From 283bdcd19f3f40f5d19282c76e6a7b9756e529b8 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Tue, 5 Apr 2022 14:39:21 +0200 Subject: [PATCH 01/27] Added rws client --- abb_rws_client/CMakeLists.txt | 79 ++ .../include/abb_rws_client/mapping.hpp | 260 ++++ .../include/abb_rws_client/rws_client.hpp | 29 + .../rws_service_provider_ros.hpp | 196 +++ .../rws_state_publisher_ros.hpp | 38 + .../include/abb_rws_client/utilities.hpp | 72 ++ abb_rws_client/package.xml | 26 + abb_rws_client/src/mapping.cpp | 478 +++++++ abb_rws_client/src/rws_client.cpp | 25 + abb_rws_client/src/rws_client_node.cpp | 26 + .../src/rws_service_provider_ros.cpp | 1146 +++++++++++++++++ .../src/rws_state_publisher_ros.cpp | 98 ++ abb_rws_client/src/utilities.cpp | 113 ++ 13 files changed, 2586 insertions(+) create mode 100644 abb_rws_client/CMakeLists.txt create mode 100644 abb_rws_client/include/abb_rws_client/mapping.hpp create mode 100644 abb_rws_client/include/abb_rws_client/rws_client.hpp create mode 100644 abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp create mode 100644 abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp create mode 100644 abb_rws_client/include/abb_rws_client/utilities.hpp create mode 100644 abb_rws_client/package.xml create mode 100644 abb_rws_client/src/mapping.cpp create mode 100644 abb_rws_client/src/rws_client.cpp create mode 100644 abb_rws_client/src/rws_client_node.cpp create mode 100644 abb_rws_client/src/rws_service_provider_ros.cpp create mode 100644 abb_rws_client/src/rws_state_publisher_ros.cpp create mode 100644 abb_rws_client/src/utilities.cpp diff --git a/abb_rws_client/CMakeLists.txt b/abb_rws_client/CMakeLists.txt new file mode 100644 index 0000000..a7999d2 --- /dev/null +++ b/abb_rws_client/CMakeLists.txt @@ -0,0 +1,79 @@ +cmake_minimum_required(VERSION 3.8) +project(abb_rws_client) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-W -Wall -Wextra + -Wwrite-strings -Wunreachable-code -Wpointer-arith + -Winit-self -Wredundant-decls + -Wno-unused-parameter -Wno-unused-function) +endif() + +set(THIS_PACKAGE_INCLUDE_DEPENDS + abb_egm_rws_managers + abb_egm_msgs + abb_robot_msgs + abb_rapid_msgs + abb_rapid_sm_addin_msgs + rclcpp + sensor_msgs +) + +# find dependencies +find_package(ament_cmake REQUIRED) + +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +########### +## Build ## +########### + +add_executable(rws_client + src/rws_client_node.cpp + src/rws_client.cpp + src/rws_service_provider_ros.cpp + src/rws_state_publisher_ros.cpp + src/utilities.cpp + src/mapping.cpp +) +ament_target_dependencies(rws_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(rws_client abb_egm_rws_managers::abb_egm_rws_managers) +target_include_directories( + rws_client + PRIVATE + include +) + +############# +## Install ## +############# + +install( + TARGETS rws_client + DESTINATION lib/${PROJECT_NAME} +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_export_include_directories(include) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) + +ament_package() diff --git a/abb_rws_client/include/abb_rws_client/mapping.hpp b/abb_rws_client/include/abb_rws_client/mapping.hpp new file mode 100644 index 0000000..14f6575 --- /dev/null +++ b/abb_rws_client/include/abb_rws_client/mapping.hpp @@ -0,0 +1,260 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +#ifndef ABB_RWS_CLIENT__MAPPING_HPP_ +#define ABB_RWS_CLIENT__MAPPING_HPP_ + +#include +#include + +#include +#include +#include + +namespace abb { +namespace robot { +namespace utilities { + +/** + * \brief Maps RAPID task execution state to ROS representation. + * + * \param state to map. + * + * \return uint8_t containing the mapped state. + */ +uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state); + +/** + * \brief Maps RobotWare StateMachine Add-In state to ROS representation. + * + * \param state to map. + * + * \return uint8_t containing the mapped state. + */ +uint8_t map_state_machine_state(const rws::RAPIDNum& state); + +/** + * \brief Maps RobotWare StateMachine Add-In EGM action to ROS representation. + * + * \param action to map. + * + * \return uint8_t containing the mapped state. + */ +uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action); + +/** + * \brief Maps RobotWare StateMachine Add-In SmartGripper command to RWS representation. + * + * \param command to map. + * + * \return unsigned int containing the mapped command. + * + * \throw std::runtime_error if the command is unknown. + */ +unsigned int map_state_machine_sg_command(const unsigned int command); + +/** + * \brief Maps a RAPID 'pos' data type from RWS to ROS representation. + * + * \param rws_pos to map. + * + * \return abb_rapid_msgs::Pos containing the mapped data. + */ +abb_rapid_msgs::msg::Pos map(const rws::Pos& rws_pos); + +/** + * \brief Maps a RAPID 'orient' data type from RWS to ROS representation. + * + * \param rws_orient to map. + * + * \return abb_rapid_msgs::Orient containing the mapped data. + */ +abb_rapid_msgs::msg::Orient map(const rws::Orient& rws_orient); + +/** + * \brief Maps a RAPID 'pose' data type from RWS to ROS representation. + * + * \param rws_pose to map. + * + * \return abb_rapid_msgs::Pose containing the mapped data. + */ +abb_rapid_msgs::msg::Pose map(const rws::Pose& rws_pose); + +/** + * \brief Maps a RAPID 'loaddata' data type from RWS to ROS representation. + * + * \param rws_loaddata to map. + * + * \return abb_rapid_msgs::LoadData containing the mapped data. + */ +abb_rapid_msgs::msg::LoadData map(const rws::LoadData& rws_loaddata); + +/** + * \brief Maps a RAPID 'tooldata' data type from RWS to ROS representation. + * + * \param rws_tooldata to map. + * + * \return abb_rapid_msgs::ToolData containing the mapped data. + */ +abb_rapid_msgs::msg::ToolData map(const rws::ToolData& rws_tooldata); + +/** + * \brief Maps a RAPID 'wobjdata' data type from RWS to ROS representation. + * + * \param rws_wobjdata to map. + * + * \return abb_rapid_msgs::WObjData containing the mapped data. + */ +abb_rapid_msgs::msg::WObjData map(const rws::WObjData& rws_wobjdata); + +/** + * \brief Maps a RobotWare StateMachine Add-In RAPID 'EGMSettings' data type from RWS to ROS + * representation. + * + * \param rws_egm_settings to map. + * + * \return abb_rapid_sm_addin_msgs::EGMSettings containing the mapped data. + */ +abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterface::EGMSettings& rws_egm_settings); + +/** + * \brief Maps a RAPID 'pos' data type from ROS to RWS representation. + * + * \param ros_pos to map. + * + * \return rws::Pos containing the mapped data. + */ +rws::Pos map(const abb_rapid_msgs::msg::Pos& ros_pos); + +/** + * \brief Maps a RAPID 'orient' data type from ROS to RWS representation. + * + * \param ros_orient to map. + * + * \return rws::Orient containing the mapped data. + */ +rws::Orient map(const abb_rapid_msgs::msg::Orient& ros_orient); + +/** + * \brief Maps a RAPID 'pose' data type from ROS to RWS representation. + * + * \param ros_pose to map. + * + * \return rws::Pose containing the mapped data. + */ +rws::Pose map(const abb_rapid_msgs::msg::Pose& ros_pose); + +/** + * \brief Maps a RAPID 'loaddata' data type from ROS to RWS representation. + * + * \param ros_loaddata to map. + * + * \return rws::LoadData containing the mapped data. + */ +rws::LoadData map(const abb_rapid_msgs::msg::LoadData& ros_loaddata); + +/** + * \brief Maps a RAPID 'tooldata' data type from ROS to RWS representation. + * + * \param ros_tooldata to map. + * + * \return rws::ToolData containing the mapped data. + */ +rws::ToolData map(const abb_rapid_msgs::msg::ToolData& ros_tooldata); + +/** + * \brief Maps a RAPID 'wobjdata' data type from ROS to RWS representation. + * + * \param ros_wobjdata to map. + * + * \return rws::WObjData containing the mapped data. + */ +rws::WObjData map(const abb_rapid_msgs::msg::WObjData& ros_wobjdata); + +/** + * \brief Maps a RobotWare StateMachine Add-In RAPID 'EGMSettings' data type from ROS to RWS + * representation. + * + * \param ros_egm_settings to map. + * + * \return rws::RWSStateMachineInterface::EGMSettings containing the mapped data. + */ +rws::RWSStateMachineInterface::EGMSettings map(const abb_rapid_sm_addin_msgs::msg::EGMSettings& ros_egm_settings); + +/** + * \brief Maps EGM state to ROS representation. + * + * \param state to map. + * + * \return uint8_t containing the mapped state. + */ +uint8_t map(const egm::wrapper::Status::EGMState state); + +/** + * \brief Maps motor state to ROS representation. + * + * \param state to map. + * + * \return uint8_t containing the mapped state. + */ +uint8_t map(const egm::wrapper::Status::MotorState state); + +/** + * \brief Maps RAPID execution state to ROS representation. + * + * \param state to map. + * + * \return uint8_t containing the mapped state. + */ +uint8_t map(const egm::wrapper::Status::RAPIDExecutionState rapid_execution_state); + +/** + * \brief Maps a vector to a string (e.g. for logging). + * + * \param vector to map. + * + * \return std::string of the mapped vector. + * + * \throw std::runtime if the mapping failed. + */ +template +std::string map_vector_to_string(const std::vector& vector); + +} // namespace utilities +} // namespace robot +} // namespace abb + +#endif // ABB_RWS_CLIENT__MAPPING_HPP_ diff --git a/abb_rws_client/include/abb_rws_client/rws_client.hpp b/abb_rws_client/include/abb_rws_client/rws_client.hpp new file mode 100644 index 0000000..03c41fa --- /dev/null +++ b/abb_rws_client/include/abb_rws_client/rws_client.hpp @@ -0,0 +1,29 @@ +#ifndef ABB_RWS_CLIENT__RWS_CLIENT_HPP__ +#define ABB_RWS_CLIENT__RWS_CLIENT_HPP__ + +// ROS +#include + +// ABB +#include +#include + +namespace abb_rws_client { + +class RWSClient { + public: + RWSClient(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port); + + protected: + rclcpp::Node::SharedPtr node_; + abb::robot::RWSManager rws_manager_; + + abb::robot::RobotControllerDescription robot_controller_description_; + + private: + void connect(); +}; + +} // namespace abb_rws_client + +#endif // ABB_RWS_CLIENT__RWS_CLIENT_HPP__ diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp new file mode 100644 index 0000000..0820444 --- /dev/null +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -0,0 +1,196 @@ +#ifndef ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ +#define ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ + +#include + +#include "abb_rws_client/rws_client.hpp" + +// SYSMTEM + +#include +#include + +// ROS + +#include + +// ABB MSG + +#include +#include + +// ABB SRV + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace abb_rws_client { + +class RWSServiceProviderROS : RWSClient { + public: + RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); + + private: + void system_state_callback(const abb_robot_msgs::msg::SystemState& msg); + + void runtime_state_callback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg); + + bool get_file_contents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res); + + bool get_io_signal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res); + + bool get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res); + + bool get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res); + + bool get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res); + + bool get_rapid_string(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res); + + bool get_rapid_symbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res); + + bool get_rc_description(const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, + abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res); + + bool get_speed_ratio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr req, + abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res); + + bool pp_to_main(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool run_rapid_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool run_sg_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool set_file_contents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res); + + bool set_io_signal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res); + + bool set_motors_off(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool set_motors_on(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res); + + bool set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res); + + bool set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res); + + bool set_rapid_string(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res); + + bool set_rapid_symbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res); + + bool set_speed_ratio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, + abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res); + + bool start_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool stop_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool get_egm_settings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res); + + bool set_egm_settings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res); + + bool set_rapid_routine(const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res); + + bool set_sg_command(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res); + + bool start_egm_joint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool start_egm_pose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool start_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool stop_egm(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool stop_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool verify_auto_mode(uint16_t& result_code, std::string& message); + + bool verify_argument_filename(const std::string& filename, uint16_t& result_code, std::string& message); + + bool verify_argument_rapid_symbol_path(const abb_robot_msgs::msg::RAPIDSymbolPath& path, uint16_t& result_code, + std::string& message); + + bool verify_argument_rapid_task(const std::string& task, uint16_t& result_code, std::string& message); + + bool verify_argument_signal(const std::string& signal, uint16_t& result_code, std::string& message); + + bool verify_motors_off(uint16_t& result_code, std::string& message); + + bool verify_motors_on(uint16_t& result_code, std::string& message); + + bool verify_sm_addin_runtime_states(uint16_t& result_code, std::string& message); + + bool verify_sm_addin_task_exist(const std::string& task, uint16_t& result_code, std::string& message); + + bool verify_sm_addin_task_initialized(const std::string& task, uint16_t& result_code, std::string& message); + + bool verify_rapid_running(uint16_t& result_code, std::string& message); + + bool verify_rapid_stopped(uint16_t& result_code, std::string& message); + + bool verify_rws_manager_ready(uint16_t& result_code, std::string& message); + + rclcpp::Subscription::SharedPtr system_state_sub_; + rclcpp::Subscription::SharedPtr runtime_state_sub_; + + std::vector core_services_; + std::vector sm_services_; + + abb_robot_msgs::msg::SystemState system_state_; + abb_rapid_sm_addin_msgs::msg::RuntimeState runtime_state_; +}; + +} // namespace abb_rws_client + +#endif // ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ diff --git a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp new file mode 100644 index 0000000..d2bbe88 --- /dev/null +++ b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp @@ -0,0 +1,38 @@ +#ifndef ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ +#define ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ + +#include "abb_rws_client/rws_client.hpp" + +// ROS +#include + +// ROS INTERFACES +#include + +// ABB INTERFACES +#include +#include +#include + +namespace abb_rws_client { + +class RWSStatePublisherROS : RWSClient { + public: + RWSStatePublisherROS(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port); + + private: + void timer_callback(); + + rclcpp::TimerBase::SharedPtr timer_; + + rclcpp::Publisher::SharedPtr joint_state_pub_; + rclcpp::Publisher::SharedPtr system_state_pub_; + rclcpp::Publisher::SharedPtr runtime_state_pub_; + + abb::robot::MotionData motion_data_; + abb::robot::SystemStateData system_state_data_; +}; + +} // namespace abb_rws_client + +#endif // ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ diff --git a/abb_rws_client/include/abb_rws_client/utilities.hpp b/abb_rws_client/include/abb_rws_client/utilities.hpp new file mode 100644 index 0000000..0e0941c --- /dev/null +++ b/abb_rws_client/include/abb_rws_client/utilities.hpp @@ -0,0 +1,72 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/initialization.h + +#pragma once + +#include + +namespace abb { +namespace robot { +namespace utilities { +/** + * \brief Attempts to establish a connection to a robot controller's RWS server. + * + * If a connection is established, then a structured description of the robot + * controller is returned. + * + * \param rws_manager for handling the RWS communication with the robot + * controller. \param robot_controller_id for an identifier/nickname for the + * targeted robot controller. \param no_connection_timeout indicator whether to + * wait indefinitely on the robot controller. + * + * \return RobotControllerDescription of the robot controller. + * + * \throw std::runtime_error if unable to establish a connection. + */ +RobotControllerDescription establish_rws_connection(RWSManager &rws_manager, const std::string &robot_controller_id, + const bool no_connection_timeout); + +void verify_robotware_version(const RobotWareVersion &rw_version); + +bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicators); + +} // namespace utilities +} // namespace robot +} // namespace abb diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml new file mode 100644 index 0000000..de23dc2 --- /dev/null +++ b/abb_rws_client/package.xml @@ -0,0 +1,26 @@ + + + + abb_rws_client + 0.0.0 + TODO: Package description + Grzegorz Bartyzel + Apache2 + + rclcpp + abb_egm_rws_managers + sensor_msgs + abb_egm_msgs + abb_rapid_msgs + abb_robot_msgs + abb_rapid_sm_addin_msgs + + ament_cmake_gtest + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/abb_rws_client/src/mapping.cpp b/abb_rws_client/src/mapping.cpp new file mode 100644 index 0000000..25c1824 --- /dev/null +++ b/abb_rws_client/src/mapping.cpp @@ -0,0 +1,478 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// System +#include +#include +#include + +// ROS + +// ABB INTERFACES +#include +#include +#include +#include + +#include "abb_rws_client/mapping.hpp" + +namespace { +/** + * \brief Name for ROS logging in the 'mapping' context. + */ +constexpr char ROS_LOG_MAPPING[]{"mapping"}; +} // namespace + +namespace abb { +namespace robot { +namespace utilities { + +/*********************************************************************************************************************** + * Utility function definitions (mapping from RWS to ROS representations) + */ + +uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) { + switch (state) { + case rws::RWSInterface::UNKNOWN: + return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_UNKNOWN; + break; + + case rws::RWSInterface::READY: + return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_READY; + break; + + case rws::RWSInterface::STOPPED: + return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_STOPPED; + break; + + case rws::RWSInterface::STARTED: + return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_STARTED; + break; + + case rws::RWSInterface::UNINITIALIZED: + return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_UNINITIALIZED; + break; + + default: + return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_UNKNOWN; + break; + } +} + +uint8_t map_state_machine_state(const rws::RAPIDNum& state) { + // Note: Inspect the StateMachine Add-In's RAPID implementation to see defined states. + switch (static_cast(state.value)) { + case 0: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_IDLE; + break; + + case 1: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_INITIALIZE; + break; + + case 2: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_RUN_RAPID_ROUTINE; + break; + + case 3: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_RUN_EGM_ROUTINE; + break; + + default: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_UNKNOWN; + break; + } +} + +uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action) { + // Note: Inspect the StateMachine Add-In's RAPID implementation to see defined EGM actions. + switch (static_cast(action.value)) { + case 0: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_NONE; + break; + + case 1: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_RUN_JOINT; + break; + + case 2: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_RUN_POSE; + break; + + case 3: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_STOP; + break; + + case 4: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_START_STREAM; + break; + + case 5: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_STOP_STREAM; + break; + + default: + return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_UNKNOWN; + break; + } +} + +abb_rapid_msgs::msg::Pos map(const rws::Pos& rws_pos) { + abb_rapid_msgs::msg::Pos ros_pos{}; + ros_pos.x = rws_pos.x.value; + ros_pos.y = rws_pos.y.value; + ros_pos.z = rws_pos.z.value; + return ros_pos; +} + +abb_rapid_msgs::msg::Orient map(const rws::Orient& rws_orient) { + abb_rapid_msgs::msg::Orient ros_orient{}; + ros_orient.q1 = rws_orient.q1.value; + ros_orient.q2 = rws_orient.q2.value; + ros_orient.q3 = rws_orient.q3.value; + ros_orient.q4 = rws_orient.q4.value; + return ros_orient; +} + +abb_rapid_msgs::msg::Pose map(const rws::Pose& rws_pose) { + abb_rapid_msgs::msg::Pose ros_pose{}; + ros_pose.trans = map(rws_pose.pos); + ros_pose.rot = map(rws_pose.rot); + return ros_pose; +} + +abb_rapid_msgs::msg::LoadData map(const rws::LoadData& rws_loaddata) { + abb_rapid_msgs::msg::LoadData ros_loaddata{}; + ros_loaddata.mass = rws_loaddata.mass.value; + ros_loaddata.cog = map(rws_loaddata.cog); + ros_loaddata.aom = map(rws_loaddata.aom); + ros_loaddata.ix = rws_loaddata.ix.value; + ros_loaddata.iy = rws_loaddata.iy.value; + ros_loaddata.iz = rws_loaddata.iz.value; + return ros_loaddata; +} + +abb_rapid_msgs::msg::ToolData map(const rws::ToolData& rws_tooldata) { + abb_rapid_msgs::msg::ToolData ros_tooldata{}; + ros_tooldata.robhold = rws_tooldata.robhold.value; + ros_tooldata.tframe = map(rws_tooldata.tframe); + ros_tooldata.tload = map(rws_tooldata.tload); + return ros_tooldata; +} + +abb_rapid_msgs::msg::WObjData map(const rws::WObjData& rws_wobjdata) { + abb_rapid_msgs::msg::WObjData ros_wobjdata{}; + ros_wobjdata.robhold = rws_wobjdata.robhold.value; + ros_wobjdata.ufprog = rws_wobjdata.ufprog.value; + ros_wobjdata.ufmec = rws_wobjdata.ufmec.value; + ros_wobjdata.uframe = map(rws_wobjdata.uframe); + ros_wobjdata.oframe = map(rws_wobjdata.oframe); + return ros_wobjdata; +} + +abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterface::EGMSettings& rws_egm_settings) { + abb_rapid_sm_addin_msgs::msg::EGMSettings ros_egm_settings{}; + + ros_egm_settings.allow_egm_motions = rws_egm_settings.allow_egm_motions.value; + ros_egm_settings.use_presync = rws_egm_settings.use_presync.value; + + ros_egm_settings.setup_uc.use_filtering = rws_egm_settings.setup_uc.use_filtering.value; + ros_egm_settings.setup_uc.comm_timeout = rws_egm_settings.setup_uc.comm_timeout.value; + + ros_egm_settings.activate.tool = utilities::map(rws_egm_settings.activate.tool); + ros_egm_settings.activate.wobj = utilities::map(rws_egm_settings.activate.wobj); + ros_egm_settings.activate.correction_frame = utilities::map(rws_egm_settings.activate.correction_frame); + ros_egm_settings.activate.sensor_frame = utilities::map(rws_egm_settings.activate.sensor_frame); + ros_egm_settings.activate.cond_min_max = rws_egm_settings.activate.cond_min_max.value; + ros_egm_settings.activate.lp_filter = rws_egm_settings.activate.lp_filter.value; + ros_egm_settings.activate.sample_rate = rws_egm_settings.activate.sample_rate.value; + ros_egm_settings.activate.max_speed_deviation = rws_egm_settings.activate.max_speed_deviation.value; + + ros_egm_settings.run.cond_time = rws_egm_settings.run.cond_time.value; + ros_egm_settings.run.ramp_in_time = rws_egm_settings.run.ramp_in_time.value; + ros_egm_settings.run.offset = utilities::map(rws_egm_settings.run.offset); + ros_egm_settings.run.pos_corr_gain = rws_egm_settings.run.pos_corr_gain.value; + + ros_egm_settings.stop.ramp_out_time = rws_egm_settings.stop.ramp_out_time.value; + + return ros_egm_settings; +} + +/*********************************************************************************************************************** + * Utility function definitions (mapping from ROS to RWS representations) + */ + +unsigned int map_state_machine_sg_command(const unsigned int command) { + switch (command) { + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_NONE: + return rws::RWSStateMachineInterface::SG_COMMAND_NONE; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_INITIALIZE: + return rws::RWSStateMachineInterface::SG_COMMAND_INITIALIZE; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_CALIBRATE: + return rws::RWSStateMachineInterface::SG_COMMAND_CALIBRATE; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_MOVE_TO: + return rws::RWSStateMachineInterface::SG_COMMAND_MOVE_TO; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_GRIP_IN: + return rws::RWSStateMachineInterface::SG_COMMAND_GRIP_IN; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_GRIP_OUT: + return rws::RWSStateMachineInterface::SG_COMMAND_GRIP_OUT; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_ON_1: + return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_ON_1; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_ON_2: + return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_ON_2; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_OFF_1: + return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_OFF_1; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_OFF_2: + return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_OFF_2; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_ON_1: + return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_ON_1; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_ON_2: + return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_ON_2; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_OFF_1: + return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_OFF_1; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_OFF_2: + return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_OFF_2; + break; + + case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_UNKNOWN: + default: + throw std::runtime_error{"Unknown SmartGripper command"}; + break; + } +} + +rws::Pos map(const abb_rapid_msgs::msg::Pos& ros_pos) { + rws::Pos rws_pos{}; + rws_pos.x.value = ros_pos.x; + rws_pos.y.value = ros_pos.y; + rws_pos.z.value = ros_pos.z; + return rws_pos; +} + +rws::Orient map(const abb_rapid_msgs::msg::Orient& ros_orient) { + rws::Orient rws_orient{}; + rws_orient.q1 = ros_orient.q1; + rws_orient.q2 = ros_orient.q2; + rws_orient.q3 = ros_orient.q3; + rws_orient.q4 = ros_orient.q4; + return rws_orient; +} + +rws::Pose map(const abb_rapid_msgs::msg::Pose& ros_pose) { + rws::Pose rws_pose{}; + rws_pose.pos = map(ros_pose.trans); + rws_pose.rot = map(ros_pose.rot); + return rws_pose; +} + +rws::LoadData map(const abb_rapid_msgs::msg::LoadData& ros_loaddata) { + rws::LoadData rws_loaddata{}; + rws_loaddata.mass.value = ros_loaddata.mass; + rws_loaddata.cog = map(ros_loaddata.cog); + rws_loaddata.aom = map(ros_loaddata.aom); + rws_loaddata.ix.value = ros_loaddata.ix; + rws_loaddata.iy.value = ros_loaddata.iy; + rws_loaddata.iz.value = ros_loaddata.iz; + return rws_loaddata; +} + +rws::ToolData map(const abb_rapid_msgs::msg::ToolData& ros_tooldata) { + rws::ToolData rws_tooldata{}; + rws_tooldata.robhold = ros_tooldata.robhold; + rws_tooldata.tframe = map(ros_tooldata.tframe); + rws_tooldata.tload = map(ros_tooldata.tload); + return rws_tooldata; +} + +rws::WObjData map(const abb_rapid_msgs::msg::WObjData& ros_wobjdata) { + rws::WObjData rws_wobjdata{}; + rws_wobjdata.robhold.value = ros_wobjdata.robhold; + rws_wobjdata.ufprog.value = ros_wobjdata.ufprog; + rws_wobjdata.ufmec.value = ros_wobjdata.ufmec; + rws_wobjdata.uframe = map(ros_wobjdata.uframe); + rws_wobjdata.oframe = map(ros_wobjdata.oframe); + return rws_wobjdata; +} + +rws::RWSStateMachineInterface::EGMSettings map(const abb_rapid_sm_addin_msgs::msg::EGMSettings& ros_egm_settings) { + rws::RWSStateMachineInterface::EGMSettings rws_egm_settings{}; + + rws_egm_settings.allow_egm_motions.value = ros_egm_settings.allow_egm_motions; + rws_egm_settings.use_presync.value = ros_egm_settings.use_presync; + + rws_egm_settings.setup_uc.use_filtering.value = ros_egm_settings.setup_uc.use_filtering; + rws_egm_settings.setup_uc.comm_timeout.value = ros_egm_settings.setup_uc.comm_timeout; + + rws_egm_settings.activate.tool = utilities::map(ros_egm_settings.activate.tool); + rws_egm_settings.activate.wobj = utilities::map(ros_egm_settings.activate.wobj); + rws_egm_settings.activate.correction_frame = utilities::map(ros_egm_settings.activate.correction_frame); + rws_egm_settings.activate.sensor_frame = utilities::map(ros_egm_settings.activate.sensor_frame); + rws_egm_settings.activate.cond_min_max = ros_egm_settings.activate.cond_min_max; + rws_egm_settings.activate.lp_filter = ros_egm_settings.activate.lp_filter; + rws_egm_settings.activate.sample_rate = ros_egm_settings.activate.sample_rate; + rws_egm_settings.activate.max_speed_deviation = ros_egm_settings.activate.max_speed_deviation; + + rws_egm_settings.run.cond_time = ros_egm_settings.run.cond_time; + rws_egm_settings.run.ramp_in_time = ros_egm_settings.run.ramp_in_time; + rws_egm_settings.run.offset = utilities::map(ros_egm_settings.run.offset); + rws_egm_settings.run.pos_corr_gain = ros_egm_settings.run.pos_corr_gain; + + rws_egm_settings.stop.ramp_out_time = ros_egm_settings.stop.ramp_out_time; + + return rws_egm_settings; +} + +/*********************************************************************************************************************** + * Utility function definitions (mapping from EGM to ROS representations) + */ + +uint8_t map(egm::wrapper::Status::EGMState state) { + switch (state) { + case egm::wrapper::Status::EGM_ERROR: + return abb_egm_msgs::msg::EGMChannelState::EGM_ERROR; + break; + + case egm::wrapper::Status::EGM_STOPPED: + return abb_egm_msgs::msg::EGMChannelState::EGM_STOPPED; + break; + + case egm::wrapper::Status::EGM_RUNNING: + return abb_egm_msgs::msg::EGMChannelState::EGM_RUNNING; + break; + + case egm::wrapper::Status::EGM_UNDEFINED: + default: + return abb_egm_msgs::msg::EGMChannelState::EGM_UNDEFINED; + break; + } +} + +uint8_t map(egm::wrapper::Status::MotorState state) { + switch (state) { + case egm::wrapper::Status::MOTORS_ON: + return abb_egm_msgs::msg::EGMChannelState::MOTORS_ON; + break; + + case egm::wrapper::Status::MOTORS_OFF: + return abb_egm_msgs::msg::EGMChannelState::MOTORS_OFF; + break; + + case egm::wrapper::Status::MOTORS_UNDEFINED: + default: + return abb_egm_msgs::msg::EGMChannelState::MOTORS_UNDEFINED; + break; + } +} + +uint8_t map(egm::wrapper::Status::RAPIDExecutionState state) { + switch (state) { + case egm::wrapper::Status::RAPID_STOPPED: + return abb_egm_msgs::msg::EGMChannelState::RAPID_STOPPED; + break; + + case egm::wrapper::Status::RAPID_RUNNING: + return abb_egm_msgs::msg::EGMChannelState::RAPID_RUNNING; + break; + + case egm::wrapper::Status::RAPID_UNDEFINED: + default: + return abb_egm_msgs::msg::EGMChannelState::RAPID_UNDEFINED; + break; + } +} + +/*********************************************************************************************************************** + * Utility template function definitions + */ + +template +std::string map_vector_to_string(const std::vector& vector) { + std::stringstream ss{}; + + ss << "["; + for (size_t i{0}; i < vector.size(); ++i) { + ss << vector[i]; + + if (ss.fail()) { + std::string error_message{"Failed to map vector to string"}; + throw std::runtime_error{error_message}; + } + + ss << (i < vector.size() - 1 ? ", " : ""); + } + ss << "]"; + + return ss.str(); +} + +/*********************************************************************************************************************** + * Utility template function instantiations + */ + +template std::string map_vector_to_string(const std::vector& vector); +template std::string map_vector_to_string(const std::vector& vector); +template std::string map_vector_to_string(const std::vector& vector); +template std::string map_vector_to_string(const std::vector& vector); + +} // namespace utilities +} // namespace robot +} // namespace abb diff --git a/abb_rws_client/src/rws_client.cpp b/abb_rws_client/src/rws_client.cpp new file mode 100644 index 0000000..0f5c149 --- /dev/null +++ b/abb_rws_client/src/rws_client.cpp @@ -0,0 +1,25 @@ +#include "abb_rws_client/rws_client.hpp" + +#include "abb_rws_client/utilities.hpp" + +namespace abb_rws_client { +RWSClient::RWSClient(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port) + : node_(node), + rws_manager_{robot_ip, robot_port, abb::rws::SystemConstants::General::DEFAULT_USERNAME, + abb::rws::SystemConstants::General::DEFAULT_PASSWORD} { + node_->declare_parameter("robot_nickname", std::string{}); + node_->declare_parameter("no_connection_timeout", false); + + connect(); +} +void RWSClient::connect() { + std::string robot_id; + bool no_connection_timeout; + + node_->get_parameter("robot_nickname", robot_id); + node_->get_parameter("no_connection_timeout", no_connection_timeout); + robot_controller_description_ = + abb::robot::utilities::establish_rws_connection(rws_manager_, robot_id, no_connection_timeout); + abb::robot::utilities::verify_robotware_version(robot_controller_description_.header().robot_ware_version()); +} +} // namespace abb_rws_client diff --git a/abb_rws_client/src/rws_client_node.cpp b/abb_rws_client/src/rws_client_node.cpp new file mode 100644 index 0000000..af3c152 --- /dev/null +++ b/abb_rws_client/src/rws_client_node.cpp @@ -0,0 +1,26 @@ +#include + +#include "abb_rws_client/rws_service_provider_ros.hpp" +#include "abb_rws_client/rws_state_publisher_ros.hpp" + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + + rclcpp::Node::SharedPtr client_node = rclcpp::Node::make_shared("rws"); + + std::string robot_ip = client_node->declare_parameter("robot_ip", "127.0.0.1"); + int robot_port = client_node->declare_parameter("robot_port", 65535); + + client_node->get_parameter("robot_ip", robot_ip); + client_node->get_parameter("robot_port", robot_port); + + abb_rws_client::RWSServiceProviderROS srv_provider(client_node, robot_ip, robot_port); + abb_rws_client::RWSStatePublisherROS state_publisher(client_node, robot_ip, robot_port); + + rclcpp::executors::MultiThreadedExecutor exec; + exec.add_node(client_node); + + exec.spin(); + + return 0; +} diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp new file mode 100644 index 0000000..1f7ff1f --- /dev/null +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -0,0 +1,1146 @@ +#include "abb_rws_client/rws_service_provider_ros.hpp" + +#include + +#include "abb_rws_client/mapping.hpp" +#include "abb_rws_client/utilities.hpp" + +using RAPIDSymbols = abb::rws::RWSStateMachineInterface::ResourceIdentifiers::RAPID::Symbols; + +namespace abb_rws_client { +RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, + unsigned short robot_port) + : RWSClient(node, robot_ip, robot_port) { + system_state_sub_ = node_->create_subscription( + "system_states", 10, std::bind(&RWSServiceProviderROS::system_state_callback, this, std::placeholders::_1)); + runtime_state_sub_ = node_->create_subscription( + "sm_addin/runtime_states", 10, + std::bind(&RWSServiceProviderROS::runtime_state_callback, this, std::placeholders::_1)); + + core_services_.push_back(node_->create_service( + "~/get_robot_controller_description", + std::bind(&RWSServiceProviderROS::get_rc_description, this, std::placeholders::_1, std::placeholders::_2))); + + core_services_.push_back(node_->create_service( + "~/get_file_contents", + std::bind(&RWSServiceProviderROS::get_file_contents, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/get_io_signal", + std::bind(&RWSServiceProviderROS::get_io_signal, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/get_rapid_bool", + std::bind(&RWSServiceProviderROS::get_rapid_bool, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/get_rapid_dnum", + std::bind(&RWSServiceProviderROS::get_rapid_dnum, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/get_rapid_num", + std::bind(&RWSServiceProviderROS::get_rapid_num, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/get_rapid_string", + std::bind(&RWSServiceProviderROS::get_rapid_string, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/get_rapid_symbol", + std::bind(&RWSServiceProviderROS::get_rapid_symbol, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/get_speed_ratio", + std::bind(&RWSServiceProviderROS::get_speed_ratio, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/pp_to_main", + std::bind(&RWSServiceProviderROS::pp_to_main, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_file_contents", + std::bind(&RWSServiceProviderROS::set_file_contents, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_io_signal", + std::bind(&RWSServiceProviderROS::set_io_signal, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_motors_off", + std::bind(&RWSServiceProviderROS::set_motors_off, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_motors_on", + std::bind(&RWSServiceProviderROS::set_motors_on, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_rapid_bool", + std::bind(&RWSServiceProviderROS::set_rapid_bool, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_rapid_dnum", + std::bind(&RWSServiceProviderROS::set_rapid_dnum, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_rapid_num", + std::bind(&RWSServiceProviderROS::set_rapid_num, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_rapid_string", + std::bind(&RWSServiceProviderROS::set_rapid_string, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_rapid_symbol", + std::bind(&RWSServiceProviderROS::set_rapid_symbol, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/set_speed_ratio", + std::bind(&RWSServiceProviderROS::set_speed_ratio, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/start_rapid", + std::bind(&RWSServiceProviderROS::start_rapid, this, std::placeholders::_1, std::placeholders::_2))); + core_services_.push_back(node_->create_service( + "~/stop_rapid", + std::bind(&RWSServiceProviderROS::stop_rapid, this, std::placeholders::_1, std::placeholders::_2))); + + const