include/open_manipulator_i2c.h

   1 #include <chrono>
   2 #include <unistd.h>
   3 #include <sys/types.h>
   4 #include <sys/ioctl.h>
   5 #include <sys/stat.h>
   6 #include <fcntl.h>
   7 #include <mutex>
   8 #include <linux/i2c-dev.h>
   9 #include <hardware_interface/joint_command_interface.h>
  10 #include <hardware_interface/joint_state_interface.h>
  11 #include <hardware_interface/robot_hw.h>
  12 #include "std_srvs/SetBool.h"
  13 #include "wt_open_manipulator/GetError.h"
  14
  15 #define I2C_FILE "/dev/i2c-2"
  16 #define I2C_ADDR (0x60>>1)
  17 #define XM_OPERATING_MODE 11
  18 #define XM_CURRENT_LIMIT 38
  19 #define XM_SHUTDOWN 63
  20 #define XM_TORQUE_ENABLE 64
  21 #define XM_HARDWARE_ERROR_STATUS 70
  22 #define XM_GOAL_CURRENT 102
  23 #define XM_PROFILE_ACCELERATION 108
  24 #define XM_PROFILE_VELOCITY 112
  25 #define XM_GOAL_POSITION 116
  26 #define XM_PRESENT_POSITION 132
  27 #define XM_PRESENT_CURRENT 126
  28 #define XM_PRESENT_VELOCITY 128
  29 #define CMD_EOF 0xaa
  30 #define STEPS_TO_RADIAN (2*M_PI/4096)
  31 #define GRIPPER_RADIAN_TO_METER -0.015
  32 #define VELOCITY_STEPS_TO_RADS (0.229*2*M_PI/60)
  33
  34 class WtOpenManipulatorI2C : public hardware_interface::RobotHW
  35 {
  36         public:
  37                 WtOpenManipulatorI2C(ros::NodeHandle nh) {
  38                         uint8_t mode=255;
  39                         this->nh = nh;
  40                         int16_t current;
  41                         torque_enable_service = nh.advertiseService("torque_enable", &WtOpenManipulatorI2C::cbTorqueEnable, this);
  42                         get_error_service = nh.advertiseService("get_error", &WtOpenManipulatorI2C::cbGetError, this);
  43
  44                         // connect and register the joint state interface
  45                         hardware_interface::JointStateHandle state_handle_1("joint1", &pos[0], &vel[0], &eff[0]);
  46                         jnt_state_interface.registerHandle(state_handle_1);
  47                         hardware_interface::JointStateHandle state_handle_2("joint2", &pos[1], &vel[1], &eff[1]);
  48                         jnt_state_interface.registerHandle(state_handle_2);
  49                         hardware_interface::JointStateHandle state_handle_3("joint3", &pos[2], &vel[2], &eff[2]);
  50                         jnt_state_interface.registerHandle(state_handle_3);
  51                         hardware_interface::JointStateHandle state_handle_4("joint4", &pos[3], &vel[3], &eff[3]);
  52                         jnt_state_interface.registerHandle(state_handle_4);
  53                         hardware_interface::JointStateHandle state_handle_gripper("gripper", &pos[4], &vel[4], &eff[4]);
  54                         jnt_state_interface.registerHandle(state_handle_gripper);
  55                         registerInterface(&jnt_state_interface);
  56
  57                         // connect and register the joint position interface
  58                         hardware_interface::JointHandle pos_handle_1(state_handle_1, &cmd[0]);
  59                         jnt_pos_interface.registerHandle(pos_handle_1);
  60                         hardware_interface::JointHandle pos_handle_2(state_handle_2, &cmd[1]);
  61                         jnt_pos_interface.registerHandle(pos_handle_2);
  62                         hardware_interface::JointHandle pos_handle_3(state_handle_3, &cmd[2]);
  63                         jnt_pos_interface.registerHandle(pos_handle_3);
  64                         hardware_interface::JointHandle pos_handle_4(state_handle_4, &cmd[3]);
  65                         jnt_pos_interface.registerHandle(pos_handle_4);
  66                         hardware_interface::JointHandle pos_handle_gripper(state_handle_gripper, &cmd[4]);
  67                         jnt_pos_interface.registerHandle(pos_handle_gripper);
  68                         registerInterface(&jnt_pos_interface);
  69
  70                         // Settings
  71                         if (dynamixel_writeword(15, XM_GOAL_CURRENT, 600) != 1) { // 0..1193, 2.69mA/value
  72                                 ROS_ERROR("I2C dynamixel id=15 write goal current error");
  73                                 exit(1);
  74                         }
  75                         if (dynamixel_readbyte(15, XM_OPERATING_MODE, &mode) != 1) {
  76                                 ROS_ERROR("I2C dynamixel id=15 read operating Mode error");
  77                                 exit(1);
  78                         }
  79                         if (mode != 5) {
  80                                 if (!torque_enable(false)) {
  81                                         exit(1);
  82                                 }
  83                                 if (dynamixel_writebyte(15, XM_OPERATING_MODE, 5) != 1) { // Current-based Position Control Mode
  84                                         ROS_ERROR("I2C dynamixel id=15 write operating Mode error");
  85                                         exit(1);
  86                                 }
  87                         }
  88                         if (dynamixel_writedword(15, XM_PROFILE_ACCELERATION, 20) != 1) {
