22 #include "rx28_thread.h"
26 #include <core/threading/mutex_locker.h>
27 #include <core/threading/read_write_lock.h>
28 #include <core/threading/scoped_rwlock.h>
29 #include <core/threading/wait_condition.h>
30 #include <interfaces/JointInterface.h>
31 #include <interfaces/LedInterface.h>
32 #include <interfaces/PanTiltInterface.h>
33 #include <utils/math/angle.h>
54 std::string &ptu_cfg_prefix,
55 std::string &ptu_name)
62 set_name(
"PanTiltRX28Thread(%s)", ptu_name.c_str());
64 pantilt_cfg_prefix_ = pantilt_cfg_prefix;
65 ptu_cfg_prefix_ = ptu_cfg_prefix;
74 last_pan_ = last_tilt_ = 0.f;
75 float init_pan_velocity = 0.f;
76 float init_tilt_velocity = 0.f;
83 cfg_read_timeout_ms_ =
config->
get_uint((ptu_cfg_prefix_ +
"read_timeout_ms").c_str());
84 cfg_disc_timeout_ms_ =
config->
get_uint((ptu_cfg_prefix_ +
"discover_timeout_ms").c_str());
85 cfg_pan_servo_id_ =
config->
get_uint((ptu_cfg_prefix_ +
"pan_servo_id").c_str());
86 cfg_tilt_servo_id_ =
config->
get_uint((ptu_cfg_prefix_ +
"tilt_servo_id").c_str());
89 cfg_goto_zero_start_ =
config->
get_bool((ptu_cfg_prefix_ +
"goto_zero_start").c_str());
90 cfg_turn_off_ =
config->
get_bool((ptu_cfg_prefix_ +
"turn_off").c_str());
91 cfg_cw_compl_margin_ =
config->
get_uint((ptu_cfg_prefix_ +
"cw_compl_margin").c_str());
92 cfg_ccw_compl_margin_ =
config->
get_uint((ptu_cfg_prefix_ +
"ccw_compl_margin").c_str());
93 cfg_cw_compl_slope_ =
config->
get_uint((ptu_cfg_prefix_ +
"cw_compl_slope").c_str());
94 cfg_ccw_compl_slope_ =
config->
get_uint((ptu_cfg_prefix_ +
"ccw_compl_slope").c_str());
95 cfg_pan_min_ =
config->
get_float((ptu_cfg_prefix_ +
"pan_min").c_str());
96 cfg_pan_max_ =
config->
get_float((ptu_cfg_prefix_ +
"pan_max").c_str());
97 cfg_tilt_min_ =
config->
get_float((ptu_cfg_prefix_ +
"tilt_min").c_str());
98 cfg_tilt_max_ =
config->
get_float((ptu_cfg_prefix_ +
"tilt_max").c_str());
99 cfg_pan_margin_ =
config->
get_float((ptu_cfg_prefix_ +
"pan_margin").c_str());
100 cfg_tilt_margin_ =
config->
get_float((ptu_cfg_prefix_ +
"tilt_margin").c_str());
101 cfg_pan_start_ =
config->
get_float((ptu_cfg_prefix_ +
"pan_start").c_str());
102 cfg_tilt_start_ =
config->
get_float((ptu_cfg_prefix_ +
"tilt_start").c_str());
104 cfg_publish_transforms_ =
config->
get_bool((ptu_cfg_prefix_ +
"publish_transforms").c_str());
108 if (cfg_publish_transforms_) {
109 float pan_trans_x =
config->
get_float((ptu_cfg_prefix_ +
"pan_trans_x").c_str());
110 float pan_trans_y =
config->
get_float((ptu_cfg_prefix_ +
"pan_trans_y").c_str());
111 float pan_trans_z =
config->
get_float((ptu_cfg_prefix_ +
"pan_trans_z").c_str());
112 float tilt_trans_x =
config->
get_float((ptu_cfg_prefix_ +
"tilt_trans_x").c_str());
113 float tilt_trans_y =
config->
get_float((ptu_cfg_prefix_ +
"tilt_trans_y").c_str());
114 float tilt_trans_z =
config->
get_float((ptu_cfg_prefix_ +
"tilt_trans_z").c_str());
116 std::string frame_id_prefix = std::string(
"") + ptu_name_;
118 frame_id_prefix =
config->
get_string((ptu_cfg_prefix_ +
"frame_id_prefix").c_str());
