motor_interface.h

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/*******************************************************************/
/*    AUTHOR: Paal Arthur S. Thorseth                              */
/*    ORGN:   Dept of Eng Cybernetics, NTNU Trondheim              */
/*    FILE:   motor_interface.h                                    */
/*    DATE:   Apr 23, 2021                                         */
/*                                                                 */
/* Copyright (C) 2021 Paal Arthur S. Thorseth,                     */
/*                    Adrian B. Ghansah                            */
/*                                                                 */
/* This program is free software: you can redistribute it          */
/* and/or modify it under the terms of the GNU General             */
/* Public License as published by the Free Software Foundation,    */
/* either version 3 of the License, or (at your option) any        */
/* later version.                                                  */
/*                                                                 */
/* This program is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty     */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.         */
/* See the GNU General Public License for more details.            */
/*                                                                 */
/* You should have received a copy of the GNU General Public       */
/* License along with this program. If not, see                    */
/* <https://www.gnu.org/licenses/>.                                */
/*                                                                 */
/*******************************************************************/
 
#pragma once
 
// ROS
#include "ros/ros.h"
#include "ros/callback_queue.h"
#include "sensor_msgs/JointState.h"
#include "std_msgs/Float64.h"
#include "std_msgs/Float64MultiArray.h"
#include "std_srvs/Empty.h"
#include "eigen_conversions/eigen_msg.h"
 
// ROS Package Libraries
#include <serial_communication/serial_communication.h>
 
// Standard library
#include <thread>
 
// Eigen
#include <Eigen/Core>
 
class MotorInterface
{
    private: static constexpr int MAX_NUM_MOTORS_PER_PORT = 6;
 
    public: MotorInterface();
 
    public: MotorInterface(const int &_num_motors);
 
    public: virtual ~MotorInterface();
 
    public: void SetJointPositions(const std::vector<double> &_pos);
 
    public: void SetJointVelocities(const std::vector<double> &_vel);
 
    public: void SetJointTorques(const std::vector<double> &_torque);
 
    public: void ProcessSerialMessages();
 
    public: void OnJointStateCmdMsg(const sensor_msgs::JointStateConstPtr &_msg);
 
    public: void SerialProcessQueueThread();
 
    public: void RosProcessQueueThread();
 
    public: void RosPublishQueueThread();
 
    public: bool Shutdown(const std_srvs::Empty::Request &_req,
                          std_srvs::Empty::Response &_res);
 
    protected: void InitRos();
 
    protected: void InitRosQueueThreads();
 
    private: const int NUM_MOTORS;
 
    private: int num_motors_port_1;
 
    private: int num_motors_port_2;
 
    private: SerialCommunication serialInterface1;
 
    private: SerialCommunication serialInterface2;
 
    private: std::unique_ptr<ros::NodeHandle> rosNode;
 
    private: sensor_msgs::JointState jointStateMsg;
 
    private: ros::ServiceServer shutdownService;
 
    private: ros::Subscriber jointStateCmdSub;
 
    private: ros::Publisher jointStatePub;
 
    private: ros::CallbackQueue rosProcessQueue;
 
    private: ros::CallbackQueue rosPublishQueue;
 
    private: std::thread serialProcessQueueThread;
 
    private: std::thread rosProcessQueueThread;
 
    private: std::thread rosPublishQueueThread;
};