  89                                 ROS_ERROR("I2C dynamixel id=15 write profile Acceleration error");
  90                                 exit(1);
  91                         }
  92                         if (dynamixel_writedword(15, XM_PROFILE_VELOCITY, 200) != 1) {
  93                                 ROS_ERROR("I2C dynamixel id=15 write profile Velocity error");
  94                                 exit(1);
  95                         }
  96                         if (!torque_enable(true)) {
  97                                 exit(1);
  98                         }
  99                 }
 100
 101                 // Converts pos_encoder from wheels to wheel angles
 102                 void read(ros::Duration period) {
 103                         int32_t value;
 104                         int16_t current;
 105                         auto t1 = std::chrono::high_resolution_clock::now();
 106                         int num_error = 0;
 107
 108                         // arm
 109                         for(int i=0, id=11; id<=14; id++, i++) {
 110                                 if (ignore_ids.count(i)  > 0) {
 111                                         ROS_ERROR_THROTTLE(10, "Ignoring dynamixel %d", id);
 112                                         continue;
 113                                 }
 114
 115                                 if (dynamixel_readdword(id, XM_PRESENT_POSITION, &value) == 1) {
 116                                         pos[i] = STEPS_TO_RADIAN*(value-2048);
 117                                 } else {
 118                                         ROS_ERROR("I2C dynamixel id=%d position read error", id);
 119                                         num_error++;
 120                                 }
 121
 122                                 if (dynamixel_readdword(id, XM_PRESENT_VELOCITY, &value) == 1) {
 123                                         vel[i] = value*VELOCITY_STEPS_TO_RADS;
 124                                 } else {
 125                                         ROS_ERROR("I2C dynamixel id=%d velocity read error", id);
 126                                         num_error++;
 127                                 }
 128
 129 #ifdef READ_EFFORT
 130                                 if (dynamixel_readword(id, XM_PRESENT_CURRENT, &current) == 1) {
 131                                         eff[i] = current*2.69e-3;
 132                                 } else {
 133                                         ROS_ERROR("I2C dynamixel id=%d current read error", id);
 134                                         num_error++;
 135                                 }
 136 #endif
 137
 138                                 if (num_error >= 3) {
 139                                         ignore_ids.insert(i);
 140                                 }
 141                         }
 142
 143                         // gripper
 144                         if (dynamixel_readdword(15, XM_PRESENT_POSITION, &value) == 1) {
 145                                 pos[4] = STEPS_TO_RADIAN*(value-2048)*GRIPPER_RADIAN_TO_METER;
 146                         } else {
 147                                 ROS_ERROR("I2C dynamixel id=15 position read error");
 148                         }
 149                         if (dynamixel_readdword(15, XM_PRESENT_VELOCITY, &value) == 1) {
 150                                 vel[4] = value*VELOCITY_STEPS_TO_RADS*GRIPPER_RADIAN_TO_METER;
 151                         } else {
 152                                 ROS_ERROR("I2C dynamixel id=15 velocity read error");
 153                         }
 154 #ifdef READ_EFFORT
 155                         if (dynamixel_readword(15, XM_PRESENT_CURRENT, &current) == 1) {
 156                                 eff[4] = current*2.69e-3;
 157                         } else {
 158                                 ROS_ERROR("I2C dynamixel id=15 current read error");
 159                         }
 160 #endif
 161
 162                         ROS_DEBUG("pos: %.2f %.2f %.2f %.2f %.2f", pos[0]*180/M_PI, pos[1]*180/M_PI, pos[2]*180/M_PI, pos[3]*180/M_PI, pos[4]);
 163                         ROS_DEBUG("velocity: %.2f %.2f %.2f %.2f %.2f", vel[0]*30/M_PI, vel[1]*30/M_PI, vel[2]*30/M_PI, vel[3]*30/M_PI, vel[4]);
 164 #ifdef READ_EFFORT
 165                         ROS_DEBUG("current: %.2f %.2f %.2f %.2f %.2f", eff[0], eff[1], eff[2], eff[3], eff[4]);
 166 #endif
 167                         auto t2 = std::chrono::high_resolution_clock::now();
 168                         int64_t duration = std::chrono::duration_cast<std::chrono::milliseconds>( t2 - t1 ).count();
 169                         ROS_DEBUG("read duration: %lldms", duration);
 170                 }
 171
 172                 // Writes current velocity command to hardware
 173                 void write() {
 174                         int32_t value;
 175
 176                         if (memcmp(cmd, cmd_pre, sizeof(cmd)) != 0) { // Only write new position when changed
 177                                 ROS_DEBUG("cmd: %.2f %.2f %.2f %.2f %.2f", cmd[0]*180/M_PI, cmd[1]*180/M_PI, cmd[2]*180/M_PI, cmd[3]*180/M_PI, cmd[4]);
 178
 179                                 // arm
 180                                 for(int i=0, id=11; id<=14; id++, i++) {
