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Merge pull request #38 from ROBOTIS-GIT/master
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Merge for sync kinetic-devel and master branch
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@robotpilot
robotpilot committed Apr 24, 2017
2 parents f14a1fc + c42dadf commit 69b4b5f
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Showing 5 changed files with 64 additions and 14 deletions.
2 changes: 0 additions & 2 deletions robotis_controller/include/robotis_controller/robotis_controller.h
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Expand Up @@ -95,8 +95,6 @@ class RobotisController : public Singleton<RobotisController>
void initializeSyncWrite();

public:
static const int CONTROL_CYCLE_MSEC = 8; // 8 msec

bool DEBUG_PRINT;
Robot *robot_;

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22 changes: 11 additions & 11 deletions robotis_controller/src/robotis_controller/robotis_controller.cpp
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Expand Up @@ -61,7 +61,7 @@ void RobotisController::initializeSyncWrite()
if (gazebo_mode_ == true)
return;

ROS_INFO("FIRST BULKREAD");
//ROS_INFO("FIRST BULKREAD");
for (auto& it : port_to_bulk_read_)
it.second->txRxPacket();
for(auto& it : port_to_bulk_read_)
Expand All @@ -72,15 +72,15 @@ void RobotisController::initializeSyncWrite()
{
if (++error_count > 10)
{
ROS_ERROR("[RobotisController] bulk read fail!!");
ROS_ERROR("[RobotisController] first bulk read fail!!");
exit(-1);
}
usleep(10 * 1000);
result = it.second->txRxPacket();
} while (result != COMM_SUCCESS);
}
init_pose_loaded_ = true;
ROS_INFO("FIRST BULKREAD END");
//ROS_INFO("FIRST BULKREAD END");

// clear syncwrite param setting
for (auto& it : port_to_sync_write_position_)
Expand Down Expand Up @@ -603,7 +603,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)

void RobotisController::gazeboTimerThread()
{
ros::Rate gazebo_rate(1000 / CONTROL_CYCLE_MSEC);
ros::Rate gazebo_rate(1000 / robot_->getControlCycle());

while (!stop_timer_)
{
Expand Down Expand Up @@ -662,7 +662,7 @@ void RobotisController::msgQueueThread()
ros::ServiceServer joint_module_server = ros_node.advertiseService("/robotis/get_present_joint_ctrl_modules",
&RobotisController::getCtrlModuleCallback, this);

ros::WallDuration duration(CONTROL_CYCLE_MSEC / 1000.0);
ros::WallDuration duration(robot_->getControlCycle() / 1000.0);
while(ros_node.ok())
callback_queue.callAvailable(duration);
}
Expand All @@ -679,8 +679,8 @@ void *RobotisController::timerThread(void *param)

while (!controller->stop_timer_)
{
next_time.tv_sec += (next_time.tv_nsec + CONTROL_CYCLE_MSEC * 1000000) / 1000000000;
next_time.tv_nsec = (next_time.tv_nsec + CONTROL_CYCLE_MSEC * 1000000) % 1000000000;
next_time.tv_sec += (next_time.tv_nsec + controller->robot_->getControlCycle() * 1000000) / 1000000000;
next_time.tv_nsec = (next_time.tv_nsec + controller->robot_->getControlCycle() * 1000000) % 1000000000;

controller->process();

Expand Down Expand Up @@ -1429,7 +1429,7 @@ void RobotisController::addMotionModule(MotionModule *module)
}
}

module->initialize(CONTROL_CYCLE_MSEC, robot_);
module->initialize(robot_->getControlCycle(), robot_);
motion_modules_.push_back(module);
motion_modules_.unique();
}
Expand All @@ -1451,7 +1451,7 @@ void RobotisController::addSensorModule(SensorModule *module)
}
}

module->initialize(CONTROL_CYCLE_MSEC, robot_);
module->initialize(robot_->getControlCycle(), robot_);
sensor_modules_.push_back(module);
sensor_modules_.unique();
}
Expand Down Expand Up @@ -1731,7 +1731,7 @@ void RobotisController::setJointCtrlModuleThread(const robotis_controller_msgs::
for(std::list<MotionModule *>::iterator _stop_m_it = _stop_modules.begin(); _stop_m_it != _stop_modules.end(); _stop_m_it++)
{
while((*_stop_m_it)->isRunning())
usleep(CONTROL_CYCLE_MSEC * 1000);
usleep(robot_->getControlCycle() * 1000);
}

