
      auto node = _fake_data->dxl_registers.extract(it);
      node.key() = new_id;
      _fake_data->dxl_registers.insert(std::move(node));
    }
    else
    {
      _fake_data->dxl_registers.erase(it);
    }
  }
 
  _fake_data->updateFullIdList();
  scan(_id_list);
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writeStartupConfiguration(uint8_t id, uint8_t value)
{
  (void)id;     // unused
  (void)value;  // unused
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writeTemperatureLimit(uint8_t id, uint8_t temperature_limit)
{
  (void)id;                 // unused
  (void)temperature_limit;  // unused
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writeShutdownConfiguration(uint8_t id, uint8_t configuration)
{
  (void)id;             // unused
  (void)configuration;  // unused
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readFirmwareVersion(uint8_t id, std::string &version)
{
  if (_fake_data->dxl_registers.count(id))
    version = _fake_data->dxl_registers.at(id).firmware;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readMinPosition(uint8_t id, uint32_t &pos)
{
  if (_fake_data->dxl_registers.count(id))
    pos = _fake_data->dxl_registers.at(id).min_position;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readMaxPosition(uint8_t id, uint32_t &pos)
{
  if (_fake_data->dxl_registers.count(id))
    pos = _fake_data->dxl_registers.at(id).max_position;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
// ram write
 
int MockDxlDriver::writeTorquePercentage(uint8_t id, uint8_t torque_enable)
{
  if (_fake_data->dxl_registers.count(id))
    _fake_data->dxl_registers.at(id).torque = torque_enable;
  else if (_fake_data->stepper_registers.count(id))
    _fake_data->stepper_registers.at(id).torque = torque_enable;
  else
    return COMM_TX_ERROR;
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writePositionGoal(uint8_t id, uint32_t position)
{
  if (_fake_data->dxl_registers.count(id))
    _fake_data->dxl_registers.at(id).position = position;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writeVelocityGoal(uint8_t id, uint32_t velocity)
{
  if (_fake_data->dxl_registers.count(id))
    _fake_data->dxl_registers.at(id).velocity = velocity;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writeVelocityProfile(uint8_t id, const std::vector<uint32_t> &data_list)
{
  (void)data_list;
  int res = COMM_RX_FAIL;
  if (_fake_data->dxl_registers.count(id))
  {
    res = COMM_SUCCESS;
  }
 
  return res;
}
 
int MockDxlDriver::syncWriteTorquePercentage(const std::vector<uint8_t> &id_list,
                                             const std::vector<uint8_t> &torque_percentage_list)
{
  // Create a map to store the frequency of each element in vector
  std::set<uint8_t> countSet;
  // Iterate over the vector and store the frequency of each element in map
  for (size_t i = 0; i < id_list.size(); i++)
  {
    auto result = countSet.insert(id_list.at(i));
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
    writeTorquePercentage(id_list.at(i), torque_percentage_list.at(i));
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncWritePositionGoal(const std::vector<uint8_t> &id_list,
                                         const std::vector<uint32_t> &position_list)
{
  if (id_list.size() != position_list.size())
    return LEN_ID_DATA_NOT_SAME;
 
  // Create a map to store the frequency of each element in id_list. It helps find out which ID is redondant
  std::set<uint8_t> countSet;
  for (size_t i = 0; i < id_list.size(); i++)
  {
    if (_fake_data->dxl_registers.count(id_list.at(i)))
      _fake_data->dxl_registers.at(id_list.at(i)).position = position_list.at(i);
    else if (_fake_data->stepper_registers.count(id_list.at(i)))
      _fake_data->stepper_registers.at(id_list.at(i)).position = position_list.at(i);
    else
      return COMM_TX_ERROR;
    // write goal position as the current position
 
    auto result = countSet.insert(id_list[i]);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncWriteVelocityGoal(const std::vector<uint8_t> &id_list,
                                         const std::vector<uint32_t> &velocity_list)
{
  if (id_list.size() != velocity_list.size())
    return LEN_ID_DATA_NOT_SAME;
 
