Added ~get_error service

[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..f46045c7af1cc68c67f8dd91d4be7ff6cdf5f49f 100644 (file)
--- a/include/open_manipulator_i2c.h
+++ b/include/open_manipulator_i2c.h
@@ -10,11 +10,13 @@
 #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_TORQUE_ENABLE 64
+#define XM_HARDWARE_ERROR_STATUS 70
 #define XM_GOAL_CURRENT 102
 #define XM_PROFILE_ACCELERATION 108
 #define XM_PROFILE_VELOCITY 112
@@ -34,6 +36,7 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                        uint8_t mode=255;
                        this->nh = nh;
                        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]);
@@ -207,7 +210,7 @@ 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;
 
                int dynamixel_write(uint8_t *write_data, int write_num, uint8_t *read_data, int read_num) {
@@ -311,9 +314,31 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                        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);
+                                       return false;
+                               }
+                               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;
+               }
 };