 181                                         if (isnan(cmd[i])) {
 182                                                 ROS_WARN("Desired angle for id=%d is NaN, skipping write.", id);
 183                                                 continue;
 184                                         }
 185
 186                                         value = cmd[i]/STEPS_TO_RADIAN + 2048;
 187
 188                                         if (dynamixel_writedword(id, XM_GOAL_POSITION, value) == 1) {
 189                                                 cmd_pre[i] = cmd[i];
 190                                         } else {
 191                                                 ROS_ERROR("I2C dynamixel id=%d write error", id);
 192                                         }
 193                                 }
 194
 195                                 // gripper
 196                                 if (isnan(cmd[4]) || cmd[4] < -0.010 || cmd[4] > 0.019) {
 197                                         ROS_WARN("Desired angle for id=15 is NaN or outside joint limit, skipping write.");
 198                                 } else {
 199                                         value = cmd[4]/GRIPPER_RADIAN_TO_METER/STEPS_TO_RADIAN + 2048;
 200                                         if (dynamixel_writedword(15, XM_GOAL_POSITION, value) == 1) {
 201                                                 cmd_pre[4] = cmd[4];
 202                                         } else {
 203                                                 ROS_ERROR("I2C dynamixel id=15 write error");
 204                                         }
 205                                 }
 206                         }
 207                 }
 208
 209                 bool torque_enable(bool enable) {
 210                         bool ret = true;
 211                         for(int id=11; id<=15; id++) {
 212                                 if (dynamixel_writebyte(id, XM_TORQUE_ENABLE, enable) != 1) {
 213                                         ROS_ERROR("I2C dynamixel id=%d torque change", id);
 214                                         ret = false;
 215                                 }
 216                         }
 217                         return ret;
 218                 }
 219
 220         private:
 221                 hardware_interface::JointStateInterface jnt_state_interface;
 222                 hardware_interface::PositionJointInterface jnt_pos_interface;
 223                 ros::NodeHandle nh;
 224                 double cmd[5] = {NAN, NAN, NAN, NAN, NAN};
 225                 double cmd_pre[5] = {NAN, NAN, NAN, NAN, NAN}; // determine if cmd changed
 226                 double pos[5] = {0, 0, 0, 0, 0};
 227                 double vel[5] = {0, 0, 0, 0, 0};
 228                 double eff[5] = {0, 0, 0, 0, 0};
 229                 ros::ServiceServer torque_enable_service, get_error_service;
 230                 std::mutex comm_mutex;
 231                 std::set<int> ignore_ids;
 232
 233                 int dynamixel_write(uint8_t *write_data, int write_num, uint8_t *read_data, int read_num) {
 234                         int file;
 235                         int ret;
 236                         uint8_t read_buf[read_num+1]; // for unknown reason need to read one more byte with USI Slave
 237
 238                         comm_mutex.lock();
 239                         if ((file = open(I2C_FILE, O_RDWR)) < 0) {
 240                                 perror("open");
 241                                 goto error;
 242                         }
 243
 244                         if (ioctl(file, I2C_SLAVE, I2C_ADDR) < 0) {
 245                                 perror("ioctl");
 246                                 goto error;
 247                         }
 248
 249                         if ((ret = ::write(file, write_data, write_num)) != write_num) {
 250                                 perror("i2c write");
 251                                 goto error;
 252                         }
 253
 254                         // wait at least the half duplex transmission time, assume 29 (=14+15) bytes send/received: 1/(115200.0/10/29) <= 2.6ms
 255                         usleep(3.2*1e3);
 256                         if (read_num > 0) {
 257                                 if ((ret = ::read(file, read_buf, read_num+1)) != read_num+1) {
 258                                         perror("i2c read");
 259                                         goto error;
 260                                 }
 261                                 ret--; // remove extra byte
 262                                 memcpy(read_data, read_buf, ret);
 263                         }
 264
 265                         error:
 266                                 close(file);
 267                                 comm_mutex.unlock();
 268                                 return ret;
 269                 }
 270
 271                 uint8_t dynamixel_writebyte(uint8_t id, uint8_t cmd, uint8_t value) {
 272                         uint8_t write_data[5] = {id, cmd, 1, value, CMD_EOF};
 273                         uint8_t read_data[2];
 274                         int ret = dynamixel_write(write_data, 5, read_data, 2);
