examples/ros/motor_and_io_bridge.cpp

This example publishes and subscribes JointState messages for each connected CiA 402 device as well as uint8 messages for each connected digital IO device (CiA 401).

/*
 * Copyright (c) 2015-2016, Thomas Keh
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "bridge.h"
#include "logger.h"
#include "joint_state_publisher.h"
#include "joint_state_subscriber.h"
#include "entry_publisher.h"
#include "entry_subscriber.h"
 
#include <thread>
#include <chrono>
#include <memory>

// #define BUSNAME ... // set by CMake
// #define BAUDRATE ... // set by CMake

int main(int argc, char* argv[]) {

    // Set the name of your CAN bus. "slcan0" is a common bus name
    // for the first SocketCAN device on a Linux system.
    const std::string busname = "slcan0";

    // Set the baudrate of your CAN bus. Most drivers support the values
    // "1M", "500K", "125K", "100K", "50K", "20K", "10K" and "5K".
    const std::string baudrate = "500K";

    PRINT("This example publishes and subscribes JointState messages for each connected CiA 402 device as well as"
        <<"uint8 messages for each connected digital IO device (CiA 401).");

    const double loop_rate = 10; // [Hz]

    kaco::Master master;
    if (!master.start(busname, baudrate)) {
        ERROR("Starting master failed.");
        return EXIT_FAILURE;
    }

    //master.core.nmt.reset_all_nodes();

    std::this_thread::sleep_for(std::chrono::seconds(1));
    size_t num_devices_required = 1;
    while (master.num_devices()<num_devices_required) {
        ERROR("Number of devices found: " << master.num_devices() << ". Waiting for " << num_devices_required << ".");
        PRINT("Trying to discover more nodes via NMT Node Guarding...");
        master.core.nmt.discover_nodes();
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    // Create bridge
    ros::init(argc, argv, "canopen_bridge");
    kaco::Bridge bridge;

    bool found = false;
    for (size_t i=0; i<master.num_devices(); ++i) {

        kaco::Device& device = master.get_device(i);
        device.start();

        device.load_dictionary_from_library();

        const auto profile = device.get_device_profile_number();
        PRINT("Found CiA "<<std::dec<<(unsigned)profile<<" device with node ID "<<device.get_node_id()<<": "<<device.get_entry("manufacturer_device_name"));

        if (profile==401) {

            found = true;

            // TODO: we should determine the number of input / output bytes fiŕst.

            // map PDOs (optional)
            device.add_receive_pdo_mapping(0x188, "Read input 8-bit/Digital Inputs 1-8", 0); // offest 0
            device.add_receive_pdo_mapping(0x188, "Read input 8-bit/Digital Inputs 9-16", 1); // offset 1

            // set some output (optional)
            device.set_entry("Write output 8-bit/Digital Outputs 1-8", (uint8_t) 0xFF);

            // create a publisher for reading second 8-bit input and add it to the bridge
            // communication via POD
            auto iopub = std::make_shared<kaco::EntryPublisher>(device, "Read input 8-bit/Digital Inputs 9-16");
            bridge.add_publisher(iopub);

            // create a subscriber for editing IO output and add it to the bridge
            // communication via SOD
            auto iosub = std::make_shared<kaco::EntrySubscriber>(device, "Write output 8-bit/Digital Outputs 1-8");
            bridge.add_subscriber(iosub);

        } else if (profile==402) {

            found = true;

            PRINT("Set position mode");
            device.set_entry("modes_of_operation", device.get_constant("profile_position_mode"));

            PRINT("Enable operation");
            device.execute("enable_operation");

            // TODO: target_position should be mapped to a PDO

            auto jspub = std::make_shared<kaco::JointStatePublisher>(device, 0, 350000);
            bridge.add_publisher(jspub, loop_rate);
            
            auto jssub = std::make_shared<kaco::JointStateSubscriber>(device, 0, 350000);
            bridge.add_subscriber(jssub);

        }

    }

    if (!found) {
        ERROR("This example is intended for use with a CiA 402 device but I can't find one.");
        return EXIT_FAILURE;
    }

    bridge.run();

}