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