Refactor driver library to follow patterns from PickNikRobotics/ros2_epick_gripper

robotiq_driver/CMakeLists.txt

@@ -28,7 +28,8 @@ add_library(
   SHARED
   src/crc.cpp
   src/hardware_interface.cpp
-  src/robotiq_gripper_interface.cpp
+  src/default_driver.cpp
+  src/default_driver_factory.cpp
 )
 target_include_directories(
   ${PROJECT_NAME}
@@ -49,7 +50,9 @@ target_include_directories(gripper_interface_test PRIVATE include)
 ament_target_dependencies(gripper_interface_test serial)
 target_link_libraries(gripper_interface_test ${PROJECT_NAME})
 
+###############################################################################
 # INSTALL
+
 install(
   TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
@@ -74,26 +77,19 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+###############################################################################
+# TESTS
+
+# CTest module automatically creates a BUILD_TESTING option that selects
+# whether to enable testing support (ON by default).
+include(CTest)
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  # the following skips uncrustify
-  # ament_uncrustify and ament_clang_format cannot both be satisfied
-  set(ament_cmake_uncrustify_FOUND TRUE)
-  # the following skips ament_flake8
-  # ament_flake8 and black fight over double or single quotes
-  # flake8 is run via pre-commit with a .flake8 configuration file
-  set(ament_cmake_flake8_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
+  add_subdirectory(tests)
 endif()
 
-## EXPORTS
+###############################################################################
+# EXPORTS
+
 ament_export_include_directories(
   include
 )

robotiq_driver/include/robotiq_driver/robotiq_gripper_interface.hpp → robotiq_driver/include/robotiq_driver/default_driver.hpp

@@ -30,6 +30,7 @@
 
 #include <serial/serial.h>
 
+#include <robotiq_driver/driver.hpp>
 #include <string>
 #include <vector>
 
@@ -38,32 +39,33 @@
  * the gripper's current state.
  *
  */
-class RobotiqGripperInterface
+namespace robotiq_driver
+{
+class DefaultDriver : public Driver
 {
 public:
-  explicit RobotiqGripperInterface(
-    const std::string & com_port = "/dev/ttyUSB0", uint8_t slave_id = 0x09);
+  explicit DefaultDriver(const std::string & com_port = "/dev/ttyUSB0", uint8_t slave_id = 0x09);
 
   /**
    * @brief Activates the gripper.
    *
    * @throw serial::IOException on failure to successfully communicate with gripper port
    */
-  void activateGripper();
+  void activate() override;
 
   /**
    * @brief Deactivates the gripper.
    *
    * @throw serial::IOException on failure to successfully communicate with gripper port
    */
-  void deactivateGripper();
+  void deactivate() override;
 
   /**
    * @brief Commands the gripper to move to the desired position.
    *
    * @param pos A value between 0x00 (fully open) and 0xFF (fully closed).
    */
-  void setGripperPosition(uint8_t pos);
+  void set_gripper_position(uint8_t pos) override;
 
   /**
    * @brief Return the current position of the gripper.
@@ -72,58 +74,31 @@ class RobotiqGripperInterface
    *
    * @return uint8_t A value between 0x00 (fully open) and 0xFF (fully closed).
    */
-  uint8_t getGripperPosition();
+  uint8_t get_gripper_position() override;
 
   /**
    * @brief Returns true if the gripper is currently moving, false otherwise.
    *
    */
-  bool gripperIsMoving();
+  bool gripper_is_moving() override;
 
   /**
    * @brief Set the speed of the gripper.
    *
    * @param speed A value between 0x00 (stopped) and 0xFF (full speed).
    */
-  void setSpeed(uint8_t speed);
+  void set_speed(uint8_t speed) override;
 
   /**
    * @brief Set how forcefully the gripper opens or closes.
    *
    * @param force A value between 0x00 (no force) or 0xFF (maximum force).
    */
-  void setForce(uint8_t force);
-
-  enum class ActivationStatus
-  {
-    RESET,
-    ACTIVE
-  };
-
-  enum class ActionStatus
-  {
-    STOPPED,
-    MOVING
-  };
-
-  enum class GripperStatus
-  {
-    RESET,
-    IN_PROGRESS,
-    COMPLETED,
-  };
-
-  enum class ObjectDetectionStatus
-  {
-    MOVING,
-    OBJECT_DETECTED_OPENING,
-    OBJECT_DETECTED_CLOSING,
-    AT_REQUESTED_POSITION
-  };
+  void set_force(uint8_t force) override;
 
 private:
-  std::vector<uint8_t> createReadCommand(uint16_t first_register, uint8_t num_registers);
-  std::vector<uint8_t> createWriteCommand(
+  std::vector<uint8_t> create_read_command(uint16_t first_register, uint8_t num_registers);
+  std::vector<uint8_t> create_write_command(
     uint16_t first_register, const std::vector<uint16_t> & data);
 
