replace id 12 with xm540-w270

[wt_open_manipulator.git] / include / open_manipulator_i2c.h

diff --git a/include/open_manipulator_i2c.h b/include/open_manipulator_i2c.h
index da6d18ee911494cf8751589df2a94c32c9a8a440..4694242dc97dd13a2e7d58cb4e33c42ea93c4670 100644 (file)
--- a/include/open_manipulator_i2c.h
+++ b/include/open_manipulator_i2c.h
@@ -10,11 +10,15 @@
 #include <hardware_interface/joint_state_interface.h>
 #include <hardware_interface/robot_hw.h>
 #include "std_srvs/SetBool.h"
+#include "wt_open_manipulator/GetError.h"
 
 #define I2C_FILE "/dev/i2c-2"
 #define I2C_ADDR (0x60>>1)
 #define XM_OPERATING_MODE 11
+#define XM_CURRENT_LIMIT 38
+#define XM_SHUTDOWN 63
 #define XM_TORQUE_ENABLE 64
+#define XM_HARDWARE_ERROR_STATUS 70
 #define XM_GOAL_CURRENT 102
 #define XM_PROFILE_ACCELERATION 108
 #define XM_PROFILE_VELOCITY 112
@@ -33,7 +37,9 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                WtOpenManipulatorI2C(ros::NodeHandle nh) {
                        uint8_t mode=255;
                        this->nh = nh;
+                       int16_t current;
                        torque_enable_service = nh.advertiseService("torque_enable", &WtOpenManipulatorI2C::cbTorqueEnable, this);
+                       get_error_service = nh.advertiseService("get_error", &WtOpenManipulatorI2C::cbGetError, this);
 
                        // connect and register the joint state interface
                        hardware_interface::JointStateHandle state_handle_1("joint1", &pos[0], &vel[0], &eff[0]);
@@ -62,7 +68,7 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                        registerInterface(&jnt_pos_interface);
 
                        // Settings
-                       if (dynamixel_writeword(15, XM_GOAL_CURRENT, 200) != 1) {
+                       if (dynamixel_writeword(15, XM_GOAL_CURRENT, 600) != 1) { // 0..1193, 2.69mA/value
                                ROS_ERROR("I2C dynamixel id=15 write goal current error");
                                exit(1);
                        }
@@ -97,19 +103,27 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                        int32_t value;
                        int16_t current;
                        auto t1 = std::chrono::high_resolution_clock::now();
+                       int num_error = 0;
 
                        // arm
                        for(int i=0, id=11; id<=14; id++, i++) {
+                               if (ignore_ids.count(i)  > 0) {
+                                       ROS_ERROR_THROTTLE(10, "Ignoring dynamixel %d", id);
+                                       continue;
+                               }
+
                                if (dynamixel_readdword(id, XM_PRESENT_POSITION, &value) == 1) {
                                        pos[i] = STEPS_TO_RADIAN*(value-2048);
                                } else {
                                        ROS_ERROR("I2C dynamixel id=%d position read error", id);
+                                       num_error++;
                                }
 
                                if (dynamixel_readdword(id, XM_PRESENT_VELOCITY, &value) == 1) {
                                        vel[i] = value*VELOCITY_STEPS_TO_RADS;
                                } else {
                                        ROS_ERROR("I2C dynamixel id=%d velocity read error", id);
+                                       num_error++;
                                }
 
 #ifdef READ_EFFORT
@@ -117,8 +131,13 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                                        eff[i] = current*2.69e-3;
                                } else {
                                        ROS_ERROR("I2C dynamixel id=%d current read error", id);
+                                       num_error++;
                                }
 #endif
+
+                               if (num_error >= 3) {
+                                       ignore_ids.insert(i);
+                               }
                        }
 
                        // gripper
@@ -207,8 +226,9 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                double pos[5] = {0, 0, 0, 0, 0};
                double vel[5] = {0, 0, 0, 0, 0};
                double eff[5] = {0, 0, 0, 0, 0};
-               ros::ServiceServer torque_enable_service;
+               ros::ServiceServer torque_enable_service, get_error_service;
                std::mutex comm_mutex;
+               std::set<int> ignore_ids;
 
                int dynamixel_write(uint8_t *write_data, int write_num, uint8_t *read_data, int read_num) {
                        int file;
@@ -286,6 +306,9 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                                *value = read_data[2];
                                return read_data[0];
                        }
+                       if (read_data[0] != 1) {
+                               ROS_ERROR("I2C dynamixel id=%d alert value: %d", id, read_data[0]);
+                       }
                        return 255;
                }
 
@@ -304,16 +327,40 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                        uint8_t write_data[4] = {id, cmd, 0x14, CMD_EOF};
                        uint8_t read_data[6];
                        int ret = dynamixel_write(write_data, 4, read_data, 6);
-                       if (ret == 6 && read_data[1] == id) {
+                       if (ret == 6 && read_data[0] == 1 && read_data[1] == id) {
                                *value = (read_data[2]<<24) | (read_data[3]<<16) | (read_data[4]<<8) | read_data[5];
                                return read_data[0];
                        }
+                       if (read_data[0] != 1) {
+                               ROS_ERROR("I2C dynamixel id=%d alert value: %d", id, read_data[0]);
+                       }
                        return 255;
                }
 
-               bool cbTorqueEnable(std_srvs::SetBool::Request  &req, std_srvs::SetBool::Response &res) {
+               bool cbTorqueEnable(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) {
                        ROS_INFO("Setting torque enable=%d", req.data);
                        res.success = torque_enable(req.data);
                        return true;
                }
+
+               bool cbGetError(wt_open_manipulator::GetError::Request &req, wt_open_manipulator::GetError::Response &res) {
+                       ROS_INFO("Reading Hardware Error Status");
+
+                       for(int id=11, i=0; id<=15; id++, i++) {
+                               wt_open_manipulator::HardwareError hw_error;
+                               uint8_t value;
+                               if (dynamixel_readbyte(id, XM_HARDWARE_ERROR_STATUS, &value) != 1) {
+                                       ROS_ERROR("I2C dynamixel id=%d reading hardware error status", id);
+                               }
+                               hw_error.id = id;
+                               hw_error.inputVoltage = value & (1<<0);
+                               hw_error.overHeating = value & (1<<2);
+                               hw_error.motorEncoder = value & (1<<3);
+                               hw_error.electricalShock = value & (1<<4);
+                               hw_error.overload = value & (1<<5);
+                               res.errors.push_back(hw_error);
+                       }
+
+                       return true;
+               }
 };