auto& system_indicators = robot_controller_description_.system_indicators(); + + auto has_sm_1_0 = system_indicators.addins().has_state_machine_1_0(); + auto has_sm_1_1 = system_indicators.addins().has_state_machine_1_1(); + if (has_sm_1_0) { + RCLCPP_DEBUG_STREAM(node_->get_logger(), "StateMachine Add-In 1.0 detected"); + } else if (has_sm_1_1) { + RCLCPP_DEBUG_STREAM(node_->get_logger(), "StateMachine Add-In 1.1 detected"); + } else { + RCLCPP_DEBUG_STREAM(node_->get_logger(), "No StateMachine Add-In detected"); + } + + if (has_sm_1_0 || has_sm_1_1) { + sm_services_.push_back(node_->create_service( + "~/run_rapid_routine", + std::bind(&RWSServiceProviderROS::run_rapid_routine, this, std::placeholders::_1, std::placeholders::_2))); + sm_services_.push_back(node_->create_service( + "~/set_rapid_routine", + std::bind(&RWSServiceProviderROS::set_rapid_routine, this, std::placeholders::_1, std::placeholders::_2))); + if (system_indicators.options().egm()) { + sm_services_.push_back(node_->create_service( + "get_egm_settings", + std::bind(&RWSServiceProviderROS::get_egm_settings, this, std::placeholders::_1, std::placeholders::_2))); + sm_services_.push_back(node_->create_service( + "set_egm_settings", + std::bind(&RWSServiceProviderROS::set_egm_settings, this, std::placeholders::_1, std::placeholders::_2))); + sm_services_.push_back(node_->create_service( + "start_egm_joint", + std::bind(&RWSServiceProviderROS::start_egm_joint, this, std::placeholders::_1, std::placeholders::_2))); + sm_services_.push_back(node_->create_service( + "start_egm_pose", + std::bind(&RWSServiceProviderROS::start_egm_pose, this, std::placeholders::_1, std::placeholders::_2))); + sm_services_.push_back(node_->create_service( + "stop_egm", std::bind(&RWSServiceProviderROS::stop_egm, this, std::placeholders::_1, std::placeholders::_2))); + if (has_sm_1_1) { + sm_services_.push_back(node_->create_service( + "start_egm_stream", + std::bind(&RWSServiceProviderROS::start_egm_stream, this, std::placeholders::_1, std::placeholders::_2))); + sm_services_.push_back(node_->create_service( + "stop_egm_stream", + std::bind(&RWSServiceProviderROS::stop_egm_stream, this, std::placeholders::_1, std::placeholders::_2))); + } + } + + if (system_indicators.addins().smart_gripper()) { + sm_services_.push_back(node_->create_service( + "run_sg_routine", + std::bind(&RWSServiceProviderROS::run_sg_routine, this, std::placeholders::_1, std::placeholders::_2))); + sm_services_.push_back(node_->create_service( + "set_sg_command", + std::bind(&RWSServiceProviderROS::set_sg_command, this, std::placeholders::_1, std::placeholders::_2))); + } + } +} + +void RWSServiceProviderROS::system_state_callback(const abb_robot_msgs::msg::SystemState& msg) { system_state_ = msg; } + +void RWSServiceProviderROS::runtime_state_callback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg) { + runtime_state_ = msg; +} + +bool RWSServiceProviderROS::get_rc_description( + const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, + abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res) { + res->description = robot_controller_description_.DebugString(); + + res->message = abb_robot_msgs::msg::ServiceResponses::SUCCESS; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + + return true; +} + +bool RWSServiceProviderROS::get_file_contents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res) { + if (!verify_argument_filename(req->filename, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.getFile(abb::rws::RWSClient::FileResource(req->filename), &res->contents)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_io_signal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res) { + if (!verify_argument_signal(req->signal, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + res->value = interface.getIOSignal(req->signal); + + if (!res->value.empty()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDBool rapid_bool; + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_bool)) { + res->value = rapid_bool.value; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDDnum rapid_dnum; + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_dnum)) { + res->value = rapid_dnum.value; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDNum rapid_num{}; + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_num)) { + res->value = rapid_num.value; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_rapid_string(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDString rapid_string{}; + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_string)) { + res->value = rapid_string.value; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_rapid_symbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + res->value = interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol); + + if (!res->value.empty()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_speed_ratio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr, + abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res) { + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + try { + res->speed_ratio = interface.getSpeedRatio(); + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } catch (const std::runtime_error& exception) { + res->message = exception.what(); + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + } + }); + + return true; +} + +bool RWSServiceProviderROS::pp_to_main(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_stopped(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.resetRAPIDProgramPointer()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} +bool RWSServiceProviderROS::run_rapid_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().rapid().signalRunRAPIDRoutine()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::run_sg_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().sg().signalRunSGRoutine()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_file_contents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res) { + if (!verify_argument_filename(req->filename, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.uploadFile(abb::rws::RWSClient::FileResource(req->filename), req->contents)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_io_signal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res) { + if (!verify_argument_signal(req->signal, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.setIOSignal(req->signal, req->value)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_motors_off(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_motors_on(res->result_code, res->message)) { + return true; + } + + rws_manager_.runPriorityService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.setMotorsOff()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_motors_on(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_motors_off(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.setMotorsOn()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDBool rapid_bool = static_cast(req->value); + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_bool)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDDnum rapid_dnum = req->value; + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_dnum)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDNum rapid_num = req->value; + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_num)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_rapid_string(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDString rapid_string = req->value; + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_string)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_rapid_symbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res) { + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, req->value)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_speed_ratio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, + abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + try { + if (interface.setSpeedRatio(req->speed_ratio)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + } catch (const std::exception& exception) { + res->message = exception.what(); + } + }); + + return true; +} + +bool RWSServiceProviderROS::start_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_motors_on(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.startRAPIDExecution()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::stop_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + + rws_manager_.runPriorityService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.stopRAPIDExecution()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::get_egm_settings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res) { + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RWSStateMachineInterface::EGMSettings settings; + + if (interface.services().egm().getSettings(req->task, &settings)) { + res->settings = abb::robot::utilities::map(settings); + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_egm_settings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res) { + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RWSStateMachineInterface::EGMSettings settings = abb::robot::utilities::map(req->settings); + + if (interface.services().egm().setSettings(req->task, settings)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_rapid_routine( + const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res) { + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().rapid().setRoutineName(req->task, req->routine)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res) { + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + unsigned int req_command = 0; + try { + req_command = abb::robot::utilities::map_state_machine_sg_command(req->command); + } catch (const std::runtime_error& exception) { + res->message = exception.what(); + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + abb::rws::RAPIDNum sg_command_input = static_cast(req_command); + abb::rws::RAPIDNum sg_target_position_input = req->target_position; + + if (interface.setRAPIDSymbolData(req->task, RAPIDSymbols::SG_COMMAND_INPUT, sg_command_input) && + interface.setRAPIDSymbolData(req->task, RAPIDSymbols::SG_TARGET_POSTION_INPUT, sg_target_position_input)) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::start_egm_joint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().egm().signalEGMStartJoint()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::start_egm_pose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().egm().signalEGMStartPose()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::start_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().egm().signalEGMStartStream()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + } + }); + + return true; +} + +bool RWSServiceProviderROS::stop_egm(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runPriorityService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().egm().signalEGMStop()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::stop_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { + if (!verify_auto_mode(res->result_code, res->message)) { + return true; + } + if (!verify_rapid_running(res->result_code, res->message)) { + return true; + } + if (!verify_rws_manager_ready(res->result_code, res->message)) { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().egm().signalEGMStopStream()) { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } else { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::verify_auto_mode(uint16_t& result_code, std::string& message) { + if (!system_state_.auto_mode) { + message = abb_robot_msgs::msg::ServiceResponses::NOT_IN_AUTO_MODE; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_NOT_IN_AUTO_MODE; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_argument_filename(const std::string& filename, uint16_t& result_code, + std::string& message) { + if (filename.empty()) { + message = abb_robot_msgs::msg::ServiceResponses::EMPTY_FILENAME; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_FILENAME; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_argument_rapid_symbol_path(const abb_robot_msgs::msg::RAPIDSymbolPath& path, + uint16_t& result_code, std::string& message) { + if (path.task.empty()) { + message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_TASK_NAME; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_TASK_NAME; + return false; + } + + if (path.module.empty()) { + message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_MODULE_NAME; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_MODULE_NAME; + return false; + } + + if (path.symbol.empty()) { + message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_SYMBOL_NAME; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_SYMBOL_NAME; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_argument_rapid_task(const std::string& task, uint16_t& result_code, + std::string& message) { + if (task.empty()) { + message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_TASK_NAME; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_TASK_NAME; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_argument_signal(const std::string& signal, uint16_t& result_code, + std::string& message) { + if (signal.empty()) { + message = abb_robot_msgs::msg::ServiceResponses::EMPTY_SIGNAL_NAME; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_SIGNAL_NAME; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_motors_off(uint16_t& result_code, std::string& message) { + if (system_state_.motors_on) { + message = abb_robot_msgs::msg::ServiceResponses::MOTORS_ARE_ON; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_MOTORS_ARE_ON; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_motors_on(uint16_t& result_code, std::string& message) { + if (!system_state_.motors_on) { + message = abb_robot_msgs::msg::ServiceResponses::MOTORS_ARE_OFF; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_MOTORS_ARE_OFF; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_sm_addin_runtime_states(uint16_t& result_code, std::string& message) { + if (runtime_state_.state_machines.empty()) { + message = abb_robot_msgs::msg::ServiceResponses::SM_RUNTIME_STATES_MISSING; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_SM_RUNTIME_STATES_MISSING; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_sm_addin_task_exist(const std::string& task, uint16_t& result_code, + std::string& message) { + auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), + [&](const auto& sm) { return sm.rapid_task == task; }); + + if (it == runtime_state_.state_machines.end()) { + message = abb_robot_msgs::msg::ServiceResponses::SM_UNKNOWN_RAPID_TASK; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_SM_UNKNOWN_RAPID_TASK; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_sm_addin_task_initialized(const std::string& task, uint16_t& result_code, + std::string& message) { + if (!verify_sm_addin_task_exist(task, result_code, message)) return false; + + auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), + [&](const auto& sm) { return sm.rapid_task == task; }); + + if (it->sm_state == abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_UNKNOWN || + it->sm_state == abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_INITIALIZE) { + message = abb_robot_msgs::msg::ServiceResponses::SM_UNINITIALIZED; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_SM_UNINITIALIZED; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_rapid_running(uint16_t& result_code, std::string& message) { + if (!system_state_.rapid_running) { + message = abb_robot_msgs::msg::ServiceResponses::RAPID_NOT_RUNNING; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_RAPID_NOT_RUNNING; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_rapid_stopped(uint16_t& result_code, std::string& message) { + if (system_state_.rapid_running) { + message = abb_robot_msgs::msg::ServiceResponses::RAPID_NOT_STOPPED; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_RAPID_NOT_STOPPED; + return false; + } + + return true; +} + +bool RWSServiceProviderROS::verify_rws_manager_ready(uint16_t& result_code, std::string& message) { + if (!rws_manager_.isInterfaceReady()) { + message = abb_robot_msgs::msg::ServiceResponses::SERVER_IS_BUSY; + result_code = abb_robot_msgs::msg::ServiceResponses::RC_SERVER_IS_BUSY; + return false; + } + + return true; +} + +} // namespace abb_rws_client diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp new file mode 100644 index 0000000..33d632d --- /dev/null +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -0,0 +1,98 @@ +#include "abb_rws_client/rws_state_publisher_ros.hpp" + +#include "abb_rws_client/mapping.hpp" +#include "abb_rws_client/utilities.hpp" + +namespace { +/** + * \brief Time [s] for throttled ROS logging. + */ +constexpr double THROTTLE_TIME{10.0}; +} // namespace + +namespace abb_rws_client { +RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, + unsigned short robot_port) + : RWSClient(node, robot_ip, robot_port) { + node_->declare_parameter("polling_rate", 5.0); + abb::robot::initializeMotionData(motion_data_, robot_controller_description_); + + auto sensor_qos = + rclcpp::QoS(rclcpp::QoSInitialization(rmw_qos_profile_sensor_data.history, rmw_qos_profile_sensor_data.depth), + rmw_qos_profile_sensor_data); + joint_state_pub_ = node_->create_publisher("~/joint_states", sensor_qos); + + system_state_pub_ = node_->create_publisher("~/system_state", 1); + + if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) { + runtime_state_pub_ = + node_->create_publisher("~/sm_addin/runtime_state", 1); + } +} + +void RWSStatePublisherROS::timer_callback() { + try { + rws_manager_.collectAndUpdateRuntimeData(system_state_data_, motion_data_); + } catch (const std::runtime_error& exception) { + auto& clk = *node_->get_clock(); + RCLCPP_WARN_STREAM_THROTTLE( + node_->get_logger(), clk, THROTTLE_TIME, + "Periodic polling of runtime data via RWS failed with '" << exception.what() << "' (will try again later)"); + } + + sensor_msgs::msg::JointState joint_state_msg; + for (auto& group : motion_data_.groups) { + for (auto& unit : group.units) { + for (auto& joint : unit.joints) { + joint_state_msg.name.push_back(joint.name); + joint_state_msg.position.push_back(joint.state.position); + } + } + } + + abb_robot_msgs::msg::SystemState system_state_msg; + system_state_msg.motors_on = system_state_data_.motors_on.isTrue(); + system_state_msg.auto_mode = system_state_data_.auto_mode.isTrue(); + system_state_msg.rapid_running = system_state_data_.rapid_running.isTrue(); + + for (const auto& task : system_state_data_.rapid_tasks) { + abb_robot_msgs::msg::RAPIDTaskState state{}; + + state.name = task.name; + state.activated = task.is_active; + state.execution_state = abb::robot::utilities::map(task.execution_state); + state.motion_task = task.is_motion_task; + + system_state_msg.rapid_tasks.push_back(state); + } + + for (const auto& unit : system_state_data_.mechanical_units) { + abb_robot_msgs::msg::MechanicalUnitState state{}; + state.name = unit.first; + state.activated = unit.second.active; + system_state_msg.mechanical_units.push_back(state); + } + + abb_rapid_sm_addin_msgs::msg::RuntimeState sm_runtime_state_msg; + const auto& system_indicators{robot_controller_description_.system_indicators()}; + if (abb::robot::utilities::verify_state_machine_add_in_presence(system_indicators)) { + for (const auto& sm : system_state_data_.state_machines) { + abb_rapid_sm_addin_msgs::msg::StateMachineState state; + state.rapid_task = sm.rapid_task; + state.sm_state = abb::robot::utilities::map_state_machine_state(sm.sm_state); + state.egm_action = abb::robot::utilities::map_state_machine_egm_action(sm.egm_action); + sm_runtime_state_msg.state_machines.push_back(state); + } + } + + auto time = node_->get_clock()->now(); + joint_state_msg.header.stamp = time; + joint_state_pub_->publish(joint_state_msg); + + system_state_msg.header.stamp = time; + system_state_pub_->publish(system_state_msg); + + sm_runtime_state_msg.header.stamp = time; + runtime_state_pub_->publish(sm_runtime_state_msg); +} +} // namespace abb_rws_client diff --git a/abb_rws_client/src/utilities.cpp b/abb_rws_client/src/utilities.cpp new file mode 100644 index 0000000..482f0de --- /dev/null +++ b/abb_rws_client/src/utilities.cpp @@ -0,0 +1,113 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/initialization.cpp + +#include "abb_rws_client/utilities.hpp" + +#include + +#include "rclcpp/rclcpp.hpp" + +namespace abb { +namespace robot { +namespace utilities { +namespace { +/** + * \brief Max number of attempts when trying to connect to a robot controller via RWS. + */ +constexpr unsigned int RWS_MAX_CONNECTION_ATTEMPTS{5}; + +/** + * \brief Error message for failed connection attempts when trying to connect to a robot controller + * via RWS. + */ +constexpr char RWS_CONNECTION_ERROR_MESSAGE[]{ + "Failed to establish RWS connection to the robot controller"}; + +/** + * \brief Time [s] to wait before trying to reconnect to a robot controller via RWS. + */ +constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{1}; +auto LOGGER = rclcpp::get_logger("ABBHardwareInterfaceUtilities"); +} // namespace + +RobotControllerDescription establish_rws_connection(RWSManager& rws_manager, + const std::string& robot_controller_id, + const bool no_connection_timeout) { + unsigned int attempt{0}; + + while (rclcpp::ok() && (no_connection_timeout || attempt++ < RWS_MAX_CONNECTION_ATTEMPTS)) { + try { + return rws_manager.collectAndParseSystemData(robot_controller_id); + } catch (const std::runtime_error& exception) { + if (!no_connection_timeout) { + RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (attempt " << attempt << "/" + << RWS_MAX_CONNECTION_ATTEMPTS + << "), reason: '" + << exception.what() << "'"); + } else { + RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE + << " (waiting indefinitely), reason: '" << exception.what() + << "'"); + } + rclcpp::sleep_for(std::chrono::seconds(RWS_RECONNECTION_WAIT_TIME)); + } + } + + throw std::runtime_error{RWS_CONNECTION_ERROR_MESSAGE}; +} + +void verify_robotware_version(const RobotWareVersion& rw_version) { + if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && + rw_version.patch_number() < 1) { + auto error_message{"Unsupported RobotWare version (" + rw_version.name() + + ", need at least 6.07.01)"}; + + RCLCPP_FATAL_STREAM(LOGGER, error_message); + throw std::runtime_error{error_message}; + } +} + +bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) { + return system_indicators.addins().state_machine_1_0() || + system_indicators.addins().state_machine_1_1(); +} + +} // namespace utilities +} // namespace robot +} // namespace abb From 4a83dc452e055fe0c4ba263f99186f1c49189905 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Tue, 5 Apr 2022 15:47:05 +0200 Subject: [PATCH 02/27] Merge abb_rws_client to abb_hardware_interface --- ...tem_position_only.cpp.A4A69E936E6E2EFB.idx | Bin 0 -> 12386 bytes ...tem_position_only.hpp.B82A1AE2C2DC8731.idx | Bin 0 -> 3436 bytes .../index/mapping.cpp.53C83202D804659B.idx | Bin 0 -> 21880 bytes .../index/mapping.cpp.981962BE1449DDD9.idx | Bin 0 -> 21854 bytes .../index/mapping.hpp.83C0C81544CCABFA.idx | Bin 0 -> 9988 bytes .../index/mapping.hpp.F4EF52C8E9EA4882.idx | Bin 0 -> 10136 bytes .../index/rws_client.cpp.B2625E19C4ED09CA.idx | Bin 0 -> 2694 bytes .../index/rws_client.cpp.D2D6995B64F84F58.idx | Bin 0 -> 2692 bytes .../index/rws_client.hpp.3738C46199137910.idx | Bin 0 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rename {abb_rws_client/include/abb_rws_client => abb_hardware_interface/include/abb_hardware_interface}/mapping.hpp (100%) rename {abb_rws_client/include/abb_rws_client => abb_hardware_interface/include/abb_hardware_interface}/rws_client.hpp (100%) rename {abb_rws_client/include/abb_rws_client => abb_hardware_interface/include/abb_hardware_interface}/rws_service_provider_ros.hpp (99%) rename {abb_rws_client/include/abb_rws_client => abb_hardware_interface/include/abb_hardware_interface}/rws_state_publisher_ros.hpp (95%) rename {abb_rws_client => abb_hardware_interface}/src/mapping.cpp (99%) rename {abb_rws_client => abb_hardware_interface}/src/rws_client.cpp (90%) rename {abb_rws_client => abb_hardware_interface}/src/rws_client_node.cpp (85%) rename {abb_rws_client => abb_hardware_interface}/src/rws_service_provider_ros.cpp (99%) rename {abb_rws_client => abb_hardware_interface}/src/rws_state_publisher_ros.cpp (96%) delete mode 100644 abb_rws_client/CMakeLists.txt delete mode 100644 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0000000000000000000000000000000000000000..b28bc37255e1e25e11c3d7ca85e6269bdfc6f86a GIT binary patch literal 326 zcmWIYbaS&~WMFVk@vO*AElFfyU|>`WgATsruDKjUtq%uA^Kd+=HKSwWvp|~2QTgJcu0RAvrtpET3 literal 0 HcmV?d00001 diff --git a/abb_hardware_interface/CMakeLists.txt b/abb_hardware_interface/CMakeLists.txt index 25158e9..f5f2e80 100644 --- a/abb_hardware_interface/CMakeLists.txt +++ b/abb_hardware_interface/CMakeLists.txt @@ -20,9 +20,14 @@ endif() set(THIS_PACKAGE_INCLUDE_DEPENDS abb_egm_rws_managers + abb_egm_msgs + abb_rapid_msgs + abb_rapid_sm_addin_msgs + abb_robot_msgs hardware_interface pluginlib rclcpp + sensor_msgs ) # find dependencies @@ -51,10 +56,31 @@ target_include_directories( pluginlib_export_plugin_description_file(hardware_interface abb_hardware_interface.xml) +add_executable(rws_client + src/rws_client_node.cpp + src/rws_client.cpp + src/rws_service_provider_ros.cpp + src/rws_state_publisher_ros.cpp + src/utilities.cpp + src/mapping.cpp +) +ament_target_dependencies(rws_client ${THIS_PACKAGE_INCLUDE_DEPENDS}) +# target_link_libraries(rws_client abb_egm_rws_managers::abb_egm_rws_managers) +target_include_directories( + rws_client + PRIVATE + include +) + ############# ## Install ## ############# +install( + TARGETS rws_client + DESTINATION lib/${PROJECT_NAME} +) + install( TARGETS ${PROJECT_NAME} DESTINATION lib diff --git a/abb_rws_client/include/abb_rws_client/mapping.hpp b/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp similarity index 100% rename from abb_rws_client/include/abb_rws_client/mapping.hpp rename to abb_hardware_interface/include/abb_hardware_interface/mapping.hpp diff --git a/abb_rws_client/include/abb_rws_client/rws_client.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp similarity index 100% rename from abb_rws_client/include/abb_rws_client/rws_client.hpp rename to abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp similarity index 99% rename from abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp rename to abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp index 0820444..c6f6d91 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp @@ -1,9 +1,8 @@ #ifndef ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ #define ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ -#include -#include "abb_rws_client/rws_client.hpp" +#include "abb_hardware_interface/rws_client.hpp" // SYSMTEM diff --git a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp similarity index 95% rename from abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp rename to abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp index d2bbe88..617222e 100644 --- a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp @@ -1,7 +1,7 @@ #ifndef ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ #define ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ -#include "abb_rws_client/rws_client.hpp" +#include "abb_hardware_interface/rws_client.hpp" // ROS #include diff --git a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp index 80f34bf..2fbc3c6 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp @@ -60,10 +60,29 @@ namespace utilities * * \throw std::runtime_error if unable to establish a connection. */ -RobotControllerDescription establishRWSConnection( +RobotControllerDescription establish_rws_connection( RWSManager & rws_manager, const std::string & robot_controller_id, const bool no_connection_timeout); +/** + * \brief Verifies that the RobotWare version is supported. + * + * Note: For now, only RobotWare versions in the range [6.07.01, 7.0) are supported (i.e. excluding 7.0). + * + * \param rw_version to verify. + * + * \throw std::runtime_error if the RobotWare version is not supported. + */ +void verify_robotware_version(const RobotWareVersion &rw_version); + +/** + * \brief Verifies that the RobotWare StateMachine Add-In is present in a system. + * + * \param system_indicators to verify. + * + * \return bool true if the StateMachine Add-In is present. + */ +bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicators); } // namespace utilities } // namespace robot } // namespace abb diff --git a/abb_hardware_interface/package.xml b/abb_hardware_interface/package.xml index 1d688ea..7f97050 100644 --- a/abb_hardware_interface/package.xml +++ b/abb_hardware_interface/package.xml @@ -15,9 +15,14 @@ ament_cmake abb_egm_rws_managers + abb_egm_msgs + abb_rapid_msgs + abb_robot_msgs + abb_rapid_sm_addin_msgs hardware_interface pluginlib rclcpp + sensor_msgs ament_cmake_gtest diff --git a/abb_hardware_interface/src/abb_system_position_only.cpp b/abb_hardware_interface/src/abb_system_position_only.cpp index 2215677..3f21826 100644 --- a/abb_hardware_interface/src/abb_system_position_only.cpp +++ b/abb_hardware_interface/src/abb_system_position_only.cpp @@ -40,7 +40,7 @@ CallbackReturn ABBSystemPositionOnlyHardware::on_init(const hardware_interface:: // Get robot controller description from RWS abb::robot::RWSManager rws_manager(rws_ip, rws_port, "Default User", "robotics"); const auto robot_controller_description_ = - abb::robot::utilities::establishRWSConnection(rws_manager, "IRB1200", true); + abb::robot::utilities::establish_rws_connection(rws_manager, "IRB1200", true); RCLCPP_INFO_STREAM( LOGGER, "Robot controller description:\n" << abb::robot::summaryText(robot_controller_description_)); diff --git a/abb_rws_client/src/mapping.cpp b/abb_hardware_interface/src/mapping.cpp similarity index 99% rename from abb_rws_client/src/mapping.cpp rename to abb_hardware_interface/src/mapping.cpp index 25c1824..85fd502 100644 --- a/abb_rws_client/src/mapping.cpp +++ b/abb_hardware_interface/src/mapping.cpp @@ -39,15 +39,13 @@ #include #include -// ROS - // ABB INTERFACES #include #include #include #include -#include "abb_rws_client/mapping.hpp" +#include "abb_hardware_interface/mapping.hpp" namespace { /** diff --git a/abb_rws_client/src/rws_client.cpp b/abb_hardware_interface/src/rws_client.cpp similarity index 90% rename from abb_rws_client/src/rws_client.cpp rename to abb_hardware_interface/src/rws_client.cpp index 0f5c149..64f2339 100644 --- a/abb_rws_client/src/rws_client.cpp +++ b/abb_hardware_interface/src/rws_client.cpp @@ -1,6 +1,6 @@ -#include "abb_rws_client/rws_client.hpp" +#include "abb_hardware_interface/rws_client.hpp" -#include "abb_rws_client/utilities.hpp" +#include "abb_hardware_interface/utilities.hpp" namespace abb_rws_client { RWSClient::RWSClient(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port) diff --git a/abb_rws_client/src/rws_client_node.cpp b/abb_hardware_interface/src/rws_client_node.cpp similarity index 85% rename from abb_rws_client/src/rws_client_node.cpp rename to abb_hardware_interface/src/rws_client_node.cpp index af3c152..331a23a 100644 --- a/abb_rws_client/src/rws_client_node.cpp +++ b/abb_hardware_interface/src/rws_client_node.cpp @@ -1,7 +1,7 @@ #include -#include "abb_rws_client/rws_service_provider_ros.hpp" -#include "abb_rws_client/rws_state_publisher_ros.hpp" +#include "abb_hardware_interface/rws_service_provider_ros.hpp" +#include "abb_hardware_interface/rws_state_publisher_ros.hpp" int main(int argc, char** argv) { rclcpp::init(argc, argv); diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_hardware_interface/src/rws_service_provider_ros.cpp similarity index 99% rename from abb_rws_client/src/rws_service_provider_ros.cpp rename to abb_hardware_interface/src/rws_service_provider_ros.cpp index 1f7ff1f..40b9786 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_hardware_interface/src/rws_service_provider_ros.cpp @@ -1,9 +1,9 @@ -#include "abb_rws_client/rws_service_provider_ros.hpp" +#include "abb_hardware_interface/rws_service_provider_ros.hpp" #include -#include "abb_rws_client/mapping.hpp" -#include "abb_rws_client/utilities.hpp" +#include "abb_hardware_interface/mapping.hpp" +#include "abb_hardware_interface/utilities.hpp" using RAPIDSymbols = abb::rws::RWSStateMachineInterface::ResourceIdentifiers::RAPID::Symbols; diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_hardware_interface/src/rws_state_publisher_ros.cpp similarity index 96% rename from abb_rws_client/src/rws_state_publisher_ros.cpp rename to abb_hardware_interface/src/rws_state_publisher_ros.cpp index 33d632d..c73054e 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_hardware_interface/src/rws_state_publisher_ros.cpp @@ -1,7 +1,7 @@ -#include "abb_rws_client/rws_state_publisher_ros.hpp" +#include "abb_hardware_interface/rws_state_publisher_ros.hpp" -#include "abb_rws_client/mapping.hpp" -#include "abb_rws_client/utilities.hpp" +#include "abb_hardware_interface/mapping.hpp" +#include "abb_hardware_interface/utilities.hpp" namespace { /** diff --git a/abb_hardware_interface/src/utilities.cpp b/abb_hardware_interface/src/utilities.cpp index 9206bf9..90ab79e 100644 --- a/abb_hardware_interface/src/utilities.cpp +++ b/abb_hardware_interface/src/utilities.cpp @@ -69,7 +69,7 @@ constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{1}; auto LOGGER = rclcpp::get_logger("ABBHardwareInterfaceUtilities"); } // namespace -RobotControllerDescription establishRWSConnection( +RobotControllerDescription establish_rws_connection( RWSManager & rws_manager, const std::string & robot_controller_id, const bool no_connection_timeout) { @@ -96,6 +96,21 @@ RobotControllerDescription establishRWSConnection( throw std::runtime_error{RWS_CONNECTION_ERROR_MESSAGE}; } +void verify_robotware_version(const RobotWareVersion& rw_version) { + if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && + rw_version.patch_number() < 1) { + auto error_message{"Unsupported RobotWare version (" + rw_version.name() + + ", need at least 6.07.01)"}; + + RCLCPP_FATAL_STREAM(LOGGER, error_message); + throw std::runtime_error{error_message}; + } +} + +bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) { + return system_indicators.addins().state_machine_1_0() || + system_indicators.addins().state_machine_1_1(); +} } // namespace utilities } // namespace robot } // namespace abb diff --git a/abb_rws_client/CMakeLists.txt b/abb_rws_client/CMakeLists.txt deleted file mode 100644 index a7999d2..0000000 --- a/abb_rws_client/CMakeLists.txt +++ /dev/null @@ -1,79 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(abb_rws_client) - -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-W -Wall -Wextra - -Wwrite-strings -Wunreachable-code -Wpointer-arith - -Winit-self -Wredundant-decls - -Wno-unused-parameter -Wno-unused-function) -endif() - -set(THIS_PACKAGE_INCLUDE_DEPENDS - abb_egm_rws_managers - abb_egm_msgs - abb_robot_msgs - abb_rapid_msgs - abb_rapid_sm_addin_msgs - rclcpp - sensor_msgs -) - -# find dependencies -find_package(ament_cmake REQUIRED) - -foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) - find_package(${Dependency} REQUIRED) -endforeach() - -########### -## Build ## -########### - -add_executable(rws_client - src/rws_client_node.cpp - src/rws_client.cpp - src/rws_service_provider_ros.cpp - src/rws_state_publisher_ros.cpp - src/utilities.cpp - src/mapping.cpp -) -ament_target_dependencies(rws_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(rws_client abb_egm_rws_managers::abb_egm_rws_managers) -target_include_directories( - rws_client - PRIVATE - include -) - -############# -## Install ## -############# - -install( - TARGETS rws_client - DESTINATION