   /**
@@ -132,22 +107,22 @@ class RobotiqGripperInterface
    * @param num_bytes Number of bytes to be read from device port.
    * @throw serial::IOException on failure to successfully communicate with gripper port
    */
-  std::vector<uint8_t> readResponse(size_t num_bytes);
+  std::vector<uint8_t> read_response(size_t num_bytes);
 
   /**
    * @brief Send a command to the gripper.
    *
    * @param cmd The command.
    * @throw serial::IOException on failure to successfully communicate with gripper port
    */
-  void sendCommand(const std::vector<uint8_t> & cmd);
+  void send_command(const std::vector<uint8_t> & cmd);
 
   /**
    * @brief Read the current status of the gripper, and update member variables as appropriate.
    *
    * @throw serial::IOException on failure to successfully communicate with gripper port
    */
-  void updateStatus();
+  void update_status();
 
   serial::Serial port_;
   uint8_t slave_id_;
@@ -162,3 +137,4 @@ class RobotiqGripperInterface
   uint8_t commanded_gripper_speed_;
   uint8_t commanded_gripper_force_;
 };
+}  // namespace robotiq_driver

robotiq_driver/include/robotiq_driver/default_driver_factory.hpp

@@ -0,0 +1,58 @@
+// Copyright (c) 2022 PickNik, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * 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.
+//
+//    * 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.
+
+#pragma once
+
+#include <hardware_interface/hardware_info.hpp>
+#include <memory>
+#include <robotiq_driver/default_driver_factory.hpp>
+#include <robotiq_driver/driver_factory.hpp>
+
+namespace robotiq_driver
+{
+/**
+ * This class is used to create a default driver to interact with the hardware.
+ */
+class DefaultDriverFactory : public DriverFactory
+{
+public:
+  DefaultDriverFactory() = default;
+
+  /**
+   * @brief Create a driver.
+   * @param info The hardware information.
+   * @return A driver to interact with the hardware.
+   */
+  std::unique_ptr<Driver> create(const hardware_interface::HardwareInfo & info) const;
+
+protected:
+  // Seam for testing.
+  virtual std::unique_ptr<Driver> create_driver(
+    const hardware_interface::HardwareInfo & info) const;
+};
+}  // namespace robotiq_driver

robotiq_driver/include/robotiq_driver/driver.hpp

@@ -0,0 +1,113 @@
+// Copyright (c) 2022 PickNik, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * 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.
+//
+//    * 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.
+
+#pragma once
+
+#include <cstdint>
+
+/**
+ * @brief This interface describes how to communicate with the gripper hardware.
+ */
+namespace robotiq_driver
+{
+class Driver
+{
+public:
+  enum class ActivationStatus
+  {
+    RESET,
+    ACTIVE
+  };
+
+  enum class ActionStatus
+  {
+    STOPPED,
+    MOVING
+  };
+
+  enum class GripperStatus
+  {
+    RESET,
+    IN_PROGRESS,
+    COMPLETED,
+  };
+
+  enum class ObjectDetectionStatus
+  {
+    MOVING,
+    OBJECT_DETECTED_OPENING,
+    OBJECT_DETECTED_CLOSING,
+    AT_REQUESTED_POSITION
+  };
+
+  /**
+   * @brief Activates the gripper.
+   * @throw serial::IOException on failure to successfully communicate with gripper port
+   */
+  virtual void activate() = 0;
+
+  /**
+   * @brief Deactivates the gripper.
+   * @throw serial::IOException on failure to successfully communicate with gripper port
+   */
+  virtual void deactivate() = 0;
+
+  /**
+   * @brief Commands the gripper to move to the desired position.
+   * @param pos A value between 0x00 (fully open) and 0xFF (fully closed).
+   */
+  virtual void set_gripper_position(uint8_t pos) = 0;
+
+  /**
+   * @brief Return the current position of the gripper.
+   *
+   * @throw serial::IOException on failure to successfully communicate with gripper port
+   *
+   * @return uint8_t A value between 0x00 (fully open) and 0xFF (fully closed).
+   */
+  virtual uint8_t get_gripper_position() = 0;
+
+  /**
+   * @brief Returns true if the gripper is currently moving, false otherwise.
+   */
+  virtual bool gripper_is_moving() = 0;
+
+  /**
+   * @brief Set the speed of the gripper.
+   *
+   * @param speed A value between 0x00 (stopped) and 0xFF (full speed).
+   */
+  virtual void set_speed(uint8_t speed) = 0;
+
+  /**
+   * @brief Set how forcefully the gripper opens or closes.
+   * @param force A value between 0x00 (no force) or 0xFF (maximum force).
+   */
+  virtual void set_force(uint8_t force) = 0;
+};
+}  // namespace robotiq_driver