  // Create a map to store the frequency of each element in id_list. It helps find out which ID is redondant
  std::set<uint8_t> countSet;
  for (size_t i = 0; i < id_list.size(); i++)
  {
    if (!_fake_data->dxl_registers.count(id_list.at(i)))
      return COMM_TX_ERROR;
    // write goal position as the current position
    _fake_data->dxl_registers.at(id_list.at(i)).velocity = velocity_list.at(i);
 
    auto result = countSet.insert(id_list[i]);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readVelocityProfile(uint8_t id, std::vector<uint32_t> &data_list)
{
  data_list.clear();
  if (_fake_data->dxl_registers.count(id))
    return COMM_RX_FAIL;
 
  data_list.emplace_back(0);
  data_list.emplace_back(0);
 
  return COMM_SUCCESS;
}
 
// ram read
 
int MockDxlDriver::readPosition(uint8_t id, uint32_t &present_position)
{
  if (_fake_data->dxl_registers.count(id))
    present_position = _fake_data->dxl_registers.at(id).position;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readVelocity(uint8_t id, uint32_t &present_velocity)
{
  if (_fake_data->dxl_registers.count(id))
    present_velocity = _fake_data->dxl_registers.at(id).velocity;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readTemperature(uint8_t id, uint8_t &temperature)
{
  if (_fake_data->dxl_registers.count(id))
    temperature = _fake_data->dxl_registers.at(id).temperature;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readVoltage(uint8_t id, double &voltage)
{
  if (_fake_data->dxl_registers.count(id))
    voltage = _fake_data->dxl_registers.at(id).voltage;
  else
    return COMM_RX_FAIL;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readHwErrorStatus(uint8_t id, uint8_t &hardware_error_status)
{
  if (_fake_data->dxl_registers.count(id))
    return COMM_RX_FAIL;
 
  hardware_error_status = 0;
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list)
{
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    if (_fake_data->dxl_registers.count(id))
      position_list.emplace_back(_fake_data->dxl_registers.at(id).position);
    else if (_fake_data->stepper_registers.count(id))
      position_list.emplace_back(_fake_data->stepper_registers.at(id).position);
    else
      return COMM_RX_FAIL;
 
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadVelocity(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list)
{
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    if (_fake_data->dxl_registers.count(id))
      velocity_list.emplace_back(_fake_data->dxl_registers.at(id).velocity);
    else if (_fake_data->stepper_registers.count(id))
      velocity_list.emplace_back(_fake_data->stepper_registers.at(id).velocity);
    else
      return COMM_TX_ERROR;
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadJointStatus(const std::vector<uint8_t> &id_list,
                                       std::vector<std::array<uint32_t, 2>> &data_array_list)
{
  std::set<uint8_t> countSet;
  data_array_list.clear();
  for (auto &id : id_list)
  {
    if (_fake_data->dxl_registers.count(id))
    {
      std::array<uint32_t, 2> blocks{};
 
      blocks.at(0) = _fake_data->dxl_registers.at(id).velocity;
      blocks.at(1) = _fake_data->dxl_registers.at(id).position;
 
      data_array_list.emplace_back(blocks);
    }
    else if (_fake_data->stepper_registers.count(id))
    {
      std::array<uint32_t, 2> blocks{};
 
      blocks.at(0) = _fake_data->stepper_registers.at(id).velocity;
      blocks.at(1) = _fake_data->stepper_registers.at(id).position;
 
      data_array_list.emplace_back(blocks);
    }
    else
      return COMM_RX_FAIL;
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadFirmwareVersion(const std::vector<uint8_t> &id_list, std::vector<std::string> &firmware_list)
{
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    if (!_fake_data->dxl_registers.count(id))
      return COMM_TX_ERROR;
 
    firmware_list.emplace_back(_fake_data->dxl_registers.at(id).firmware);
 
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadTemperature(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &temperature_list)
{
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    if (!_fake_data->dxl_registers.count(id))
      return COMM_TX_ERROR;
 
    temperature_list.emplace_back(_fake_data->dxl_registers.at(id).temperature);
 
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list)
{
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    if (!_fake_data->dxl_registers.count(id))
      return COMM_TX_ERROR;
 
    voltage_list.emplace_back(_fake_data->dxl_registers.at(id).voltage);
 
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadRawVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list)
{
  return syncReadVoltage(id_list, voltage_list);
}
 
int MockDxlDriver::syncReadHwStatus(const std::vector<uint8_t> &id_list,
                                    std::vector<std::pair<double, uint8_t>> &data_list)
{
  data_list.clear();
 
  std::set<uint8_t> countSet;
 
  for (auto &id : id_list)
  {
    if (_fake_data->dxl_registers.count(id))
    {
      double voltage = _fake_data->dxl_registers.at(id).voltage;
      uint8_t temperature = _fake_data->dxl_registers.at(id).temperature;
      data_list.emplace_back(std::make_pair(voltage, temperature));
    }
    else
      return COMM_RX_FAIL;
 