lib/${PROJECT_NAME} -) - -############# -## Testing ## -############# - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_include_directories(include) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) - -ament_package() diff --git a/abb_rws_client/include/abb_rws_client/utilities.hpp b/abb_rws_client/include/abb_rws_client/utilities.hpp deleted file mode 100644 index 0e0941c..0000000 --- a/abb_rws_client/include/abb_rws_client/utilities.hpp +++ /dev/null @@ -1,72 +0,0 @@ -/*********************************************************************************************************************** - * - * Copyright (c) 2020, ABB Schweiz AG - * All rights reserved. - * - * 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 ABB 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. - * - *********************************************************************************************************************** - */ - -// This file is a modified copy from -// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/initialization.h - -#pragma once - -#include - -namespace abb { -namespace robot { -namespace utilities { -/** - * \brief Attempts to establish a connection to a robot controller's RWS server. - * - * If a connection is established, then a structured description of the robot - * controller is returned. - * - * \param rws_manager for handling the RWS communication with the robot - * controller. \param robot_controller_id for an identifier/nickname for the - * targeted robot controller. \param no_connection_timeout indicator whether to - * wait indefinitely on the robot controller. - * - * \return RobotControllerDescription of the robot controller. - * - * \throw std::runtime_error if unable to establish a connection. - */ -RobotControllerDescription establish_rws_connection(RWSManager &rws_manager, const std::string &robot_controller_id, - const bool no_connection_timeout); - -void verify_robotware_version(const RobotWareVersion &rw_version); - -bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicators); - -} // namespace utilities -} // namespace robot -} // namespace abb diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml deleted file mode 100644 index de23dc2..0000000 --- a/abb_rws_client/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - abb_rws_client - 0.0.0 - TODO: Package description - Grzegorz Bartyzel - Apache2 - - rclcpp - abb_egm_rws_managers - sensor_msgs - abb_egm_msgs - abb_rapid_msgs - abb_robot_msgs - abb_rapid_sm_addin_msgs - - ament_cmake_gtest - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/abb_rws_client/src/utilities.cpp b/abb_rws_client/src/utilities.cpp deleted file mode 100644 index 482f0de..0000000 --- a/abb_rws_client/src/utilities.cpp +++ /dev/null @@ -1,113 +0,0 @@ -/*********************************************************************************************************************** - * - * Copyright (c) 2020, ABB Schweiz AG - * All rights reserved. - * - * 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 ABB 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. - * - *********************************************************************************************************************** - */ - -// This file is a modified copy from -// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/initialization.cpp - -#include "abb_rws_client/utilities.hpp" - -#include - -#include "rclcpp/rclcpp.hpp" - -namespace abb { -namespace robot { -namespace utilities { -namespace { -/** - * \brief Max number of attempts when trying to connect to a robot controller via RWS. - */ -constexpr unsigned int RWS_MAX_CONNECTION_ATTEMPTS{5}; - -/** - * \brief Error message for failed connection attempts when trying to connect to a robot controller - * via RWS. - */ -constexpr char RWS_CONNECTION_ERROR_MESSAGE[]{ - "Failed to establish RWS connection to the robot controller"}; - -/** - * \brief Time [s] to wait before trying to reconnect to a robot controller via RWS. - */ -constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{1}; -auto LOGGER = rclcpp::get_logger("ABBHardwareInterfaceUtilities"); -} // namespace - -RobotControllerDescription establish_rws_connection(RWSManager& rws_manager, - const std::string& robot_controller_id, - const bool no_connection_timeout) { - unsigned int attempt{0}; - - while (rclcpp::ok() && (no_connection_timeout || attempt++ < RWS_MAX_CONNECTION_ATTEMPTS)) { - try { - return rws_manager.collectAndParseSystemData(robot_controller_id); - } catch (const std::runtime_error& exception) { - if (!no_connection_timeout) { - RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (attempt " << attempt << "/" - << RWS_MAX_CONNECTION_ATTEMPTS - << "), reason: '" - << exception.what() << "'"); - } else { - RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE - << " (waiting indefinitely), reason: '" << exception.what() - << "'"); - } - rclcpp::sleep_for(std::chrono::seconds(RWS_RECONNECTION_WAIT_TIME)); - } - } - - throw std::runtime_error{RWS_CONNECTION_ERROR_MESSAGE}; -} - -void verify_robotware_version(const RobotWareVersion& rw_version) { - if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && - rw_version.patch_number() < 1) { - auto error_message{"Unsupported RobotWare version (" + rw_version.name() + - ", need at least 6.07.01)"}; - - RCLCPP_FATAL_STREAM(LOGGER, error_message); - throw std::runtime_error{error_message}; - } -} - -bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) { - return system_indicators.addins().state_machine_1_0() || - system_indicators.addins().state_machine_1_1(); -} - -} // namespace utilities -} // namespace robot -} // namespace abb From 7afc426fe57e9957d999aea2f2fe3f6ac037004f Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Tue, 5 Apr 2022 15:59:24 +0200 Subject: [PATCH 03/27] Add debug logs --- .../src/rws_service_provider_ros.cpp | 63 ++++++++++--------- 1 file changed, 33 insertions(+), 30 deletions(-) diff --git a/abb_hardware_interface/src/rws_service_provider_ros.cpp b/abb_hardware_interface/src/rws_service_provider_ros.cpp index 40b9786..949076a 100644 --- a/abb_hardware_interface/src/rws_service_provider_ros.cpp +++ b/abb_hardware_interface/src/rws_service_provider_ros.cpp @@ -138,6 +138,7 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node std::bind(&RWSServiceProviderROS::set_sg_command, this, std::placeholders::_1, std::placeholders::_2))); } } + RCLCPP_INFO(node_->get_logger(), "RWS client services initialized!"); } void RWSServiceProviderROS::system_state_callback(const abb_robot_msgs::msg::SystemState& msg) { system_state_ = msg; } @@ -172,7 +173,7 @@ bool RWSServiceProviderROS::get_file_contents(const abb_robot_msgs::srv::GetFile } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -196,7 +197,7 @@ bool RWSServiceProviderROS::get_io_signal(const abb_robot_msgs::srv::GetIOSignal } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -220,7 +221,7 @@ bool RWSServiceProviderROS::get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBo } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -244,7 +245,7 @@ bool RWSServiceProviderROS::get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDn } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -268,7 +269,7 @@ bool RWSServiceProviderROS::get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -292,7 +293,7 @@ bool RWSServiceProviderROS::get_rapid_string(const abb_robot_msgs::srv::GetRAPID } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -316,7 +317,7 @@ bool RWSServiceProviderROS::get_rapid_symbol(const abb_robot_msgs::srv::GetRAPID } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -336,6 +337,7 @@ bool RWSServiceProviderROS::get_speed_ratio(const abb_robot_msgs::srv::GetSpeedR } catch (const std::runtime_error& exception) { res->message = exception.what(); res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -359,7 +361,7 @@ bool RWSServiceProviderROS::pp_to_main(const abb_robot_msgs::srv::TriggerWithRes res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -386,7 +388,7 @@ bool RWSServiceProviderROS::run_rapid_routine(const abb_robot_msgs::srv::Trigger } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -414,7 +416,7 @@ bool RWSServiceProviderROS::run_sg_routine(const abb_robot_msgs::srv::TriggerWit } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -436,7 +438,7 @@ bool RWSServiceProviderROS::set_file_contents(const abb_robot_msgs::srv::SetFile } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -458,7 +460,7 @@ bool RWSServiceProviderROS::set_io_signal(const abb_robot_msgs::srv::SetIOSignal } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -476,7 +478,7 @@ bool RWSServiceProviderROS::set_motors_off(const abb_robot_msgs::srv::TriggerWit res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -500,7 +502,7 @@ bool RWSServiceProviderROS::set_motors_on(const abb_robot_msgs::srv::TriggerWith res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -526,7 +528,7 @@ bool RWSServiceProviderROS::set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBo } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -552,7 +554,7 @@ bool RWSServiceProviderROS::set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDn } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -578,7 +580,7 @@ bool RWSServiceProviderROS::set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -604,7 +606,7 @@ bool RWSServiceProviderROS::set_rapid_string(const abb_robot_msgs::srv::SetRAPID } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -629,7 +631,7 @@ bool RWSServiceProviderROS::set_rapid_symbol(const abb_robot_msgs::srv::SetRAPID } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -652,10 +654,10 @@ bool RWSServiceProviderROS::set_speed_ratio(const abb_robot_msgs::srv::SetSpeedR } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); } } catch (const std::exception& exception) { res->message = exception.what(); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -679,7 +681,7 @@ bool RWSServiceProviderROS::start_rapid(const abb_robot_msgs::srv::TriggerWithRe res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -697,7 +699,7 @@ bool RWSServiceProviderROS::stop_rapid(const abb_robot_msgs::srv::TriggerWithRes res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -728,7 +730,7 @@ bool RWSServiceProviderROS::get_egm_settings(const abb_rapid_sm_addin_msgs::srv: } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -764,7 +766,7 @@ bool RWSServiceProviderROS::set_egm_settings(const abb_rapid_sm_addin_msgs::srv: } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -799,7 +801,7 @@ bool RWSServiceProviderROS::set_rapid_routine( } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -846,7 +848,7 @@ bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::S } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -874,7 +876,7 @@ bool RWSServiceProviderROS::start_egm_joint(const abb_robot_msgs::srv::TriggerWi } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -902,7 +904,7 @@ bool RWSServiceProviderROS::start_egm_pose(const abb_robot_msgs::srv::TriggerWit } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -930,6 +932,7 @@ bool RWSServiceProviderROS::start_egm_stream(const abb_robot_msgs::srv::TriggerW } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -954,7 +957,7 @@ bool RWSServiceProviderROS::stop_egm(const abb_robot_msgs::srv::TriggerWithResul } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -979,7 +982,7 @@ bool RWSServiceProviderROS::stop_egm_stream(const abb_robot_msgs::srv::TriggerWi } else { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - // ROS_DEBUG_STREAM_NAMED(ROS_LOG_SERVICES, interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); From 8c7985cf2c88520b7eef6b67aac9a39c8b6ad4bc Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Tue, 5 Apr 2022 16:08:49 +0200 Subject: [PATCH 04/27] Clean up header guards --- .../abb_hardware_interface/abb_system_position_only.hpp | 5 ++++- .../include/abb_hardware_interface/mapping.hpp | 6 +++--- .../include/abb_hardware_interface/rws_client.hpp | 6 +++--- .../abb_hardware_interface/rws_service_provider_ros.hpp | 6 +++--- .../abb_hardware_interface/rws_state_publisher_ros.hpp | 6 +++--- .../include/abb_hardware_interface/utilities.hpp | 5 ++++- 6 files changed, 20 insertions(+), 14 deletions(-) diff --git a/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp b/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp index 95c199c..a5e2e2e 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp @@ -12,7 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#pragma once +#ifndef ABB_HARDWARE_INTERFACE__ABB_SYSTEM_POSITION_ONLY_HPP__ +#define ABB_HARDWARE_INTERFACE__ABB_SYSTEM_POSITION_ONLY_HPP__ #include #include @@ -74,3 +75,5 @@ class ABBSystemPositionOnlyHardware : public hardware_interface::SystemInterface }; } // namespace abb_hardware_interface + +#endif // ABB_HARDWARE_INTERFACE__ABB_SYSTEM_POSITION_ONLY_HPP__ diff --git a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp b/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp index 14f6575..3d01b62 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp @@ -34,8 +34,8 @@ *********************************************************************************************************************** */ -#ifndef ABB_RWS_CLIENT__MAPPING_HPP_ -#define ABB_RWS_CLIENT__MAPPING_HPP_ +#ifndef ABB_HARDWARE_INTERFACE__MAPPING_HPP_ +#define ABB_HARDWARE_INTERFACE__MAPPING_HPP_ #include #include @@ -257,4 +257,4 @@ std::string map_vector_to_string(const std::vector& vector); } // namespace robot } // namespace abb -#endif // ABB_RWS_CLIENT__MAPPING_HPP_ +#endif // ABB_HARDWARE_INTERFACE__MAPPING_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp index 03c41fa..1ff3040 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp @@ -1,5 +1,5 @@ -#ifndef ABB_RWS_CLIENT__RWS_CLIENT_HPP__ -#define ABB_RWS_CLIENT__RWS_CLIENT_HPP__ +#ifndef ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP__ +#define ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP__ // ROS #include @@ -26,4 +26,4 @@ class RWSClient { } // namespace abb_rws_client -#endif // ABB_RWS_CLIENT__RWS_CLIENT_HPP__ +#endif // ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP__ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp index c6f6d91..9d47d24 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp @@ -1,5 +1,5 @@ -#ifndef ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ -#define ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ +#ifndef ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP__ +#define ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP__ #include "abb_hardware_interface/rws_client.hpp" @@ -192,4 +192,4 @@ class RWSServiceProviderROS : RWSClient { } // namespace abb_rws_client -#endif // ABB_RWS_CLIENT__RWS_SERCIVE_PROVIDER_ROS_HPP__ +#endif // ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP__ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp index 617222e..e33e2e8 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp @@ -1,5 +1,5 @@ -#ifndef ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ -#define ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ +#ifndef ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ +#define ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ #include "abb_hardware_interface/rws_client.hpp" @@ -35,4 +35,4 @@ class RWSStatePublisherROS : RWSClient { } // namespace abb_rws_client -#endif // ABB_RWS_CLIENT__RWS_STATE_PUBLISHER_ROS_HPP_ +#endif // ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp index 2fbc3c6..aac080d 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp @@ -37,7 +37,8 @@ // This file is a modified copy from // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/initialization.h -#pragma once +#ifndef ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ +#define ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ #include @@ -86,3 +87,5 @@ bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicat } // namespace utilities } // namespace robot } // namespace abb + +#endif // ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ From dc60fee0a1ebfbc709b33f4e95c53811d9742153 Mon Sep 17 00:00:00 2001 From: Souphis Date: Tue, 5 Apr 2022 17:55:16 +0200 Subject: [PATCH 05/27] Remove .cache --- ...ystem_position_only.cpp.A4A69E936E6E2EFB.idx | Bin 12386 -> 0 bytes ...ystem_position_only.hpp.B82A1AE2C2DC8731.idx | Bin 3436 -> 0 bytes .../index/mapping.cpp.53C83202D804659B.idx | Bin 21880 -> 0 bytes .../index/mapping.cpp.981962BE1449DDD9.idx | Bin 21854 -> 0 bytes .../index/mapping.hpp.83C0C81544CCABFA.idx | Bin 9988 -> 0 bytes .../index/mapping.hpp.F4EF52C8E9EA4882.idx | Bin 10136 -> 0 bytes .../index/rws_client.cpp.B2625E19C4ED09CA.idx | Bin 2694 -> 0 bytes .../index/rws_client.cpp.D2D6995B64F84F58.idx | Bin 2692 -> 0 bytes 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https://github.com/ros-industrial/abb_egm_rws_managers.git - version: master \ No newline at end of file + version: master + abb_ros2_msgs + type: git + url: https://github.com/gbartyzel/abb_ros2_msgs.git + version: rolling diff --git a/abb_bringup/launch/abb_rws_client.launch.py b/abb_bringup/launch/abb_rws_client.launch.py new file mode 100644 index 0000000..e2f9f99 --- /dev/null +++ b/abb_bringup/launch/abb_rws_client.launch.py @@ -0,0 +1,45 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def launch_setup(context, *args, **kwargs): + robot_ip = LaunchConfiguration("robot_ip") + robot_port = LaunchConfiguration("robot_port") + robot_nickname = LaunchConfiguration("robot_nickname") + polling_rate = LaunchConfiguration("polling_rate") + no_connection_timeout = LaunchConfiguration("no_connection_timeout") + + return [ + Node( + package="abb_hardware_interface", + executable="rws_client", + name="rws_client", + output="screen", + parameters=[ + { + "robot_ip": robot_ip, + "robot_port": int(robot_port.perform(context)), + "robot_nickname": robot_nickname, + "polling_rate": float(polling_rate.perform(context)), + "no_connection_timeout": bool( + no_connection_timeout.perform(context) + ), + } + ], + ) + ] + + +def generate_launch_description(): + return LaunchDescription( + [ + DeclareLaunchArgument("robot_ip"), + DeclareLaunchArgument("robot_port"), + DeclareLaunchArgument("robot_nickname"), + DeclareLaunchArgument("polling_rate"), + DeclareLaunchArgument("no_connection_timeout"), + OpaqueFunction(function=launch_setup), + ] + ) diff --git a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp b/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp index 3d01b62..02cf4b9 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp @@ -37,6 +37,9 @@ #ifndef ABB_HARDWARE_INTERFACE__MAPPING_HPP_ #define ABB_HARDWARE_INTERFACE__MAPPING_HPP_ +#include +#include + #include #include diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp index 9d47d24..b66f65a 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp @@ -5,21 +5,17 @@ #include "abb_hardware_interface/rws_client.hpp" // SYSMTEM - #include #include // ROS - #include // ABB MSG - #include #include // ABB SRV - #include #include #include diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp index e33e2e8..251ae62 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp @@ -3,6 +3,9 @@ #include "abb_hardware_interface/rws_client.hpp" +// SYSTEM +#include + // ROS #include diff --git a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp index aac080d..8651b7c 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp @@ -40,6 +40,8 @@ #ifndef ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ #define ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ +#include + #include namespace abb diff --git a/abb_hardware_interface/src/mapping.cpp b/abb_hardware_interface/src/mapping.cpp index 85fd502..2f15e60 100644 --- a/abb_hardware_interface/src/mapping.cpp +++ b/abb_hardware_interface/src/mapping.cpp @@ -34,6 +34,8 @@ *********************************************************************************************************************** */ +#include "abb_hardware_interface/mapping.hpp" + // System #include #include @@ -41,27 +43,15 @@ // ABB INTERFACES #include +#include #include #include #include -#include "abb_hardware_interface/mapping.hpp" - -namespace { -/** - * \brief Name for ROS logging in the 'mapping' context. - */ -constexpr char ROS_LOG_MAPPING[]{"mapping"}; -} // namespace - namespace abb { namespace robot { namespace utilities { -/*********************************************************************************************************************** - * Utility function definitions (mapping from RWS to ROS representations) - */ - uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) { switch (state) { case rws::RWSInterface::UNKNOWN: @@ -91,7 +81,6 @@ uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) { } uint8_t map_state_machine_state(const rws::RAPIDNum& state) { - // Note: Inspect the StateMachine Add-In's RAPID implementation to see defined states. switch (static_cast(state.value)) { case 0: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_IDLE; @@ -116,7 +105,6 @@ uint8_t map_state_machine_state(const rws::RAPIDNum& state) { } uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action) { - // Note: Inspect the StateMachine Add-In's RAPID implementation to see defined EGM actions. switch (static_cast(action.value)) { case 0: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_NONE; @@ -229,10 +217,6 @@ abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterfac return ros_egm_settings; } -/*********************************************************************************************************************** - * Utility function definitions (mapping from ROS to RWS representations) - */ - unsigned int map_state_machine_sg_command(const unsigned int command) { switch (command) { case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_NONE: @@ -379,10 +363,6 @@ rws::RWSStateMachineInterface::EGMSettings map(const abb_rapid_sm_addin_msgs::ms return rws_egm_settings; } -/*********************************************************************************************************************** - * Utility function definitions (mapping from EGM to ROS representations) - */ - uint8_t map(egm::wrapper::Status::EGMState state) { switch (state) { case egm::wrapper::Status::EGM_ERROR: @@ -438,10 +418,6 @@ uint8_t map(egm::wrapper::Status::RAPIDExecutionState state) { } } -/*********************************************************************************************************************** - * Utility template function definitions - */ - template std::string map_vector_to_string(const std::vector& vector) { std::stringstream ss{}; @@ -462,10 +438,6 @@ std::string map_vector_to_string(const std::vector& vector) { return ss.str(); } -/*********************************************************************************************************************** - * Utility template function instantiations - */ - template std::string map_vector_to_string(const std::vector& vector); template std::string map_vector_to_string(const std::vector& vector); template std::string map_vector_to_string(const std::vector& vector); diff --git a/abb_hardware_interface/src/rws_service_provider_ros.cpp b/abb_hardware_interface/src/rws_service_provider_ros.cpp index 949076a..c76ed74 100644 --- a/abb_hardware_interface/src/rws_service_provider_ros.cpp +++ b/abb_hardware_interface/src/rws_service_provider_ros.cpp @@ -20,7 +20,6 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node core_services_.push_back(node_->create_service( "~/get_robot_controller_description", std::bind(&RWSServiceProviderROS::get_rc_description, this, std::placeholders::_1, std::placeholders::_2))); - core_services_.push_back(node_->create_service( "~/get_file_contents", std::bind(&RWSServiceProviderROS::get_file_contents, this, std::placeholders::_1, std::placeholders::_2))); From 1fe13f64d75a08108f72f7c0fde9c0108c34bfa0 Mon Sep 17 00:00:00 2001 From: Souphis Date: Wed, 6 Apr 2022 10:34:15 +0200 Subject: [PATCH 07/27] Remove .cache --- ...ystem_position_only.cpp.3EF1087217BBE2B8.idx | Bin 12738 -> 0 bytes ...ystem_position_only.hpp.8A2B130C31B29B26.idx | Bin 3718 -> 0 bytes .../index/mapping.cpp.986C71284B0266B6.idx | Bin 22072 -> 0 bytes .../index/mapping.hpp.A89898448F05C4B9.idx | Bin 10102 -> 0 bytes .../index/rws_client.cpp.EFFF1D4EFBF2C97C.idx | Bin 2836 -> 0 bytes .../index/rws_client.hpp.96A4BFF4DFB820B8.idx | Bin 1214 -> 0 bytes .../rws_client_node.cpp.D12E88785A409E56.idx | Bin 2614 -> 0 bytes ...ervice_provider_ros.cpp.3D58FEF4D583A6ED.idx | Bin 60906 -> 0 bytes ...ervice_provider_ros.hpp.313ACA2CCCC7D4F1.idx | Bin 13132 -> 0 bytes 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e53cb5072c0ef3a46d5981ddcd504162b1099bc7..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 326 zcmWIYbaS&~WMFVk@vO*AElFfyU|>`WgATsrtqFr3D$8 z#roy>McKs#iOH$@iAhQE1$pu1#rnlX$zWblez6glk&#%GQl40p8lRb0l3J7oQk|KX zoKuDKjUtq%uA^Kd+=HKSwWvp|~2QTgJcu05COM+yDRo From beb38957e4283530ceff7d322bd520a30891788f Mon Sep 17 00:00:00 2001 From: Souphis Date: Wed, 6 Apr 2022 10:35:27 +0200 Subject: [PATCH 08/27] Add gitignore --- .gitignore | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..b010b19 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +.cache/ +compile_commands.json From 5d1e412af41193514c8571d47d82913edd6103cc Mon Sep 17 00:00:00 2001 From: Souphis Date: Wed, 6 Apr 2022 11:54:10 +0200 Subject: [PATCH 09/27] Add license mentions --- .../abb_hardware_interface/mapping.hpp | 3 ++ .../abb_hardware_interface/rws_client.hpp | 46 ++++++++++++++++-- .../rws_service_provider_ros.hpp | 47 +++++++++++++++++-- .../rws_state_publisher_ros.hpp | 40 ++++++++++++++++ .../abb_hardware_interface/utilities.hpp | 7 +-- abb_hardware_interface/src/mapping.cpp | 3 ++ abb_hardware_interface/src/rws_client.cpp | 40 ++++++++++++++++ .../src/rws_service_provider_ros.cpp | 40 ++++++++++++++++ .../src/rws_state_publisher_ros.cpp | 40 ++++++++++++++++ abb_hardware_interface/src/utilities.cpp | 1 + 10 files changed, 257 insertions(+), 10 deletions(-) diff --git a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp b/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp index 02cf4b9..992aecf 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp @@ -34,6 +34,9 @@ *********************************************************************************************************************** */ +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/mapping.h + #ifndef ABB_HARDWARE_INTERFACE__MAPPING_HPP_ #define ABB_HARDWARE_INTERFACE__MAPPING_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp index 1ff3040..2b32838 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp @@ -1,5 +1,45 @@ -#ifndef ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP__ -#define ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP__ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/include/abb_rws_service_provider/ +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/include/abb_rws_state_publisher/ + +#ifndef ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP_ +#define ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP_ // ROS #include @@ -26,4 +66,4 @@ class RWSClient { } // namespace abb_rws_client -#endif // ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP__ +#endif // ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp index b66f65a..e03e69d 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp @@ -1,6 +1,45 @@ -#ifndef ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP__ -#define ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP__ - +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ +// +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/include/abb_rws_service_provider/ +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/include/abb_rws_state_publisher/ + +#ifndef ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP_ +#define ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP_ #include "abb_hardware_interface/rws_client.hpp" @@ -188,4 +227,4 @@ class RWSServiceProviderROS : RWSClient { } // namespace abb_rws_client -#endif // ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP__ +#endif // ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp index 251ae62..cfb3a1a 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp @@ -1,3 +1,43 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/include/abb_rws_service_provider/ +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/include/abb_rws_state_publisher/ + #ifndef ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ #define ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp index 8651b7c..18c7ea4 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp @@ -36,9 +36,10 @@ // This file is a modified copy from // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/initialization.h +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/verification.h -#ifndef ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ -#define ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ +#ifndef ABB_HARDWARE_INTERFACE__UTILITIES_HPP_ +#define ABB_HARDWARE_INTERFACE__UTILITIES_HPP_ #include @@ -90,4 +91,4 @@ bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicat } // namespace robot } // namespace abb -#endif // ABB_HARDWARE_INTERFACE__UTILITIES_HPP__ +#endif // ABB_HARDWARE_INTERFACE__UTILITIES_HPP_ diff --git a/abb_hardware_interface/src/mapping.cpp b/abb_hardware_interface/src/mapping.cpp index 2f15e60..79c4d04 100644 --- a/abb_hardware_interface/src/mapping.cpp +++ b/abb_hardware_interface/src/mapping.cpp @@ -34,6 +34,9 @@ *********************************************************************************************************************** */ +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/mapping.cpp + #include "abb_hardware_interface/mapping.hpp" // System diff --git a/abb_hardware_interface/src/rws_client.cpp b/abb_hardware_interface/src/rws_client.cpp index 64f2339..d87950f 100644 --- a/abb_hardware_interface/src/rws_client.cpp +++ b/abb_hardware_interface/src/rws_client.cpp @@ -1,3 +1,43 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src + #include "abb_hardware_interface/rws_client.hpp" #include "abb_hardware_interface/utilities.hpp" diff --git a/abb_hardware_interface/src/rws_service_provider_ros.cpp b/abb_hardware_interface/src/rws_service_provider_ros.cpp index c76ed74..45144bc 100644 --- a/abb_hardware_interface/src/rws_service_provider_ros.cpp +++ b/abb_hardware_interface/src/rws_service_provider_ros.cpp @@ -1,3 +1,43 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src + #include "abb_hardware_interface/rws_service_provider_ros.hpp" #include diff --git a/abb_hardware_interface/src/rws_state_publisher_ros.cpp b/abb_hardware_interface/src/rws_state_publisher_ros.cpp index c73054e..a0fefdb 100644 --- a/abb_hardware_interface/src/rws_state_publisher_ros.cpp +++ b/abb_hardware_interface/src/rws_state_publisher_ros.cpp @@ -1,3 +1,43 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src +// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src + #include "abb_hardware_interface/rws_state_publisher_ros.hpp" #include "abb_hardware_interface/mapping.hpp" diff --git a/abb_hardware_interface/src/utilities.cpp b/abb_hardware_interface/src/utilities.cpp index 90ab79e..2b3dc04 100644 --- a/abb_hardware_interface/src/utilities.cpp +++ b/abb_hardware_interface/src/utilities.cpp @@ -36,6 +36,7 @@ // This file is a modified copy from // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/initialization.cpp +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/verification.cpp #include From 70f7b1953d94ea7fac3bce3ebf26c9d05cd4fa4d Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Tue, 10 May 2022 13:45:29 +0200 Subject: [PATCH 10/27] Apply suggestions from code review Co-authored-by: Stephanie Eng --- abb.repos | 2 +- .../src/rws_state_publisher_ros.cpp | 12 ++++++++---- 2 files changed, 9 insertions(+), 5 deletions(-) diff --git a/abb.repos b/abb.repos index 3c315a8..eb2b6cb 100644 --- a/abb.repos +++ b/abb.repos @@ -11,7 +11,7 @@ repositories: type: git url: https://github.com/ros-industrial/abb_egm_rws_managers.git version: master - abb_ros2_msgs + abb_ros2_msgs: type: git url: https://github.com/gbartyzel/abb_ros2_msgs.git version: rolling diff --git a/abb_hardware_interface/src/rws_state_publisher_ros.cpp b/abb_hardware_interface/src/rws_state_publisher_ros.cpp index a0fefdb..a1f9747 100644 --- a/abb_hardware_interface/src/rws_state_publisher_ros.cpp +++ b/abb_hardware_interface/src/rws_state_publisher_ros.cpp @@ -62,11 +62,11 @@ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, rmw_qos_profile_sensor_data); joint_state_pub_ = node_->create_publisher("~/joint_states", sensor_qos); - system_state_pub_ = node_->create_publisher("~/system_state", 1); + system_state_pub_ = node_->create_publisher("~/system_states", 1); if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) { runtime_state_pub_ = - node_->create_publisher("~/sm_addin/runtime_state", 1); + node_->create_publisher("~/sm_addin/runtime_states", 1); } } @@ -132,7 +132,11 @@ void RWSStatePublisherROS::timer_callback() { system_state_msg.header.stamp = time; system_state_pub_->publish(system_state_msg); - sm_runtime_state_msg.header.stamp = time; - runtime_state_pub_->publish(sm_runtime_state_msg); + if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) + { + sm_runtime_state_msg.header.stamp = time; + runtime_state_pub_->publish(sm_runtime_state_msg); + } + } } // namespace abb_rws_client From 53027e94c068dc12c0c8237bf64f8b51cdcf1b6e Mon Sep 17 00:00:00 2001 From: Souphis Date: Mon, 23 May 2022 21:36:25 +0200 Subject: [PATCH 11/27] Move rws client to own package --- abb_hardware_interface/CMakeLists.txt | 25 ---- .../abb_system_position_only.hpp | 5 +- .../abb_hardware_interface/utilities.hpp | 27 +--- abb_hardware_interface/package.xml | 4 - .../src/abb_system_position_only.cpp | 2 +- abb_hardware_interface/src/utilities.cpp | 2 +- abb_rws_client/CMakeLists.txt | 79 ++++++++++++ .../include/abb_rws_client}/mapping.hpp | 5 +- .../include/abb_rws_client}/rws_client.hpp | 5 +- .../rws_service_provider_ros.hpp | 7 +- .../rws_state_publisher_ros.hpp | 7 +- .../include/abb_rws_client/utilities.hpp | 91 ++++++++++++++ abb_rws_client/package.xml | 27 ++++ .../src/mapping.cpp | 2 +- .../src/rws_client.cpp | 5 +- .../src/rws_client_node.cpp | 4 +- .../src/rws_service_provider_ros.cpp | 6 +- .../src/rws_state_publisher_ros.cpp | 6 +- abb_rws_client/src/utilities.cpp | 117 ++++++++++++++++++ 19 files changed, 337 insertions(+), 89 deletions(-) create mode 100644 abb_rws_client/CMakeLists.txt rename {abb_hardware_interface/include/abb_hardware_interface => abb_rws_client/include/abb_rws_client}/mapping.hpp (98%) rename {abb_hardware_interface/include/abb_hardware_interface => abb_rws_client/include/abb_rws_client}/rws_client.hpp (94%) rename {abb_hardware_interface/include/abb_hardware_interface => abb_rws_client/include/abb_rws_client}/rws_service_provider_ros.hpp (97%) rename {abb_hardware_interface/include/abb_hardware_interface => abb_rws_client/include/abb_rws_client}/rws_state_publisher_ros.hpp (92%) create mode 100644 abb_rws_client/include/abb_rws_client/utilities.hpp create mode 100644 abb_rws_client/package.xml rename {abb_hardware_interface => abb_rws_client}/src/mapping.cpp (99%) rename {abb_hardware_interface => abb_rws_client}/src/rws_client.cpp (96%) rename {abb_hardware_interface => abb_rws_client}/src/rws_client_node.cpp (85%) rename {abb_hardware_interface => abb_rws_client}/src/rws_service_provider_ros.cpp (99%) rename {abb_hardware_interface => abb_rws_client}/src/rws_state_publisher_ros.cpp (97%) create mode 100644 abb_rws_client/src/utilities.cpp diff --git a/abb_hardware_interface/CMakeLists.txt b/abb_hardware_interface/CMakeLists.txt index f5f2e80..c22ecd0 100644 --- a/abb_hardware_interface/CMakeLists.txt +++ b/abb_hardware_interface/CMakeLists.txt @@ -20,10 +20,6 @@ endif() set(THIS_PACKAGE_INCLUDE_DEPENDS abb_egm_rws_managers - abb_egm_msgs - abb_rapid_msgs - abb_rapid_sm_addin_msgs - abb_robot_msgs hardware_interface pluginlib rclcpp @@ -56,31 +52,10 @@ target_include_directories( pluginlib_export_plugin_description_file(hardware_interface abb_hardware_interface.xml) -add_executable(rws_client - src/rws_client_node.cpp - src/rws_client.cpp - src/rws_service_provider_ros.cpp - src/rws_state_publisher_ros.cpp - src/utilities.cpp - src/mapping.cpp -) -ament_target_dependencies(rws_client ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# target_link_libraries(rws_client abb_egm_rws_managers::abb_egm_rws_managers) -target_include_directories( - rws_client - PRIVATE - include -) - ############# ## Install ## ############# -install( - TARGETS rws_client - DESTINATION lib/${PROJECT_NAME} -) - install( TARGETS ${PROJECT_NAME} DESTINATION lib diff --git a/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp b/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp index a5e2e2e..95c199c 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/abb_system_position_only.hpp @@ -12,8 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef ABB_HARDWARE_INTERFACE__ABB_SYSTEM_POSITION_ONLY_HPP__ -#define ABB_HARDWARE_INTERFACE__ABB_SYSTEM_POSITION_ONLY_HPP__ +#pragma once #include #include @@ -75,5 +74,3 @@ class ABBSystemPositionOnlyHardware : public