CHG: update cmakelists and config layer for modbus session

slimasziom · slimasziom · commit 89ca01ff17ca · 2025-02-12T14:33:40.000+01:00
diff --git a/robotiq_hande_driver/CMakeLists.txt b/robotiq_hande_driver/CMakeLists.txt
@@ -5,6 +5,13 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+include(FindPkgConfig)
+pkg_check_modules(LIBMODBUS REQUIRED libmodbus)
+
+set(DEPENDS
+  modbus
+)
+
 set(HW_IF_INCLUDE_DEPENDS
   fmt
   hardware_interface
@@ -25,28 +32,9 @@ add_library(${PROJECT_NAME}
     hardware/src/hande_hardware_interface.cpp
 )
 
-include(FindPkgConfig)
-pkg_check_modules(LIBMODBUS REQUIRED libmodbus)
-
-set(DEPENDS
-  modbus
-)
-
-include_directories(
-  "include"
-  "src"
-)
-
-add_executable(hande_driver src/hande_driver.cpp src/application.cpp src/protocol_logic.cpp src/communication.cpp)
-target_link_libraries(hande_driver ${catkin_LIBRARIES} ${DEPENDS})
-
-add_executable(communication_test src/communication_test.cpp)
+add_executable(communication_test test/communication_test.cpp)
 target_link_libraries(communication_test ${catkin_LIBRARIES} ${DEPENDS})
 
-target_include_directories(hande_driver PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
 target_include_directories(robotiq_hande_driver PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
diff --git a/robotiq_hande_driver/hardware/include/robotiq_hande_driver/application.hpp b/robotiq_hande_driver/hardware/include/robotiq_hande_driver/application.hpp
@@ -6,7 +6,7 @@
 #include "protocol_logic.hpp"
 
 
-namespace hande_driver
+namespace robotiq_hande_driver
 {
 
 constexpr auto GRIPPER_POSITION_MIN = 0.0;
@@ -19,7 +19,7 @@ constexpr auto MAX_FORCE = 255;
 /**
  * @brief This class contains high-level gripper commands and status.
  */
-class ApplicationLayer {
+class GripperApplication {
 public:
 
     struct Status {
@@ -36,9 +36,40 @@ class ApplicationLayer {
         bool is_error;
     };
 
-    ApplicationLayer();
+    GripperApplication();
 
-    ~ApplicationLayer() {};
+    ~GripperApplication() {};
+
+    /**
+     * @brief Initializes driver parameters.
+     *
+     * @param tty_port modbus virtual port
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void initialize(std::string tty_port) {
+        protocol_logic_.initialize(tty_port);
+    };
+
+    /**
+     * @brief Configures driver session.
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void configure() {
+        protocol_logic_.configure();
+    };
+
+    /**
+     * @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.
@@ -84,6 +115,29 @@ class ApplicationLayer {
         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.
      *
@@ -225,5 +279,5 @@ class ApplicationLayer {
     double current_;
 
 };
-}   // namespace hande_driver
+}   // namespace robotiq_hande_driver
 #endif  // APPLICATION_HPP_
diff --git a/robotiq_hande_driver/hardware/include/robotiq_hande_driver/communication.hpp b/robotiq_hande_driver/hardware/include/robotiq_hande_driver/communication.hpp
@@ -3,9 +3,10 @@
 
 #include <modbus/modbus.h>
 #include <cstring>
+#include <string>
 
 
-namespace hande_driver
+namespace robotiq_hande_driver
 {
 
 constexpr auto DEVICE_NAME = "/tmp/ttyUR";
@@ -50,6 +51,42 @@ class Communication{
     Communication();
 
     ~Communication() {
+        cleanup();
+    };
+
+    /**
+     * @brief Initializes driver parameters.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void initialize(std::string tty_port) {
+        tty_port_ = tty_port.c_str();
+    };
+
+    /**
+     * @brief Initializes communication layer.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void configure() {
+        mb_ = modbus_new_rtu(tty_port_, BAUDRATE, PARITY, DATA_BITS, STOP_BIT);
+        modbus_set_slave(mb_, SLAVE_ID);
+        modbus_set_debug(mb_, DEBUG_MODBUS);
+        connect();
+    };
+
+    /**
+     * @brief Deinitializes communication layer.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void cleanup() {
         disconnect();
         modbus_free(mb_);
     };
@@ -165,11 +202,12 @@ class Communication{
     };
 
 private:
+    const char* tty_port_;
     modbus_t *mb_;
 
     uint8_t input_bytes_[static_cast<size_t>(InputBytes::BYTES_MAX)];
     uint8_t output_bytes_[static_cast<size_t>(OutputBytes::BYTES_MAX)];
 
