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slimasziomslimasziom
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ADD: initial communication abstraction
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7 files changed

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‎robotiq_hande_driver/CMakeLists.txt‎

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@@ -6,6 +6,16 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(serial REQUIRED)
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add_library(
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include/application.hpp
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include/protocol_logic.hpp
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include/communication.hpp
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src/application.cpp
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src/protocol_logic.cpp
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src/communication.cpp
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)
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add_executable(hande_driver src/hande_driver.cpp)
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target_include_directories(hande_driver PUBLIC

‎robotiq_hande_driver/include/application.hpp‎

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#include <stdint.h>
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#include "protocol_logic.hpp"
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/**
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* @brief This class contains high level gripper commands and status
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*/
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namespace hande_driver
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{
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struct {
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bool isReset;
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bool isReady;
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bool isMoving;
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bool isStopped;
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bool isOpened;
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bool isClosed;
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bool objectDetected;
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} Status;
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struct { // Structure declaration
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int myNum; // Member (int variable)
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string myString; // Member (string variable)
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} FaultStatus;
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class ApplicationLayer{
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public:
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ApplicationLayer();
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~ApplicationLayer();
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/**
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* @brief Stops movement of the gripper
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void stop();
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/**
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* @brief Resets the gripper: deactivate and activate again
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void reset();
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/**
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* Emergency auto-release, gripper fingers are slowly opened, reactivation necessary
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void auto_release();
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/**
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* @brief Activates the gripper, after that it can be used
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void activate();
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/**
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* @brief Opens the gripper
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void open();
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/**
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* @brief Closes the gripper
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void close();
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/**
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* @brief Updates gripper status
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void update_status()
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/**
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* @brief Returns the gripper status
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*
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* @param none
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* @return Gripper status
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* @note see status on success, exception thrown if communicatoin issues
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*/
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Status status();
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/**
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* @brief Returns the gripper fault status
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*
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* @param none
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* @return Fault Status
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* @note see status on success, exception thrown if communicatoin issues
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*/
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FaultStatus fault_status();
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/**
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* @brief Returns the gripper requsted position
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*
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* @param none
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* @return Gripper requested position
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* @note see status on success, exception thrown if communicatoin issues
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*/
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uint8_t requested_position();
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/**
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* @brief Returns the gripper position
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*
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* @param none
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* @return Gripper position in
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* @note see status on success, exception thrown if communicatoin issues
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*/
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uint8_t position();
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/**
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* @brief Moves the gripper to requested position
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*
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* @param position to which the gripper has to move
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* @return none
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* @note see status on success, exception thrown if communicatoin issues
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*/
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void ApplicationLayer::set_position(uint8_t position)
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/**
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* @brief Returns the gripper current
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*
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* @param none
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* @return Gripper current in mA (range: 0-2550mA)
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* @note see status on success, exception thrown if communicatoin issues
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*/
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uint16_t current();
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private:
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/**
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* Protocol logic, used for middle level abstraction
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*/
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ProtocolLogic protocol_logic_;
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/**
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* Struct with status bits
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*/
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Status status_;
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/**
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* Struct with fault status bits
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*/
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FaultStatus fault_status_;
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/**
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* Requested position of the gripper, in [m]
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*/
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uint8_t requested_position_;
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/**
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* POsition of the gripper, in [m]
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*/
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uint8_t position_;
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/**
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* Current flowin through the gripper, in [mA]
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*/
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uint16_t current_;
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};
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} // namespace hande_driver

‎robotiq_hande_driver/include/communication.hpp‎

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#include <stdint.h>
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#include <stddef.h>
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#include <vector>
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#include <serial.h>
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/**
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* @brief This class contains low level gripper commands and status
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*/
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namespace hande_driver
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{
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class Communication{
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public:
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Communication();
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~Communication();
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/**
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* @brief Connect to gripper using modbus rtu and virtual socket
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown in case of communication issues
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*/
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void connect();
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/**
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* @brief Disconnect from gripper using modbus rtu and virtual socket
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*
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* @param none
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* @return none
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* @note see status on success, exception thrown in case of communication issues
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*/
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void disconnect();
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/**
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* @brief Send command to gripper
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*
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* @param data Data sent to gripper
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* @param resp_data_len Expected data length of received response
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* @return none
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* @note see status on success, exception thrown in case of communication issues
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*/
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void send_command(const std::vector<uint8_t>& data, size_t resp_data_len);
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/**
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* @brief Get status frame from gripper
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*
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* @param data_len Data length to read
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* @return none
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* @note see status on success, exception thrown in case of communication issues
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*/
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void get_status(size_t data_len);
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/**
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* @brief Set callback to be triggered by a timer to update the gripper status
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* TODO: make a thread?
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*
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* @param freq Refresh rate frequency, no higher than 200Hz including commands
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* @return none
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* @note see status on success, exception thrown in case of communication issues
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*/
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void arm_get_status_callback(uint16_t freq);
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protected:
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serial::Serial serial_;
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private:
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};
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} // namespace hande_driver

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