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