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncReadHwErrorStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &hw_error_list)
{
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    hw_error_list.emplace_back(0);
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readPID(uint8_t id, std::vector<uint16_t> &data)
{
  int result = COMM_RX_FAIL;
 
  data.clear();
  if (_fake_data->dxl_registers.count(id))
  {
    data.emplace_back(_fake_data->dxl_registers.at(id).position_p_gain);
    data.emplace_back(_fake_data->dxl_registers.at(id).position_i_gain);
    data.emplace_back(_fake_data->dxl_registers.at(id).position_d_gain);
    data.emplace_back(_fake_data->dxl_registers.at(id).velocity_p_gain);
    data.emplace_back(_fake_data->dxl_registers.at(id).velocity_i_gain);
    data.emplace_back(_fake_data->dxl_registers.at(id).ff1_gain);
    data.emplace_back(_fake_data->dxl_registers.at(id).ff2_gain);
 
    result = COMM_SUCCESS;
  }
 
  return result;
}
 
int MockDxlDriver::writePID(uint8_t id, const std::vector<uint16_t> &data)
{
  int result = COMM_RX_FAIL;
 
  if (_fake_data->dxl_registers.count(id))
  {
    _fake_data->dxl_registers.at(id).position_p_gain = data.at(0);
    _fake_data->dxl_registers.at(id).position_i_gain = data.at(1);
    _fake_data->dxl_registers.at(id).position_d_gain = data.at(2);
    _fake_data->dxl_registers.at(id).velocity_p_gain = data.at(3);
    _fake_data->dxl_registers.at(id).velocity_i_gain = data.at(4);
    _fake_data->dxl_registers.at(id).ff1_gain = data.at(5);
    _fake_data->dxl_registers.at(id).ff2_gain = data.at(6);
 
    result = COMM_SUCCESS;
  }
 
  return result;
}
 
int MockDxlDriver::writeControlMode(uint8_t id, uint8_t data)
{
  (void)data;  // unused
 
  if (!_fake_data->dxl_registers.count(id))
    return COMM_TX_ERROR;
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readControlMode(uint8_t id, uint8_t &data)
{
  (void)data;  // unused
 
  if (!_fake_data->dxl_registers.count(id))
    return COMM_TX_ERROR;
 
  return COMM_SUCCESS;
}
 
//*****************************
// AbstractDxlDriver interface
//*****************************
int MockDxlDriver::writeLed(uint8_t id, uint8_t led_value)
{
  (void)led_value;  // unused
 
  if (!_fake_data->dxl_registers.count(id))
    return COMM_TX_ERROR;
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncWriteLed(const std::vector<uint8_t> &id_list, const std::vector<uint8_t> &led_list)
{
  (void)led_list;  // unused
 
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    if (!_fake_data->dxl_registers.count(id))
      return COMM_TX_ERROR;
    auto result = countSet.insert(id);
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::writeTorqueGoal(uint8_t id, uint16_t torque)
{
  (void)torque;  // unused
 
  if (!_fake_data->dxl_registers.count(id))
    return COMM_TX_ERROR;
 
  return COMM_SUCCESS;
}
 
int MockDxlDriver::syncWriteTorqueGoal(const std::vector<uint8_t> &id_list, const std::vector<uint16_t> &torque_list)
{
  (void)torque_list;  // unused
 
  std::set<uint8_t> countSet;
  for (auto &id : id_list)
  {
    if (!_fake_data->dxl_registers.count(id))
      return COMM_TX_ERROR;
 
    auto result = countSet.insert(id);
 
    if (!result.second)
      return GROUP_SYNC_REDONDANT_ID;  // redondant id
  }
  return COMM_SUCCESS;
}
 
int MockDxlDriver::readLoad(uint8_t id, uint16_t &present_load)
{
  (void)present_load;  // unused
 
  if (_fake_data->dxl_registers.count(id))
    return COMM_SUCCESS;
  return COMM_RX_FAIL;
}
 
int MockDxlDriver::readMoving(uint8_t id, uint8_t &status)
{
  (void)status;  // unused
 
  if (_fake_data->dxl_registers.count(id))
    return COMM_SUCCESS;
  return COMM_RX_FAIL;
}
 
int MockDxlDriver::syncReadLoad(const std::vector<uint8_t> &id_list, std::vector<uint16_t> &load_list)
{
  load_list = {};
  for (size_t i = 0; i < id_list.size(); i++)
    load_list.emplace_back(0);
  return COMM_SUCCESS;
}
 
std::string MockDxlDriver::interpretFirmwareVersion(uint32_t fw_version) const
{
  return std::to_string(fw_version);
}
 
}  // namespace ttl_driver