122 cfg_base_frame_ = frame_id_prefix +
"/base";
123 cfg_pan_link_ = frame_id_prefix +
"/pan";
124 cfg_tilt_link_ = frame_id_prefix +
"/tilt";
126 translation_pan_.setValue(pan_trans_x, pan_trans_y, pan_trans_z);
127 translation_tilt_.setValue(tilt_trans_x, tilt_trans_y, tilt_trans_z);
131 bool pan_servo_found =
false, tilt_servo_found =
false;
133 rx28_ =
new RobotisRX28(cfg_device_.c_str(), cfg_read_timeout_ms_);
135 for (RobotisRX28::DeviceList::iterator i = devl.begin(); i != devl.end(); ++i) {
136 if (cfg_pan_servo_id_ == *i) {
137 pan_servo_found =
true;
138 }
else if (cfg_tilt_servo_id_ == *i) {
139 tilt_servo_found =
true;
142 "Servo %u in PTU servo chain, but neither "
143 "configured as pan nor as tilt servo",
152 cfg_cw_compl_margin_,
154 cfg_ccw_compl_margin_,
155 cfg_ccw_compl_slope_);
158 if (!(pan_servo_found && tilt_servo_found)) {
159 throw Exception(
"Pan and/or tilt servo not found: pan: %i tilt: %i",
165 std::string bbid =
"PanTilt " + ptu_name_;
178 pantilt_if_->
write();
182 std::string panid = ptu_name_ +
" pan";
186 panjoint_if_->
write();
188 std::string tiltid = ptu_name_ +
" tilt";
192 tiltjoint_if_->
write();
194 wt_ =
new WorkerThread(ptu_name_,
205 wt_->set_margins(cfg_pan_margin_, cfg_tilt_margin_);
207 wt_->set_enabled(
true);
208 if (cfg_goto_zero_start_) {
209 wt_->goto_pantilt_timed(cfg_pan_start_, cfg_tilt_start_, 3.0);
217 #ifdef USE_TIMETRACKER
220 ttc_read_sensor_ = tt_->add_class(
"Read Sensor");
229 wt_->goto_pantilt_timed(0, cfg_tilt_max_, 2.0);
232 wt_->wait_for_fresh_data();
233 wt_->wait_for_fresh_data();
235 while (!wt_->is_final()) {
237 wt_->wait_for_fresh_data();
278 if (wt_->has_fresh_data()) {
279 float pan = 0, tilt = 0, panvel = 0, tiltvel = 0;
281 wt_->get_pantilt(pan, tilt, time);
282 wt_->get_velocities(panvel, tiltvel);
285 if (fabs(last_pan_ - pan) >= 0.009 || fabs(last_tilt_ - tilt) >= 0.009) {
299 pantilt_if_->
write();
303 panjoint_if_->
write();
307 tiltjoint_if_->
write();
310 if (cfg_publish_transforms_) {
313 pr.setEulerZYX(pan, 0, 0);
314 tf::Transform ptr(pr, translation_pan_);
315 tf_publisher->send_transform(ptr, time, cfg_base_frame_, cfg_pan_link_);
318 tr.setEulerZYX(0, tilt, 0);
319 tf::Transform ttr(tr, translation_tilt_);
320 tf_publisher->send_transform(ttr, time, cfg_pan_link_, cfg_tilt_link_);
338 wt_->goto_pantilt(msg->
pan(), msg->
tilt());
352 wt_->goto_pantilt(0, 0);
366 "Desired pan velocity %f too high, max is %f",
371 "Desired tilt velocity %f too high, max is %f",
392 pantilt_if_->
write();
394 bool write_led_if =
false;
399 wt_->set_led_enabled((msg->
intensity() >= 0.5));
402 wt_->set_led_enabled(
true);
405 wt_->set_led_enabled(
false);
425 logger->
log_info(name(),
"Flushing message queue");
426 pantilt_if_->msgq_flush();
429 logger->
log_info(name(),
"Received message of type %s, enqueueing", message->type());
456 PanTiltRX28Thread::WorkerThread::WorkerThread(std::string ptu_name,
459 unsigned char pan_servo_id,
460 unsigned char tilt_servo_id,
469 set_name(
"RX28WorkerThread(%s)", ptu_name.c_str());