 275                         if (ret == 2 && read_data[1] == id) {
 276                                 return read_data[0];
 277                         }
 278                         return 255;
 279                 }
 280
 281                 uint8_t dynamixel_writeword(uint8_t id, uint8_t cmd, int16_t value) {
 282                         uint8_t write_data[6] = {id, cmd, 2, (uint8_t)(value>>8), (uint8_t)value, CMD_EOF};
 283                         uint8_t read_data[2];
 284                         int ret = dynamixel_write(write_data, 6, read_data, 2);
 285                         if (ret == 2 && read_data[1] == id) {
 286                                 return read_data[0];
 287                         }
 288                         return 255;
 289                 }
 290
 291                 uint8_t dynamixel_writedword(uint8_t id, uint8_t cmd, int32_t value) {
 292                         uint8_t write_data[8] = {id, cmd, 4, (uint8_t)(value>>24), (uint8_t)(value>>16), (uint8_t)(value>>8), (uint8_t)value, CMD_EOF};
 293                         uint8_t read_data[2];
 294                         int ret = dynamixel_write(write_data, 8, read_data, 2);
 295                         if (ret == 2 && read_data[1] == id) {
 296                                 return read_data[0];
 297                         }
 298                         return 255;
 299                 }
 300
 301                 uint8_t dynamixel_readbyte(uint8_t id, uint8_t cmd, uint8_t *value) {
 302                         uint8_t write_data[4] = {id, cmd, 0x11, CMD_EOF};
 303                         uint8_t read_data[3];
 304                         int ret = dynamixel_write(write_data, 4, read_data, 3);
 305                         if (ret == 3 && read_data[1] == id) {
 306                                 *value = read_data[2];
 307                                 return read_data[0];
 308                         }
 309                         if (read_data[0] != 1) {
 310                                 ROS_ERROR("I2C dynamixel id=%d alert value: %d", id, read_data[0]);
 311                         }
 312                         return 255;
 313                 }
 314
 315                 uint8_t dynamixel_readword(uint8_t id, uint8_t cmd, int16_t *value) {
 316                         uint8_t write_data[4] = {id, cmd, 0x12, CMD_EOF};
 317                         uint8_t read_data[4];
 318                         int ret = dynamixel_write(write_data, 4, read_data, 4);
 319                         if (ret == 4 && read_data[1] == id) {
 320                                 *value = (read_data[2]<<8) | read_data[3];
 321                                 return read_data[0];
 322                         }
 323                         return 255;
 324                 }
 325
 326                 uint8_t dynamixel_readdword(uint8_t id, uint8_t cmd, int32_t *value) {
 327                         uint8_t write_data[4] = {id, cmd, 0x14, CMD_EOF};
 328                         uint8_t read_data[6];
 329                         int ret = dynamixel_write(write_data, 4, read_data, 6);
 330                         if (ret == 6 && read_data[0] == 1 && read_data[1] == id) {
 331                                 *value = (read_data[2]<<24) | (read_data[3]<<16) | (read_data[4]<<8) | read_data[5];
 332                                 return read_data[0];
 333                         }
 334                         if (read_data[0] != 1) {
 335                                 ROS_ERROR("I2C dynamixel id=%d alert value: %d", id, read_data[0]);
 336                         }
 337                         return 255;
 338                 }
 339
 340                 bool cbTorqueEnable(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) {
 341                         ROS_INFO("Setting torque enable=%d", req.data);
 342                         res.success = torque_enable(req.data);
 343                         return true;
 344                 }
 345
 346                 bool cbGetError(wt_open_manipulator::GetError::Request &req, wt_open_manipulator::GetError::Response &res) {
 347                         ROS_INFO("Reading Hardware Error Status");
 348
 349                         for(int id=11, i=0; id<=15; id++, i++) {
 350                                 wt_open_manipulator::HardwareError hw_error;
 351                                 uint8_t value;
 352                                 if (dynamixel_readbyte(id, XM_HARDWARE_ERROR_STATUS, &value) != 1) {
 353                                         ROS_ERROR("I2C dynamixel id=%d reading hardware error status", id);
 354                                 }
 355                                 hw_error.id = id;
 356                                 hw_error.inputVoltage = value & (1<<0);
 357                                 hw_error.overHeating = value & (1<<2);
 358                                 hw_error.motorEncoder = value & (1<<3);
 359                                 hw_error.electricalShock = value & (1<<4);
 360                                 hw_error.overload = value & (1<<5);
 361                                 res.errors.push_back(hw_error);
 362                         }
 363
 364                         return true;
 365                 }
 366 };