hardware_interface::SystemInterface }; } // namespace abb_hardware_interface - -#endif // ABB_HARDWARE_INTERFACE__ABB_SYSTEM_POSITION_ONLY_HPP__ diff --git a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp index 18c7ea4..72ea178 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp @@ -38,8 +38,7 @@ // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/initialization.h // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/verification.h -#ifndef ABB_HARDWARE_INTERFACE__UTILITIES_HPP_ -#define ABB_HARDWARE_INTERFACE__UTILITIES_HPP_ +#pragma once #include @@ -64,31 +63,9 @@ namespace utilities * * \throw std::runtime_error if unable to establish a connection. */ -RobotControllerDescription establish_rws_connection( +RobotControllerDescription establishRWSConnection( RWSManager & rws_manager, const std::string & robot_controller_id, const bool no_connection_timeout); - -/** - * \brief Verifies that the RobotWare version is supported. - * - * Note: For now, only RobotWare versions in the range [6.07.01, 7.0) are supported (i.e. excluding 7.0). - * - * \param rw_version to verify. - * - * \throw std::runtime_error if the RobotWare version is not supported. - */ -void verify_robotware_version(const RobotWareVersion &rw_version); - -/** - * \brief Verifies that the RobotWare StateMachine Add-In is present in a system. - * - * \param system_indicators to verify. - * - * \return bool true if the StateMachine Add-In is present. - */ -bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicators); } // namespace utilities } // namespace robot } // namespace abb - -#endif // ABB_HARDWARE_INTERFACE__UTILITIES_HPP_ diff --git a/abb_hardware_interface/package.xml b/abb_hardware_interface/package.xml index 7f97050..9ec41e5 100644 --- a/abb_hardware_interface/package.xml +++ b/abb_hardware_interface/package.xml @@ -15,10 +15,6 @@ ament_cmake abb_egm_rws_managers - abb_egm_msgs - abb_rapid_msgs - abb_robot_msgs - abb_rapid_sm_addin_msgs hardware_interface pluginlib rclcpp diff --git a/abb_hardware_interface/src/abb_system_position_only.cpp b/abb_hardware_interface/src/abb_system_position_only.cpp index 3f21826..2215677 100644 --- a/abb_hardware_interface/src/abb_system_position_only.cpp +++ b/abb_hardware_interface/src/abb_system_position_only.cpp @@ -40,7 +40,7 @@ CallbackReturn ABBSystemPositionOnlyHardware::on_init(const hardware_interface:: // Get robot controller description from RWS abb::robot::RWSManager rws_manager(rws_ip, rws_port, "Default User", "robotics"); const auto robot_controller_description_ = - abb::robot::utilities::establish_rws_connection(rws_manager, "IRB1200", true); + abb::robot::utilities::establishRWSConnection(rws_manager, "IRB1200", true); RCLCPP_INFO_STREAM( LOGGER, "Robot controller description:\n" << abb::robot::summaryText(robot_controller_description_)); diff --git a/abb_hardware_interface/src/utilities.cpp b/abb_hardware_interface/src/utilities.cpp index 2b3dc04..c196926 100644 --- a/abb_hardware_interface/src/utilities.cpp +++ b/abb_hardware_interface/src/utilities.cpp @@ -70,7 +70,7 @@ constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{1}; auto LOGGER = rclcpp::get_logger("ABBHardwareInterfaceUtilities"); } // namespace -RobotControllerDescription establish_rws_connection( +RobotControllerDescription establishRWSConnection( RWSManager & rws_manager, const std::string & robot_controller_id, const bool no_connection_timeout) { diff --git a/abb_rws_client/CMakeLists.txt b/abb_rws_client/CMakeLists.txt new file mode 100644 index 0000000..362d260 --- /dev/null +++ b/abb_rws_client/CMakeLists.txt @@ -0,0 +1,79 @@ +cmake_minimum_required(VERSION 3.8) +project(abb_rws_client) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-W -Wall -Wextra + -Wwrite-strings -Wunreachable-code -Wpointer-arith + -Winit-self -Wredundant-decls + -Wno-unused-parameter -Wno-unused-function) +endif() + +set(THIS_PACKAGE_INCLUDE_DEPENDS + abb_egm_rws_managers + abb_egm_msgs + abb_robot_msgs + abb_rapid_msgs + abb_rapid_sm_addin_msgs + rclcpp + sensor_msgs +) + +# find dependencies +find_package(ament_cmake REQUIRED) + +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +########### +## Build ## +########### + +add_executable(rws_client + src/rws_client_node.cpp + src/rws_client.cpp + src/rws_service_provider_ros.cpp + src/rws_state_publisher_ros.cpp + src/utilities.cpp + src/mapping.cpp +) +ament_target_dependencies(rws_client ${THIS_PACKAGE_INCLUDE_DEPENDS}) +# target_link_libraries(rws_client abb_egm_rws_managers::abb_egm_rws_managers) +target_include_directories( + rws_client + PRIVATE + include +) + +############# +## Install ## +############# + +install( + TARGETS rws_client + DESTINATION lib/${PROJECT_NAME} +) + +############# +## Testing ## +############# + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_export_include_directories(include) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) + +ament_package() diff --git a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp b/abb_rws_client/include/abb_rws_client/mapping.hpp similarity index 98% rename from abb_hardware_interface/include/abb_hardware_interface/mapping.hpp rename to abb_rws_client/include/abb_rws_client/mapping.hpp index 992aecf..f207207 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/mapping.hpp +++ b/abb_rws_client/include/abb_rws_client/mapping.hpp @@ -37,8 +37,7 @@ // This file is a modified copy from // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/mapping.h -#ifndef ABB_HARDWARE_INTERFACE__MAPPING_HPP_ -#define ABB_HARDWARE_INTERFACE__MAPPING_HPP_ +#pragma once #include #include @@ -262,5 +261,3 @@ std::string map_vector_to_string(const std::vector& vector); } // namespace utilities } // namespace robot } // namespace abb - -#endif // ABB_HARDWARE_INTERFACE__MAPPING_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp b/abb_rws_client/include/abb_rws_client/rws_client.hpp similarity index 94% rename from abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp rename to abb_rws_client/include/abb_rws_client/rws_client.hpp index 2b32838..ee9d153 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_client.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_client.hpp @@ -38,8 +38,7 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/include/abb_rws_service_provider/ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/include/abb_rws_state_publisher/ -#ifndef ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP_ -#define ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP_ +#pragma once // ROS #include @@ -65,5 +64,3 @@ class RWSClient { }; } // namespace abb_rws_client - -#endif // ABB_HARDWARE_INTERFACE__RWS_CLIENT_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp similarity index 97% rename from abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp rename to abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index e03e69d..5107b33 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -38,10 +38,9 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/include/abb_rws_service_provider/ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/include/abb_rws_state_publisher/ -#ifndef ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP_ -#define ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP_ +#pragma once -#include "abb_hardware_interface/rws_client.hpp" +#include "abb_rws_client/rws_client.hpp" // SYSMTEM #include @@ -226,5 +225,3 @@ class RWSServiceProviderROS : RWSClient { }; } // namespace abb_rws_client - -#endif // ABB_HARDWARE_INTERFACE__RWS_SERCIVE_PROVIDER_ROS_HPP_ diff --git a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp similarity index 92% rename from abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp rename to abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp index cfb3a1a..dd18c83 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/rws_state_publisher_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp @@ -38,10 +38,9 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/include/abb_rws_service_provider/ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/include/abb_rws_state_publisher/ -#ifndef ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ -#define ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ +#pragma once -#include "abb_hardware_interface/rws_client.hpp" +#include "abb_rws_client/rws_client.hpp" // SYSTEM #include @@ -77,5 +76,3 @@ class RWSStatePublisherROS : RWSClient { }; } // namespace abb_rws_client - -#endif // ABB_HARDWARE_INTERFACE__RWS_STATE_PUBLISHER_ROS_HPP_ diff --git a/abb_rws_client/include/abb_rws_client/utilities.hpp b/abb_rws_client/include/abb_rws_client/utilities.hpp new file mode 100644 index 0000000..ac8f05d --- /dev/null +++ b/abb_rws_client/include/abb_rws_client/utilities.hpp @@ -0,0 +1,91 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/initialization.h +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/verification.h + +#pragma once + +#include + +#include + +namespace abb +{ +namespace robot +{ +namespace utilities +{ +/** + * \brief Attempts to establish a connection to a robot controller's RWS server. + * + * If a connection is established, then a structured description of the robot controller is returned. + * + * \param rws_manager for handling the RWS communication with the robot controller. + * \param robot_controller_id for an identifier/nickname for the targeted robot controller. + * \param no_connection_timeout indicator whether to wait indefinitely on the robot controller. + * + * \return RobotControllerDescription of the robot controller. + * + * \throw std::runtime_error if unable to establish a connection. + */ +RobotControllerDescription establish_rws_connection( + RWSManager & rws_manager, const std::string & robot_controller_id, + const bool no_connection_timeout); + +/** + * \brief Verifies that the RobotWare version is supported. + * + * Note: For now, only RobotWare versions in the range [6.07.01, 7.0) are supported (i.e. excluding 7.0). + * + * \param rw_version to verify. + * + * \throw std::runtime_error if the RobotWare version is not supported. + */ +void verify_robotware_version(const RobotWareVersion &rw_version); + +/** + * \brief Verifies that the RobotWare StateMachine Add-In is present in a system. + * + * \param system_indicators to verify. + * + * \return bool true if the StateMachine Add-In is present. + */ +bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicators); +} // namespace utilities +} // namespace robot +} // namespace abb diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml new file mode 100644 index 0000000..285fe7b --- /dev/null +++ b/abb_rws_client/package.xml @@ -0,0 +1,27 @@ + + + + abb_rws_client + 0.0.0 + TODO: Package description + Grzegorz Bartyzel + Apache2 + + rclcpp + abb_egm_rws_managers + sensor_msgs + abb_egm_msgs + abb_rapid_msgs + abb_robot_msgs + abb_rapid_sm_addin_msgs + + ament_cmake_gtest + + ament_lint_auto + ament_lint_common + + + ament_cmake + + + diff --git a/abb_hardware_interface/src/mapping.cpp b/abb_rws_client/src/mapping.cpp similarity index 99% rename from abb_hardware_interface/src/mapping.cpp rename to abb_rws_client/src/mapping.cpp index 79c4d04..e02c1d3 100644 --- a/abb_hardware_interface/src/mapping.cpp +++ b/abb_rws_client/src/mapping.cpp @@ -37,7 +37,7 @@ // This file is a modified copy from // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/mapping.cpp -#include "abb_hardware_interface/mapping.hpp" +#include "abb_rws_client/mapping.hpp" // System #include diff --git a/abb_hardware_interface/src/rws_client.cpp b/abb_rws_client/src/rws_client.cpp similarity index 96% rename from abb_hardware_interface/src/rws_client.cpp rename to abb_rws_client/src/rws_client.cpp index d87950f..3c9c53a 100644 --- a/abb_hardware_interface/src/rws_client.cpp +++ b/abb_rws_client/src/rws_client.cpp @@ -38,9 +38,10 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src -#include "abb_hardware_interface/rws_client.hpp" +#include "abb_rws_client/rws_client.hpp" + +#include "abb_rws_client/utilities.hpp" -#include "abb_hardware_interface/utilities.hpp" namespace abb_rws_client { RWSClient::RWSClient(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port) diff --git a/abb_hardware_interface/src/rws_client_node.cpp b/abb_rws_client/src/rws_client_node.cpp similarity index 85% rename from abb_hardware_interface/src/rws_client_node.cpp rename to abb_rws_client/src/rws_client_node.cpp index 331a23a..af3c152 100644 --- a/abb_hardware_interface/src/rws_client_node.cpp +++ b/abb_rws_client/src/rws_client_node.cpp @@ -1,7 +1,7 @@ #include -#include "abb_hardware_interface/rws_service_provider_ros.hpp" -#include "abb_hardware_interface/rws_state_publisher_ros.hpp" +#include "abb_rws_client/rws_service_provider_ros.hpp" +#include "abb_rws_client/rws_state_publisher_ros.hpp" int main(int argc, char** argv) { rclcpp::init(argc, argv); diff --git a/abb_hardware_interface/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp similarity index 99% rename from abb_hardware_interface/src/rws_service_provider_ros.cpp rename to abb_rws_client/src/rws_service_provider_ros.cpp index 45144bc..c5f6ed9 100644 --- a/abb_hardware_interface/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -38,12 +38,12 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src -#include "abb_hardware_interface/rws_service_provider_ros.hpp" +#include "abb_rws_client/rws_service_provider_ros.hpp" #include -#include "abb_hardware_interface/mapping.hpp" -#include "abb_hardware_interface/utilities.hpp" +#include "abb_rws_client/mapping.hpp" +#include "abb_rws_client/utilities.hpp" using RAPIDSymbols = abb::rws::RWSStateMachineInterface::ResourceIdentifiers::RAPID::Symbols; diff --git a/abb_hardware_interface/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp similarity index 97% rename from abb_hardware_interface/src/rws_state_publisher_ros.cpp rename to abb_rws_client/src/rws_state_publisher_ros.cpp index a1f9747..15a1df8 100644 --- a/abb_hardware_interface/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -38,10 +38,10 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src -#include "abb_hardware_interface/rws_state_publisher_ros.hpp" +#include "abb_rws_client/rws_state_publisher_ros.hpp" -#include "abb_hardware_interface/mapping.hpp" -#include "abb_hardware_interface/utilities.hpp" +#include "abb_rws_client/mapping.hpp" +#include "abb_rws_client/utilities.hpp" namespace { /** diff --git a/abb_rws_client/src/utilities.cpp b/abb_rws_client/src/utilities.cpp new file mode 100644 index 0000000..fcfd7db --- /dev/null +++ b/abb_rws_client/src/utilities.cpp @@ -0,0 +1,117 @@ +/*********************************************************************************************************************** + * + * Copyright (c) 2020, ABB Schweiz AG + * All rights reserved. + * + * 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 ABB 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. + * + *********************************************************************************************************************** + */ + +// This file is a modified copy from +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/initialization.cpp +// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/verification.cpp + +#include + +#include + +#include "rclcpp/rclcpp.hpp" + +namespace abb +{ +namespace robot +{ +namespace utilities +{ +namespace +{ +/** + * \brief Max number of attempts when trying to connect to a robot controller via RWS. + */ +constexpr unsigned int RWS_MAX_CONNECTION_ATTEMPTS{5}; + +/** + * \brief Error message for failed connection attempts when trying to connect to a robot controller via RWS. + */ +constexpr char RWS_CONNECTION_ERROR_MESSAGE[]{ + "Failed to establish RWS connection to the robot controller"}; + +/** + * \brief Time [s] to wait before trying to reconnect to a robot controller via RWS. + */ +constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{1}; +auto LOGGER = rclcpp::get_logger("ABBHardwareInterfaceUtilities"); +} // namespace + +RobotControllerDescription establish_rws_connection( + RWSManager & rws_manager, const std::string & robot_controller_id, + const bool no_connection_timeout) +{ + unsigned int attempt{0}; + + while (rclcpp::ok() && (no_connection_timeout || attempt++ < RWS_MAX_CONNECTION_ATTEMPTS)) { + try { + return rws_manager.collectAndParseSystemData(robot_controller_id); + } catch (const std::runtime_error & exception) { + if (!no_connection_timeout) { + RCLCPP_WARN_STREAM( + LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (attempt " << attempt << "/" + << RWS_MAX_CONNECTION_ATTEMPTS << "), reason: '" + << exception.what() << "'"); + } else { + RCLCPP_WARN_STREAM( + LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (waiting indefinitely), reason: '" + << exception.what() << "'"); + } + rclcpp::sleep_for(std::chrono::seconds(RWS_RECONNECTION_WAIT_TIME)); + } + } + + throw std::runtime_error{RWS_CONNECTION_ERROR_MESSAGE}; +} + +void verify_robotware_version(const RobotWareVersion& rw_version) { + if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && + rw_version.patch_number() < 1) { + auto error_message{"Unsupported RobotWare version (" + rw_version.name() + + ", need at least 6.07.01)"}; + + RCLCPP_FATAL_STREAM(LOGGER, error_message); + throw std::runtime_error{error_message}; + } +} + +bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) { + return system_indicators.addins().state_machine_1_0() || + system_indicators.addins().state_machine_1_1(); +} +} // namespace utilities +} // namespace robot +} // namespace abb From 40163e921126400872f500168721cc8b3108b73c Mon Sep 17 00:00:00 2001 From: Souphis Date: Tue, 31 May 2022 11:26:46 +0200 Subject: [PATCH 12/27] Apply formatting --- abb_hardware_interface/src/utilities.cpp | 18 +- .../include/abb_rws_client/mapping.hpp | 10 +- .../include/abb_rws_client/rws_client.hpp | 15 +- .../rws_service_provider_ros.hpp | 11 +- .../rws_state_publisher_ros.hpp | 13 +- .../include/abb_rws_client/utilities.hpp | 9 +- abb_rws_client/package.xml | 1 - abb_rws_client/src/mapping.cpp | 109 ++- abb_rws_client/src/rws_client.cpp | 16 +- abb_rws_client/src/rws_client_node.cpp | 3 +- .../src/rws_service_provider_ros.cpp | 748 ++++++++++++------ .../src/rws_state_publisher_ros.cpp | 64 +- abb_rws_client/src/utilities.cpp | 63 +- 13 files changed, 705 insertions(+), 375 deletions(-) diff --git a/abb_hardware_interface/src/utilities.cpp b/abb_hardware_interface/src/utilities.cpp index 9432cfa..ecf5d16 100644 --- a/abb_hardware_interface/src/utilities.cpp +++ b/abb_hardware_interface/src/utilities.cpp @@ -100,20 +100,20 @@ RobotControllerDescription establishRWSConnection(RWSManager& rws_manager, const throw std::runtime_error{ RWS_CONNECTION_ERROR_MESSAGE }; } -void verify_robotware_version(const RobotWareVersion& rw_version) { - if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && - rw_version.patch_number() < 1) { - auto error_message{"Unsupported RobotWare version (" + rw_version.name() + - ", need at least 6.07.01)"}; +void verify_robotware_version(const RobotWareVersion& rw_version) +{ + if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && rw_version.patch_number() < 1) + { + auto error_message{ "Unsupported RobotWare version (" + rw_version.name() + ", need at least 6.07.01)" }; RCLCPP_FATAL_STREAM(LOGGER, error_message); - throw std::runtime_error{error_message}; + throw std::runtime_error{ error_message }; } } -bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) { - return system_indicators.addins().state_machine_1_0() || - system_indicators.addins().state_machine_1_1(); +bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) +{ + return system_indicators.addins().state_machine_1_0() || system_indicators.addins().state_machine_1_1(); } } // namespace utilities } // namespace robot diff --git a/abb_rws_client/include/abb_rws_client/mapping.hpp b/abb_rws_client/include/abb_rws_client/mapping.hpp index f207207..de54138 100644 --- a/abb_rws_client/include/abb_rws_client/mapping.hpp +++ b/abb_rws_client/include/abb_rws_client/mapping.hpp @@ -49,10 +49,12 @@ #include #include -namespace abb { -namespace robot { -namespace utilities { - +namespace abb +{ +namespace robot +{ +namespace utilities +{ /** * \brief Maps RAPID task execution state to ROS representation. * diff --git a/abb_rws_client/include/abb_rws_client/rws_client.hpp b/abb_rws_client/include/abb_rws_client/rws_client.hpp index ee9d153..6a435fb 100644 --- a/abb_rws_client/include/abb_rws_client/rws_client.