// disable module(s)
Expand Down Expand Up @@ -1946,7 +1946,7 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
for (auto stop_m_it = stop_modules.begin(); stop_m_it != stop_modules.end(); stop_m_it++)
{
while ((*stop_m_it)->isRunning())
usleep(CONTROL_CYCLE_MSEC * 1000);
usleep(robot_->getControlCycle() * 1000);
}

// disable module(s)
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30 changes: 30 additions & 0 deletions robotis_device/devices/sensor/OPEN-CR.device
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@@ -0,0 +1,30 @@
[device info]
model_name = OPEN-CR
device_type = sensor

[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
2 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
3 | ID | 1 | RW | EEPROM | 0 | 252 | N
4 | baudrate | 1 | RW | EEPROM | 0 | 252 | N
5 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
16 | status_return_level | 1 | RW | EEPROM | 0 | 2 | N
24 | torque_enable | 1 | RW | RAM | 0 | 1 | N
25 | LED | 1 | RW | RAM | 0 | 7 | N
26 | LED_RGB | 2 | RW | RAM | 0 | 32767 | N
28 | buzzer | 2 | RW | RAM | 0 | 65535 | N
30 | button | 1 | R | RAM | 0 | 15 | N
31 | present_voltage | 1 | R | RAM | 50 | 250 | N
32 | gyro_x | 2 | R | RAM | -32800 | 32800 | Y
34 | gyro_y | 2 | R | RAM | -32800 | 32800 | Y
36 | gyro_z | 2 | R | RAM | -32800 | 32800 | Y
38 | acc_x | 2 | R | RAM | -32768 | 32768 | Y
40 | acc_y | 2 | R | RAM | -32768 | 32768 | Y
42 | acc_z | 2 | R | RAM | -32768 | 32768 | Y
44 | roll | 2 | R | RAM | 0 | 4096 | N
46 | pitch | 2 | R | RAM | 0 | 4096 | N
48 | yaw | 2 | R | RAM | 0 | 4096 | N
50 | imu_control | 1 | RW | RAM | 0 | 255 | N


8 changes: 8 additions & 0 deletions robotis_device/include/robotis_device/robot.h
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Expand Up @@ -48,17 +48,23 @@
#define DYNAMIXEL "dynamixel"
#define SENSOR "sensor"

#define SESSION_CONTROL_INFO "control info"
#define SESSION_PORT_INFO "port info"
#define SESSION_DEVICE_INFO "device info"

#define SESSION_TYPE_INFO "type info"
#define SESSION_CONTROL_TABLE "control table"

#define DEFAULT_CONTROL_CYCLE 8 // milliseconds

namespace robotis_framework
{

class Robot
{
private:
int control_cycle_msec_;

public:
std::map<std::string, dynamixel::PortHandler *> ports_; // string: port name
std::map<std::string, std::string> port_default_device_; // port name, default device name
Expand All @@ -70,6 +76,8 @@ class Robot

Sensor *getSensor(std::string path, int id, std::string port, float protocol_version);
Dynamixel *getDynamixel(std::string path, int id, std::string port, float protocol_version);

int getControlCycle();
};

}
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16 changes: 15 additions & 1 deletion robotis_device/src/robotis_device/robot.cpp
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Expand Up @@ -76,6 +76,7 @@ static inline std::vector<std::string> split(const std::string &text, char sep)
}

Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
: control_cycle_msec_(DEFAULT_CONTROL_CYCLE)
{
if (dev_desc_dir_path.compare(dev_desc_dir_path.size() - 1, 1, "/") != 0)
dev_desc_dir_path += "/";
Expand Down Expand Up @@ -106,7 +107,16 @@ Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
continue;
}

if (session == SESSION_PORT_INFO)
if (session == SESSION_CONTROL_INFO)
{
std::vector<std::string> tokens = split(input_str, '=');
if (tokens.size() != 2)
continue;

if (tokens[0] == "control_cycle")
control_cycle_msec_ = std::atoi(tokens[1].c_str());
}
else if (session == SESSION_PORT_INFO)
{
std::vector<std::string> tokens = split(input_str, '|');
if (tokens.size() != 3)
Expand Down Expand Up @@ -485,3 +495,7 @@ Dynamixel *Robot::getDynamixel(std::string path, int id, std::string port, float
return dxl;
}

int Robot::getControlCycle()
{
return control_cycle_msec_;
}

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