 };
-}   // namespace hande_driver
+}   // namespace robotiq_hande_driver
 #endif  // COMMUNICATION_HPP_
diff --git a/robotiq_hande_driver/hardware/include/robotiq_hande_driver/hande_hardware_interface.hpp b/robotiq_hande_driver/hardware/include/robotiq_hande_driver/hande_hardware_interface.hpp
@@ -5,6 +5,8 @@
 #include <hardware_interface/system_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include "application.hpp"
+
 namespace robotiq_hande_driver {
 
 namespace HWI = hardware_interface;
@@ -35,7 +37,8 @@ class RobotiqHandeHardwareInterface : public HWI::SystemInterface
     rclcpp::Logger get_logger() const { return *logger_; }
 
 private:
-    //TODO(modbus integration): composition of the modbus communication
+    //--TODO(modbus integration): composition of the modbus communication
+    GripperApplication application_layer_;
     std::shared_ptr<rclcpp::Logger> logger_;
 
     std::string tty_port_;
diff --git a/robotiq_hande_driver/hardware/include/robotiq_hande_driver/protocol_logic.hpp b/robotiq_hande_driver/hardware/include/robotiq_hande_driver/protocol_logic.hpp
@@ -1,10 +1,12 @@
 #ifndef PROTOCOL_LOGIC_HPP_
 #define PROTOCOL_LOGIC_HPP_
 
-#include <communication.hpp>
+#include <string>
 
+#include "communication.hpp"
 
-namespace hande_driver
+
+namespace robotiq_hande_driver
 {
 
 /* Register mapping done based on Hand-E documentation:
@@ -92,6 +94,48 @@ class ProtocolLogic{
 
     ~ProtocolLogic() {};
 
+    /**
+     * @brief Initializes driver parameters.
+     *
+     * @param tty_port modbus virtual port
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void initialize(std::string tty_port) {
+        communication_.initialize(tty_port);
+        // communication_.configure();
+    };
+
+    /**
+     * @brief Configures protocol layer.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void configure() {
+        activation_status_  = ActivationStatus::GRIPPER_RESET;
+        action_status_ = ActionStatus::STOPPED;
+        gripper_status_ = GripperStatus::NOT_USED;
+        object_detection_status_ = ObjectDetectionStatus::REQ_POS_NO_OBJECT;
+        fault_status_ = 0;
+        position_request_echo_ = 0;
+        position_ = 0;
+        current_ = 0;
+        communication_.configure();
+    };
+
+    /**
+     * @brief Deinitializes protocol layer.
+     *
+     * @param none
+     * @return None.
+     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     */
+    void cleanup() {
+        communication_.cleanup();
+    };
+
     /**
      *  @brief Resets the gripper.
      *
@@ -145,6 +189,17 @@ class ProtocolLogic{
         set();
     };
 
+        /**
+     * @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() {
+        reset();
+    };
+
     /**
      * @brief Moves the gripper to the requested position with specified velocity and force.
      *
@@ -304,5 +359,5 @@ class ProtocolLogic{
 
     Communication communication_;
 };
-}   // namespace hande_driver
+}   // namespace robotiq_hande_driver
 #endif  // PROTOCOL_LOGIC_HPP_
diff --git a/robotiq_hande_driver/hardware/src/application.cpp b/robotiq_hande_driver/hardware/src/application.cpp
@@ -5,14 +5,14 @@
 
 namespace hande_driver  {
 
-ApplicationLayer::ApplicationLayer()
+GripperApplication::GripperApplication()
 :   requested_position_()
 ,   position_()
 ,   current_()
 {
 }
 
-void ApplicationLayer::read(){
+void GripperApplication::read(){
     protocol_logic_.refresh_registers();
 
     status_.is_reset = protocol_logic_.is_reset();
diff --git a/robotiq_hande_driver/hardware/src/communication.cpp b/robotiq_hande_driver/hardware/src/communication.cpp
@@ -9,10 +9,7 @@ Communication::Communication()
 :    input_bytes_{}
 ,    output_bytes_{}
 {
-    mb_ = modbus_new_rtu(DEVICE_NAME, BAUDRATE, PARITY, DATA_BITS, STOP_BIT);
-    modbus_set_slave(mb_, SLAVE_ID);
-    modbus_set_debug(mb_, DEBUG_MODBUS);
-    connect();
+
 }
 
 void Communication::connect(){
diff --git a/robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp b/robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp

Original file line number	Diff line number	Diff line change
`@@ -5,14 +5,14 @@`
`5`	`5`
`6`	`6`	`namespace hande_driver {`
`7`	`7`
`8`		`-ApplicationLayer::ApplicationLayer()`
	`8`	`+GripperApplication::GripperApplication()`
`9`	`9`	`: requested_position_()`
`10`	`10`	`, position_()`
`11`	`11`	`, current_()`
`12`	`12`	`{`
`13`	`13`	`}`
`14`	`14`
`15`		`-void ApplicationLayer::read(){`
	`15`	`+void GripperApplication::read(){`
`16`	`16`	`protocol_logic_.refresh_registers();`
`17`	`17`
`18`	`18`	`status_.is_reset = protocol_logic_.is_reset();`
Original file line number	Diff line number	Diff line change
`@@ -9,10 +9,7 @@ Communication::Communication()`
`9`	`9`	`: input_bytes_{}`
`10`	`10`	`, output_bytes_{}`
`11`	`11`	`{`
`12`		`- mb_ = modbus_new_rtu(DEVICE_NAME, BAUDRATE, PARITY, DATA_BITS, STOP_BIT);`
`13`		`- modbus_set_slave(mb_, SLAVE_ID);`
`14`		`- modbus_set_debug(mb_, DEBUG_MODBUS);`
`15`		`- connect();`
	`12`	`+`
`16`	`13`	`}`
`17`	`14`
`18`	`15`	`void Communication::connect(){`