ModbusRTU serial communication with Hand-E

README.md

@@ -27,11 +27,13 @@ ros2 launch robotiq_hande_driver gripper_controller_preview.launch.py use_fake_h
 
 ### Test Serial Connection
 
-Another terminal
+There is an additional test tool with hardcoded parameters to test the connection with the Hand-E without any ROS dependencies.
+Before build, change the hardcoded parameters in the beginning of the `robotiq_hande_driver/test/communication_test.cpp` file.
+
+To run test:
 ```bash
 cd cd ~/ceai_ws/src/robotiq_hande_driver/build/robotiq_hande_driver/
 ./communication_test
-./hande_driver
 ```
 
 ---

robotiq_hande_driver/CHANGELOG.md

@@ -9,8 +9,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* [PR-7](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/7) - Integration of ModbusRTU communication with ros2_control Hardware Interface
 * [PR-2](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/2) - ModbusRTU communication
 * [PR-2](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/2) - Protocol abstraction
+* [PR-1](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/1) - Prepared ros2_control Hardware Interface.
 
 ### Changed
 

robotiq_hande_driver/CMakeLists.txt

@@ -9,12 +9,9 @@ endif()
 include(FindPkgConfig)
 pkg_check_modules(LIBMODBUS REQUIRED libmodbus)
 
-set(DEPENDS
-  modbus
-)
+set(DEPENDS modbus)
 
 set(HW_IF_INCLUDE_DEPENDS
-    fmt
     hardware_interface
     pluginlib
     rclcpp
@@ -23,23 +20,17 @@ set(HW_IF_INCLUDE_DEPENDS
 
 find_package(ament_cmake REQUIRED)
 
-foreach(Dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
-  find_package(${Dependency} REQUIRED)
+foreach(dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
+  find_package(${dependency} REQUIRED)
 endforeach()
 
-add_library(${PROJECT_NAME}
-    SHARED
-    hardware/src/hande_hardware_interface.cpp
-    hardware/src/application.cpp
-    hardware/src/communication.cpp
-    hardware/src/protocol_logic.cpp
-)
+add_library(
+  ${PROJECT_NAME} SHARED hardware/src/hande_hardware_interface.cpp hardware/src/application.cpp
+                         hardware/src/communication.cpp hardware/src/protocol_logic.cpp)
 
-target_link_libraries(${PROJECT_NAME}
-  PUBLIC
-    modbus
-)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${DEPENDS})
 
+# TODO(issue#8) Build the communication_test only with BUILD_TESTING flag
 add_executable(communication_test test/communication_test.cpp)
 target_link_libraries(communication_test ${catkin_LIBRARIES} ${DEPENDS})
 
@@ -61,10 +52,6 @@ install(
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
-# include_directories(hardware/include/robotiq_hande_driver)
-# add_executable(application_test test/application_test.cpp hardware/src/application.cpp hardware/src/communication.cpp hardware/src/protocol_logic.cpp)
-# target_link_libraries(application_test ${catkin_LIBRARIES} ${DEPENDS})
-
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   # find_package(ament_cmake_pytest REQUIRED)
@@ -73,15 +60,9 @@ if(BUILD_TESTING)
   ament_add_gmock(test_load_hw_interface test/test_load_hw_interface.cpp)
   target_link_libraries(test_load_hw_interface ${PROJECT_NAME})
 
-  # ament_add_gmock(application_test
-  # test/application_test.cpp
-  # )
+  # TODO(issue#8) Build the communication_test only with BUILD_TESTING flag
+  # ament_add_gmock(application_test test/application_test.cpp )
   # target_link_libraries(application_test ${PROJECT_NAME})
-
-  # TODO: investigate ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
-
-  # ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
-  # ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
 endif()
 
 # EXPORTS

robotiq_hande_driver/hardware/include/robotiq_hande_driver/application.hpp

@@ -6,9 +6,7 @@
 
 #include "protocol_logic.hpp"
 
-
-namespace robotiq_hande_driver
-{
+namespace robotiq_hande_driver {
 
 constexpr auto GRIPPER_CURRENT_SCALE = 0.01;
 constexpr auto MAX_SPEED = 255;
@@ -18,8 +16,7 @@ constexpr auto MAX_FORCE = 255;
  * @brief This class contains high-level gripper commands and status.
  */
 class GripperApplication {
-public:
-
+   public:
     struct Status {
         bool is_reset;
         bool is_ready;
@@ -50,9 +47,18 @@ class GripperApplication {
      * @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.
+     * @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, std::string tty_port, int baudrate, char parity, int data_bits, int stop_bit, int slave_id) {
+    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;
@@ -61,8 +67,9 @@ class GripperApplication {
 
     /**
      * @brief Configures driver session.
-     * @return int, when error <0.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @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;
@@ -77,7 +84,8 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     void cleanup() {
         protocol_logic_.cleanup();
@@ -88,7 +96,8 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     void stop() {
         protocol_logic_.stop();
@@ -99,7 +108,8 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     void reset() {
         protocol_logic_.reset();
@@ -110,7 +120,8 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @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();
@@ -119,46 +130,33 @@ class GripperApplication {
     /**
      * @brief Activates the gripper, making it ready for use.
      *
-     * @param blocking If true wait until the gripper is active.
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
-    void activate(bool blocking=true) {
-        int iter = 0;
-        read();
-
-        if (status_.is_ready)
-            printf("Gripper already active\n");
-        else {
-            printf("Activation in progress\n");
-            protocol_logic_.activate();
-
-            while(!status_.is_ready && blocking) {
-                printf("Waiting another 100ms, attempt: %d\n", iter);
-                usleep(100 * 1000);
-                read();
-                if(iter++ > 100) break;
-            }
-        }
+    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.
+     * @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.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     void shutdown() {
         deactivate();
@@ -170,7 +168,8 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @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_);
@@ -181,7 +180,8 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @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_);
@@ -192,7 +192,8 @@ class GripperApplication {
      *
      * @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.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     Status get_status() {
         return status_;
@@ -203,7 +204,8 @@ class GripperApplication {
      *
      * @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.
+     * @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_;
@@ -214,18 +216,20 @@ class GripperApplication {
      *
      * @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.
+     * @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_;
+        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.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     double get_position() {
         return position_;
@@ -236,20 +240,24 @@ class GripperApplication {
      *
      * @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.
+     * @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) {
+    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);
+            (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.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     double get_current() {
         return current_;
@@ -260,7 +268,8 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @note The status should be checked to verify successful execution. An exception is thrown if
+     * communication issues occur.
      */
     void read();
 
@@ -269,13 +278,14 @@ class GripperApplication {
      *
      * @param none
      * @return None.
-     * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
+     * @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:
+   private:
     /**
      * Handles protocol logic for mid-level abstraction.
      */
@@ -309,7 +319,6 @@ class GripperApplication {
     double gripper_position_min_;
     double gripper_position_max_;
     double gripper_postion_step_;
-
 };
-}   // namespace robotiq_hande_driver
+}  // namespace robotiq_hande_driver
 #endif  // ROBOTIQ_HANDE_DRIVER__APPLICATION_HPP_