476 fresh_data_mutex_ =
new Mutex();
480 move_pending_ =
false;
483 pan_servo_id_ = pan_servo_id;
484 tilt_servo_id_ = tilt_servo_id;
488 tilt_min_ = tilt_min;
489 tilt_max_ = tilt_max;
490 pan_offset_ = pan_offset;
491 tilt_offset_ = tilt_offset;
495 led_disable_ =
false;
502 PanTiltRX28Thread::WorkerThread::~WorkerThread()
504 delete value_rwlock_;
506 delete fresh_data_mutex_;
507 delete update_waitcond_;
514 PanTiltRX28Thread::WorkerThread::set_enabled(
bool enabled)
531 PanTiltRX28Thread::WorkerThread::set_led_enabled(
bool enabled)
536 led_disable_ =
false;
546 PanTiltRX28Thread::WorkerThread::stop_motion()
548 float pan = 0, tilt = 0;
549 get_pantilt(pan, tilt);
550 goto_pantilt(pan, tilt);
558 PanTiltRX28Thread::WorkerThread::goto_pantilt(
float pan,
float tilt)
563 move_pending_ =
true;
573 PanTiltRX28Thread::WorkerThread::goto_pantilt_timed(
float pan,
float tilt,
float time_sec)
577 move_pending_ =
true;
579 float cpan = 0, ctilt = 0;
580 get_pantilt(cpan, ctilt);
582 float pan_diff = fabs(pan - cpan);
583 float tilt_diff = fabs(tilt - ctilt);
585 float req_pan_vel = pan_diff / time_sec;
586 float req_tilt_vel = tilt_diff / time_sec;
591 if (req_pan_vel > max_pan_speed_) {
592 logger_->log_warn(name(),
593 "Requested move to (%f, %f) in %f sec requires a "
594 "pan speed of %f rad/s, which is greater than the maximum "
595 "of %f rad/s, reducing to max",
601 req_pan_vel = max_pan_speed_;
604 if (req_tilt_vel > max_tilt_speed_) {
605 logger_->log_warn(name(),
606 "Requested move to (%f, %f) in %f sec requires a "
607 "tilt speed of %f rad/s, which is greater than the maximum of "
608 "%f rad/s, reducing to max",
614 req_tilt_vel = max_tilt_speed_;
617 set_velocities(req_pan_vel, req_tilt_vel);
627 PanTiltRX28Thread::WorkerThread::set_velocities(
float pan_vel,
float tilt_vel)
637 pan_vel_ = (
unsigned int)pan_tmp;
638 velo_pending_ =
true;
640 logger_->log_warn(name(),
641 "Calculated pan value out of bounds, min: 0 max: %u des: %u",
643 (
unsigned int)pan_tmp);
647 tilt_vel_ = (
unsigned int)tilt_tmp;
648 velo_pending_ =
true;
650 logger_->log_warn(name(),
651 "Calculated tilt value out of bounds, min: 0 max: %u des: %u",
653 (
unsigned int)tilt_tmp);
662 PanTiltRX28Thread::WorkerThread::get_velocities(
float &pan_vel,
float &tilt_vel)
664 unsigned int pan_velticks = rx28_->get_goal_speed(pan_servo_id_);
665 unsigned int tilt_velticks = rx28_->get_goal_speed(tilt_servo_id_);
678 PanTiltRX28Thread::WorkerThread::set_margins(
float pan_margin,
float tilt_margin)
680 if (pan_margin > 0.0)
681 pan_margin_ = pan_margin;
682 if (tilt_margin > 0.0)
683 tilt_margin_ = tilt_margin;
692 PanTiltRX28Thread::WorkerThread::get_pantilt(
float &pan,
float &tilt)
694 ScopedRWLock lock(rx28_rwlock_, ScopedRWLock::LOCK_READ);
709 PanTiltRX28Thread::WorkerThread::get_pantilt(
float &pan,
float &tilt,
fawkes::Time &time)
711 get_pantilt(pan, tilt);
712 time = pantilt_time_;
719 PanTiltRX28Thread::WorkerThread::is_final()
722 get_pantilt(pan, tilt);
