AGH-CEAI
diff --git a/‎CITATION.cff‎
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diff --git a/‎README.md‎
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diff --git a/‎docs/gripper_control.webp‎
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diff --git a/‎robotiq_hande_driver/CHANGELOG.md‎
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diff --git a/‎robotiq_hande_driver/bringup/launch/gripper_controller_preview.launch.py‎
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diff --git a/‎robotiq_hande_driver/hardware/include/robotiq_hande_driver/application.hpp‎
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@@ -7,9 +7,11 @@ authors:
   - family-names: Klimek
     given-names: Krzysztof
     orcid: https://orcid.org/0009-0004-6749-1833
+  - family-names: Płachno
+    given-names: Jakub
 title: "Robotiq Hand-E ROS 2 Driver"
-version: 0.1.0
+version: 0.2.0
 identifiers:
   - type: doi
     value: 10.5281/zenodo.15047950
-date-released: 2025-03-18
+date-released: 2025-08-25
@@ -1,4 +1,6 @@
 # robotiq_hande_driver
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
 
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
 
@@ -7,6 +7,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Added
+### Changed
+### Deprecated
+### Removed
+### Fixed
+### Security
+
+## [0.2.0] - 2025-08-25
+
 ### Added
 
 * [PR-27](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/27) - Added additional launch arguments and provided better instructions in README.
@@ -32,8 +41,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
   * Encapsulated whole `Communication` config into `CommunicationConfig` struct.
   *  renamed `tty` param to `tty_port` for better clarity.
 
-### Deprecated
-
 ### Removed
 
 * [PR-24](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/24) - Cleanup of unused variables.
@@ -47,8 +54,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
   * Fixed typos with wrong values in  `GRIPPER_OUTPUT_FIRST_REG`  and `GRIPPER_INPUT_FIRST_REG`.
 * [PR-16](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/16) - Fixed URDF typos in the `test_load_hw_interface.cpp` file.
 
-### Security
-
 ## [0.1.0] - 2025-03-13
 
 ### Added
 
@@ -142,6 +142,7 @@ def prepare_robot_state_publisher_node() -> Node:
     # tf_prefix is implicitly used in ParameterValue()
     tf_prefix = LaunchConfiguration("tf_prefix", default="")  # noqa: F841
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+
     frequency_hz = LaunchConfiguration("frequency_hz")
     tty_port = LaunchConfiguration("tty_port")
     create_socat_tty = LaunchConfiguration("create_socat_tty")
 