734 ScopedRWLock lock(rx28_rwlock_, ScopedRWLock::LOCK_READ);
736 return ((fabs(pan - target_pan_) <= pan_margin_) && (fabs(tilt - target_tilt_) <= tilt_margin_))
737 || (!rx28_->is_moving(pan_servo_id_) && !rx28_->is_moving(tilt_servo_id_));
744 PanTiltRX28Thread::WorkerThread::is_enabled()
746 return (rx28_->is_torque_enabled(pan_servo_id_) && rx28_->is_torque_enabled(tilt_servo_id_));
754 PanTiltRX28Thread::WorkerThread::has_fresh_data()
758 bool rv = fresh_data_;
764 PanTiltRX28Thread::WorkerThread::loop()
767 value_rwlock_->lock_for_write();
769 value_rwlock_->unlock();
771 rx28_->set_led_enabled(tilt_servo_id_,
true);
772 rx28_->set_torques_enabled(
true, 2, pan_servo_id_, tilt_servo_id_);
773 }
else if (disable_) {
774 value_rwlock_->lock_for_write();
776 value_rwlock_->unlock();
778 if (led_enable_ || led_disable_ || velo_pending_ || move_pending_)
783 value_rwlock_->lock_for_write();
785 value_rwlock_->unlock();
787 rx28_->set_led_enabled(pan_servo_id_,
true);
788 if (velo_pending_ || move_pending_)
790 }
else if (led_disable_) {
791 value_rwlock_->lock_for_write();
792 led_disable_ =
false;
793 value_rwlock_->unlock();
795 rx28_->set_led_enabled(pan_servo_id_,
false);
796 if (velo_pending_ || move_pending_)
801 value_rwlock_->lock_for_write();
802 velo_pending_ =
false;
803 unsigned int pan_vel = pan_vel_;
804 unsigned int tilt_vel = tilt_vel_;
805 value_rwlock_->unlock();
807 rx28_->set_goal_speeds(2, pan_servo_id_, pan_vel, tilt_servo_id_, tilt_vel);
813 value_rwlock_->lock_for_write();
814 move_pending_ =
false;
815 float target_pan = target_pan_;
816 float target_tilt = target_tilt_;
817 value_rwlock_->unlock();
818 exec_goto_pantilt(target_pan, target_tilt);
822 ScopedRWLock lock(rx28_rwlock_, ScopedRWLock::LOCK_READ);
823 rx28_->read_table_values(pan_servo_id_);
824 rx28_->read_table_values(tilt_servo_id_);
828 pantilt_time_.stamp();
844 update_waitcond_->wake_all();
855 PanTiltRX28Thread::WorkerThread::exec_goto_pantilt(
float pan_rad,
float tilt_rad)
857 if ((pan_rad < pan_min_) || (pan_rad > pan_max_)) {
859 name(),
"Pan value out of bounds, min: %f max: %f des: %f", pan_min_, pan_max_, pan_rad);
862 if ((tilt_rad < tilt_min_) || (tilt_rad > tilt_max_)) {
863 logger_->log_warn(name(),
864 "Tilt value out of bounds, min: %f max: %f des: %f",
871 unsigned int pan_min = 0, pan_max = 0, tilt_min = 0, tilt_max = 0;
873 rx28_->get_angle_limits(pan_servo_id_, pan_min, pan_max);
874 rx28_->get_angle_limits(tilt_servo_id_, tilt_min, tilt_max);
881 if ((pan_pos < 0) || ((
unsigned int)pan_pos < pan_min) || ((
unsigned int)pan_pos > pan_max)) {
883 name(),
"Pan position out of bounds, min: %u max: %u des: %i", pan_min, pan_max, pan_pos);
887 if ((tilt_pos < 0) || ((
unsigned int)tilt_pos < tilt_min)
888 || ((
unsigned int)tilt_pos > tilt_max)) {
889 logger_->log_warn(name(),
890 "Tilt position out of bounds, min: %u max: %u des: %i",
898 rx28_->goto_positions(2, pan_servo_id_, pan_pos, tilt_servo_id_, tilt_pos);
905 PanTiltRX28Thread::WorkerThread::wait_for_fresh_data()
907 update_waitcond_->wait();