@@ -0,0 +1,324 @@
+#ifndef ROBOTIQ_HANDE_DRIVER__APPLICATION_HPP_
+#define ROBOTIQ_HANDE_DRIVER__APPLICATION_HPP_
+
+#include <stdint.h>
+#include <unistd.h>
+
+#include "protocol_logic.hpp"
+
+namespace robotiq_hande_driver {
+
+static constexpr auto GRIPPER_CURRENT_SCALE = 0.01;
+static constexpr auto MAX_SPEED = 255;
+static constexpr auto MAX_FORCE = 255;
+
+/**
+ * @brief This class contains high-level gripper commands and status.
+ */
+class GripperApplication {
+   public:
+    struct Status {
+        bool is_reset;
+        bool is_ready;
+        bool is_moving;
+        bool is_stopped;
+        bool is_opened;
+        bool is_closed;
+        bool object_detected;
+    };
+
+    struct FaultStatus {
+        bool is_error;
+    };
+
+    GripperApplication();
+
+    ~GripperApplication() {};
+
+    /**
+     * @brief Initializes driver parameters.
+     *
+     * @param gripper_position_min Minimal gripper position in meters.
+     * @param gripper_position_max Maximal gripper position in meters.
+     * @param tty_port Modbus virtual port.
+     * @param baudrate Modbus serial baudrate.
+     * @param parity Modbus serial parity.
+     * @param data_bits Modbus serial data bits.
+     * @param stop_bit Modbus serial stopbit.
+     * @param slave_id Modbus slave id.
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void initialize(
+        double gripper_position_min,
+        double gripper_position_max,
+        const std::string& tty_port,
+        int baudrate,
+        char parity,
+        int data_bits,
+        int stop_bit,
+        int slave_id) {
+        gripper_position_min_ = gripper_position_min;
+        gripper_position_max_ = gripper_position_max;
+        gripper_postion_step_ = (gripper_position_max_ - gripper_position_min_) / 255.0;
+        protocol_logic_.initialize(tty_port, baudrate, parity, data_bits, stop_bit, slave_id);
+    };
+
+    /**
+     * @brief Configures driver session.
+     * @return int Connection status code.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    int configure() {
+        int result;
+
+        result = protocol_logic_.configure();
+
+        return result;
+    };
+
+    /**
+     * @brief Deinitializes driver.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void cleanup() {
+        protocol_logic_.cleanup();
+    };
+
+    /**
+     * @brief Stops the gripper movement.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void stop() {
+        protocol_logic_.stop();
+    };
+
+    /**
+     * @brief Resets the gripper by deactivating and reactivating it.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void reset() {
+        protocol_logic_.reset();
+    };
+
+    /**
+     *  Emergency auto-release, gripper fingers are slowly opened, reactivation necessary
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void auto_release() {
+        protocol_logic_.auto_release();
+    };
+
+    /**
+     * @brief Activates the gripper, making it ready for use.
+     *
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void activate() {
+        protocol_logic_.activate();
+    };
+
+    /**
+     * @brief Deactivates the gripper.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void deactivate() {
+        protocol_logic_.reset();
+    };
+
+    /**
+     * @brief Deactivates the gripper.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void shutdown() {
+        deactivate();
+        cleanup();
+    };
+
+    /**
+     * @brief Opens the gripper.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void open() {
+        set_position(gripper_position_max_);
+    };
+
+    /**
+     * @brief Closes the gripper.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void close() {
+        set_position(gripper_position_min_);
+    };
+
+    /**
+     * @brief Retrieves the gripper status.
+     *
+     * @param none
+     * @return The current gripper status.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    Status get_status() {
+        return status_;
+    };
+
+    /**
+     * @brief Retrieves the gripper fault status.
+     *
+     * @param none
+     * @return The current gripper fault status.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    FaultStatus get_fault_status() {
+        return fault_status_;
+    };
+
+    /**
+     * @brief Retrieves the requested position of the gripper.
+     *
+     * @param none
+     * @return The requested gripper position in meters.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    double get_requested_position() {
+        return requested_position_;
+    };
+
+    /**
+     * @brief Retrieves the actual position of the gripper.
+     *
+     * @param none
+     * @return The actual gripper position in meters.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    double get_position() {
+        return position_;
+    };
+
+    /**
+     * @brief Moves the gripper to the requested position.
+     *
+     * @param position The target position in meters.
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void set_position(double position, double force = 1.0) {
+        uint8_t scaled_force = static_cast<uint8_t>(force * MAX_FORCE);
+        protocol_logic_.go_to(
+            (uint8_t)((gripper_position_max_ - position) / gripper_postion_step_),
+            MAX_SPEED,
+            scaled_force);
+    };
+
+    /**
+     * @brief Retrieves the electric current drawn by the gripper.
+     *
+     * @param none
+     * @return The electric current in amperes (range: 0–2.55 A)
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    double get_current() {
+        return current_;
+    };
+
+    /**
+     * @brief Reads gripper data.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void read();
+
+    /**
+     * @brief Writes gripper data.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
+     */
+    void write() {
+        protocol_logic_.refresh_registers();
+    };
+
+   private:
+    /**
+     * Handles protocol logic for mid-level abstraction.
+     */
+    ProtocolLogic protocol_logic_;
+
+    /**
+     * Stores the gripper status bits.
+     */
+    Status status_;
+
+    /**
+     * Stores the fault status bits.
+     */
+    FaultStatus fault_status_;
+
+    /**
+     * Stores the requested position of the gripper in meters.
+     */
+    double requested_position_;
+
+    /**
+     * Stores the actual position of the gripper in meters.
+     */
+    double position_;
+
+    /**
+     * Stores the electric current drawn by the gripper in amperes.
+     */
+    double current_;
+
+    double gripper_position_min_;
+    double gripper_position_max_;
+    double gripper_postion_step_;
+};
+}  // namespace robotiq_hande_driver
+#endif  // ROBOTIQ_HANDE_DRIVER__APPLICATION_HPP_