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_client.hpp @@ -47,19 +47,20 @@ #include #include -namespace abb_rws_client { +namespace abb_rws_client +{ +class RWSClient +{ +public: + RWSClient(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); -class RWSClient { - public: - RWSClient(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port); - - protected: +protected: rclcpp::Node::SharedPtr node_; abb::robot::RWSManager rws_manager_; abb::robot::RobotControllerDescription robot_controller_description_; - private: +private: void connect(); }; diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index 5107b33..85a9e6a 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -77,13 +77,14 @@ #include #include -namespace abb_rws_client { - -class RWSServiceProviderROS : RWSClient { - public: +namespace abb_rws_client +{ +class RWSServiceProviderROS : RWSClient +{ +public: RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); - private: +private: void system_state_callback(const abb_robot_msgs::msg::SystemState& msg); void runtime_state_callback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg); diff --git a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp index dd18c83..0e700cd 100644 --- a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp @@ -56,13 +56,14 @@ #include #include -namespace abb_rws_client { +namespace abb_rws_client +{ +class RWSStatePublisherROS : RWSClient +{ +public: + RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); -class RWSStatePublisherROS : RWSClient { - public: - RWSStatePublisherROS(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port); - - private: +private: void timer_callback(); rclcpp::TimerBase::SharedPtr timer_; diff --git a/abb_rws_client/include/abb_rws_client/utilities.hpp b/abb_rws_client/include/abb_rws_client/utilities.hpp index ac8f05d..f29155d 100644 --- a/abb_rws_client/include/abb_rws_client/utilities.hpp +++ b/abb_rws_client/include/abb_rws_client/utilities.hpp @@ -63,9 +63,8 @@ namespace utilities * * \throw std::runtime_error if unable to establish a connection. */ -RobotControllerDescription establish_rws_connection( - RWSManager & rws_manager, const std::string & robot_controller_id, - const bool no_connection_timeout); +RobotControllerDescription establish_rws_connection(RWSManager& rws_manager, const std::string& robot_controller_id, + const bool no_connection_timeout); /** * \brief Verifies that the RobotWare version is supported. @@ -76,7 +75,7 @@ RobotControllerDescription establish_rws_connection( * * \throw std::runtime_error if the RobotWare version is not supported. */ -void verify_robotware_version(const RobotWareVersion &rw_version); +void verify_robotware_version(const RobotWareVersion& rw_version); /** * \brief Verifies that the RobotWare StateMachine Add-In is present in a system. @@ -85,7 +84,7 @@ void verify_robotware_version(const RobotWareVersion &rw_version); * * \return bool true if the StateMachine Add-In is present. */ -bool verify_state_machine_add_in_presence(const SystemIndicators &system_indicators); +bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators); } // namespace utilities } // namespace robot } // namespace abb diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml index 285fe7b..de23dc2 100644 --- a/abb_rws_client/package.xml +++ b/abb_rws_client/package.xml @@ -24,4 +24,3 @@ ament_cmake - diff --git a/abb_rws_client/src/mapping.cpp b/abb_rws_client/src/mapping.cpp index e02c1d3..3c2d20e 100644 --- a/abb_rws_client/src/mapping.cpp +++ b/abb_rws_client/src/mapping.cpp @@ -51,12 +51,16 @@ #include #include -namespace abb { -namespace robot { -namespace utilities { - -uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) { - switch (state) { +namespace abb +{ +namespace robot +{ +namespace utilities +{ +uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) +{ + switch (state) + { case rws::RWSInterface::UNKNOWN: return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_UNKNOWN; break; @@ -83,8 +87,10 @@ uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) { } } -uint8_t map_state_machine_state(const rws::RAPIDNum& state) { - switch (static_cast(state.value)) { +uint8_t map_state_machine_state(const rws::RAPIDNum& state) +{ + switch (static_cast(state.value)) + { case 0: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_IDLE; break; @@ -107,8 +113,10 @@ uint8_t map_state_machine_state(const rws::RAPIDNum& state) { } } -uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action) { - switch (static_cast(action.value)) { +uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action) +{ + switch (static_cast(action.value)) + { case 0: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_NONE; break; @@ -139,7 +147,8 @@ uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action) { } } -abb_rapid_msgs::msg::Pos map(const rws::Pos& rws_pos) { +abb_rapid_msgs::msg::Pos map(const rws::Pos& rws_pos) +{ abb_rapid_msgs::msg::Pos ros_pos{}; ros_pos.x = rws_pos.x.value; ros_pos.y = rws_pos.y.value; @@ -147,7 +156,8 @@ abb_rapid_msgs::msg::Pos map(const rws::Pos& rws_pos) { return ros_pos; } -abb_rapid_msgs::msg::Orient map(const rws::Orient& rws_orient) { +abb_rapid_msgs::msg::Orient map(const rws::Orient& rws_orient) +{ abb_rapid_msgs::msg::Orient ros_orient{}; ros_orient.q1 = rws_orient.q1.value; ros_orient.q2 = rws_orient.q2.value; @@ -156,14 +166,16 @@ abb_rapid_msgs::msg::Orient map(const rws::Orient& rws_orient) { return ros_orient; } -abb_rapid_msgs::msg::Pose map(const rws::Pose& rws_pose) { +abb_rapid_msgs::msg::Pose map(const rws::Pose& rws_pose) +{ abb_rapid_msgs::msg::Pose ros_pose{}; ros_pose.trans = map(rws_pose.pos); ros_pose.rot = map(rws_pose.rot); return ros_pose; } -abb_rapid_msgs::msg::LoadData map(const rws::LoadData& rws_loaddata) { +abb_rapid_msgs::msg::LoadData map(const rws::LoadData& rws_loaddata) +{ abb_rapid_msgs::msg::LoadData ros_loaddata{}; ros_loaddata.mass = rws_loaddata.mass.value; ros_loaddata.cog = map(rws_loaddata.cog); @@ -174,7 +186,8 @@ abb_rapid_msgs::msg::LoadData map(const rws::LoadData& rws_loaddata) { return ros_loaddata; } -abb_rapid_msgs::msg::ToolData map(const rws::ToolData& rws_tooldata) { +abb_rapid_msgs::msg::ToolData map(const rws::ToolData& rws_tooldata) +{ abb_rapid_msgs::msg::ToolData ros_tooldata{}; ros_tooldata.robhold = rws_tooldata.robhold.value; ros_tooldata.tframe = map(rws_tooldata.tframe); @@ -182,7 +195,8 @@ abb_rapid_msgs::msg::ToolData map(const rws::ToolData& rws_tooldata) { return ros_tooldata; } -abb_rapid_msgs::msg::WObjData map(const rws::WObjData& rws_wobjdata) { +abb_rapid_msgs::msg::WObjData map(const rws::WObjData& rws_wobjdata) +{ abb_rapid_msgs::msg::WObjData ros_wobjdata{}; ros_wobjdata.robhold = rws_wobjdata.robhold.value; ros_wobjdata.ufprog = rws_wobjdata.ufprog.value; @@ -192,7 +206,8 @@ abb_rapid_msgs::msg::WObjData map(const rws::WObjData& rws_wobjdata) { return ros_wobjdata; } -abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterface::EGMSettings& rws_egm_settings) { +abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterface::EGMSettings& rws_egm_settings) +{ abb_rapid_sm_addin_msgs::msg::EGMSettings ros_egm_settings{}; ros_egm_settings.allow_egm_motions = rws_egm_settings.allow_egm_motions.value; @@ -220,8 +235,10 @@ abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterfac return ros_egm_settings; } -unsigned int map_state_machine_sg_command(const unsigned int command) { - switch (command) { +unsigned int map_state_machine_sg_command(const unsigned int command) +{ + switch (command) + { case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_NONE: return rws::RWSStateMachineInterface::SG_COMMAND_NONE; break; @@ -280,12 +297,13 @@ unsigned int map_state_machine_sg_command(const unsigned int command) { case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_UNKNOWN: default: - throw std::runtime_error{"Unknown SmartGripper command"}; + throw std::runtime_error{ "Unknown SmartGripper command" }; break; } } -rws::Pos map(const abb_rapid_msgs::msg::Pos& ros_pos) { +rws::Pos map(const abb_rapid_msgs::msg::Pos& ros_pos) +{ rws::Pos rws_pos{}; rws_pos.x.value = ros_pos.x; rws_pos.y.value = ros_pos.y; @@ -293,7 +311,8 @@ rws::Pos map(const abb_rapid_msgs::msg::Pos& ros_pos) { return rws_pos; } -rws::Orient map(const abb_rapid_msgs::msg::Orient& ros_orient) { +rws::Orient map(const abb_rapid_msgs::msg::Orient& ros_orient) +{ rws::Orient rws_orient{}; rws_orient.q1 = ros_orient.q1; rws_orient.q2 = ros_orient.q2; @@ -302,14 +321,16 @@ rws::Orient map(const abb_rapid_msgs::msg::Orient& ros_orient) { return rws_orient; } -rws::Pose map(const abb_rapid_msgs::msg::Pose& ros_pose) { +rws::Pose map(const abb_rapid_msgs::msg::Pose& ros_pose) +{ rws::Pose rws_pose{}; rws_pose.pos = map(ros_pose.trans); rws_pose.rot = map(ros_pose.rot); return rws_pose; } -rws::LoadData map(const abb_rapid_msgs::msg::LoadData& ros_loaddata) { +rws::LoadData map(const abb_rapid_msgs::msg::LoadData& ros_loaddata) +{ rws::LoadData rws_loaddata{}; rws_loaddata.mass.value = ros_loaddata.mass; rws_loaddata.cog = map(ros_loaddata.cog); @@ -320,7 +341,8 @@ rws::LoadData map(const abb_rapid_msgs::msg::LoadData& ros_loaddata) { return rws_loaddata; } -rws::ToolData map(const abb_rapid_msgs::msg::ToolData& ros_tooldata) { +rws::ToolData map(const abb_rapid_msgs::msg::ToolData& ros_tooldata) +{ rws::ToolData rws_tooldata{}; rws_tooldata.robhold = ros_tooldata.robhold; rws_tooldata.tframe = map(ros_tooldata.tframe); @@ -328,7 +350,8 @@ rws::ToolData map(const abb_rapid_msgs::msg::ToolData& ros_tooldata) { return rws_tooldata; } -rws::WObjData map(const abb_rapid_msgs::msg::WObjData& ros_wobjdata) { +rws::WObjData map(const abb_rapid_msgs::msg::WObjData& ros_wobjdata) +{ rws::WObjData rws_wobjdata{}; rws_wobjdata.robhold.value = ros_wobjdata.robhold; rws_wobjdata.ufprog.value = ros_wobjdata.ufprog; @@ -338,7 +361,8 @@ rws::WObjData map(const abb_rapid_msgs::msg::WObjData& ros_wobjdata) { return rws_wobjdata; } -rws::RWSStateMachineInterface::EGMSettings map(const abb_rapid_sm_addin_msgs::msg::EGMSettings& ros_egm_settings) { +rws::RWSStateMachineInterface::EGMSettings map(const abb_rapid_sm_addin_msgs::msg::EGMSettings& ros_egm_settings) +{ rws::RWSStateMachineInterface::EGMSettings rws_egm_settings{}; rws_egm_settings.allow_egm_motions.value = ros_egm_settings.allow_egm_motions; @@ -366,8 +390,10 @@ rws::RWSStateMachineInterface::EGMSettings map(const abb_rapid_sm_addin_msgs::ms return rws_egm_settings; } -uint8_t map(egm::wrapper::Status::EGMState state) { - switch (state) { +uint8_t map(egm::wrapper::Status::EGMState state) +{ + switch (state) + { case egm::wrapper::Status::EGM_ERROR: return abb_egm_msgs::msg::EGMChannelState::EGM_ERROR; break; @@ -387,8 +413,10 @@ uint8_t map(egm::wrapper::Status::EGMState state) { } } -uint8_t map(egm::wrapper::Status::MotorState state) { - switch (state) { +uint8_t map(egm::wrapper::Status::MotorState state) +{ + switch (state) + { case egm::wrapper::Status::MOTORS_ON: return abb_egm_msgs::msg::EGMChannelState::MOTORS_ON; break; @@ -404,8 +432,10 @@ uint8_t map(egm::wrapper::Status::MotorState state) { } } -uint8_t map(egm::wrapper::Status::RAPIDExecutionState state) { - switch (state) { +uint8_t map(egm::wrapper::Status::RAPIDExecutionState state) +{ + switch (state) + { case egm::wrapper::Status::RAPID_STOPPED: return abb_egm_msgs::msg::EGMChannelState::RAPID_STOPPED; break; @@ -422,16 +452,19 @@ uint8_t map(egm::wrapper::Status::RAPIDExecutionState state) { } template -std::string map_vector_to_string(const std::vector& vector) { +std::string map_vector_to_string(const std::vector& vector) +{ std::stringstream ss{}; ss << "["; - for (size_t i{0}; i < vector.size(); ++i) { + for (size_t i{ 0 }; i < vector.size(); ++i) + { ss << vector[i]; - if (ss.fail()) { - std::string error_message{"Failed to map vector to string"}; - throw std::runtime_error{error_message}; + if (ss.fail()) + { + std::string error_message{ "Failed to map vector to string" }; + throw std::runtime_error{ error_message }; } ss << (i < vector.size() - 1 ? ", " : ""); diff --git a/abb_rws_client/src/rws_client.cpp b/abb_rws_client/src/rws_client.cpp index 3c9c53a..239ac89 100644 --- a/abb_rws_client/src/rws_client.cpp +++ b/abb_rws_client/src/rws_client.cpp @@ -42,18 +42,20 @@ #include "abb_rws_client/utilities.hpp" - -namespace abb_rws_client { -RWSClient::RWSClient(const rclcpp::Node::SharedPtr &node, const std::string &robot_ip, unsigned short robot_port) - : node_(node), - rws_manager_{robot_ip, robot_port, abb::rws::SystemConstants::General::DEFAULT_USERNAME, - abb::rws::SystemConstants::General::DEFAULT_PASSWORD} { +namespace abb_rws_client +{ +RWSClient::RWSClient(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port) + : node_(node) + , rws_manager_{ robot_ip, robot_port, abb::rws::SystemConstants::General::DEFAULT_USERNAME, + abb::rws::SystemConstants::General::DEFAULT_PASSWORD } +{ node_->declare_parameter("robot_nickname", std::string{}); node_->declare_parameter("no_connection_timeout", false); connect(); } -void RWSClient::connect() { +void RWSClient::connect() +{ std::string robot_id; bool no_connection_timeout; diff --git a/abb_rws_client/src/rws_client_node.cpp b/abb_rws_client/src/rws_client_node.cpp index af3c152..97489ca 100644 --- a/abb_rws_client/src/rws_client_node.cpp +++ b/abb_rws_client/src/rws_client_node.cpp @@ -3,7 +3,8 @@ #include "abb_rws_client/rws_service_provider_ros.hpp" #include "abb_rws_client/rws_state_publisher_ros.hpp" -int main(int argc, char** argv) { +int main(int argc, char** argv) +{ rclcpp::init(argc, argv); rclcpp::Node::SharedPtr client_node = rclcpp::Node::make_shared("rws"); diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index c5f6ed9..b03f79c 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -47,10 +47,12 @@ using RAPIDSymbols = abb::rws::RWSStateMachineInterface::ResourceIdentifiers::RAPID::Symbols; -namespace abb_rws_client { +namespace abb_rws_client +{ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port) - : RWSClient(node, robot_ip, robot_port) { + : RWSClient(node, robot_ip, robot_port) +{ system_state_sub_ = node_->create_subscription( "system_states", 10, std::bind(&RWSServiceProviderROS::system_state_callback, this, std::placeholders::_1)); runtime_state_sub_ = node_->create_subscription( @@ -128,22 +130,29 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node auto has_sm_1_0 = system_indicators.addins().has_state_machine_1_0(); auto has_sm_1_1 = system_indicators.addins().has_state_machine_1_1(); - if (has_sm_1_0) { + if (has_sm_1_0) + { RCLCPP_DEBUG_STREAM(node_->get_logger(), "StateMachine Add-In 1.0 detected"); - } else if (has_sm_1_1) { + } + else if (has_sm_1_1) + { RCLCPP_DEBUG_STREAM(node_->get_logger(), "StateMachine Add-In 1.1 detected"); - } else { + } + else + { RCLCPP_DEBUG_STREAM(node_->get_logger(), "No StateMachine Add-In detected"); } - if (has_sm_1_0 || has_sm_1_1) { + if (has_sm_1_0 || has_sm_1_1) + { sm_services_.push_back(node_->create_service( "~/run_rapid_routine", std::bind(&RWSServiceProviderROS::run_rapid_routine, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "~/set_rapid_routine", std::bind(&RWSServiceProviderROS::set_rapid_routine, this, std::placeholders::_1, std::placeholders::_2))); - if (system_indicators.options().egm()) { + if (system_indicators.options().egm()) + { sm_services_.push_back(node_->create_service( "get_egm_settings", std::bind(&RWSServiceProviderROS::get_egm_settings, this, std::placeholders::_1, std::placeholders::_2))); @@ -158,7 +167,8 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node std::bind(&RWSServiceProviderROS::start_egm_pose, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "stop_egm", std::bind(&RWSServiceProviderROS::stop_egm, this, std::placeholders::_1, std::placeholders::_2))); - if (has_sm_1_1) { + if (has_sm_1_1) + { sm_services_.push_back(node_->create_service( "start_egm_stream", std::bind(&RWSServiceProviderROS::start_egm_stream, this, std::placeholders::_1, std::placeholders::_2))); @@ -168,7 +178,8 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node } } - if (system_indicators.addins().smart_gripper()) { + if (system_indicators.addins().smart_gripper()) + { sm_services_.push_back(node_->create_service( "run_sg_routine", std::bind(&RWSServiceProviderROS::run_sg_routine, this, std::placeholders::_1, std::placeholders::_2))); @@ -180,15 +191,20 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node RCLCPP_INFO(node_->get_logger(), "RWS client services initialized!"); } -void RWSServiceProviderROS::system_state_callback(const abb_robot_msgs::msg::SystemState& msg) { system_state_ = msg; } +void RWSServiceProviderROS::system_state_callback(const abb_robot_msgs::msg::SystemState& msg) +{ + system_state_ = msg; +} -void RWSServiceProviderROS::runtime_state_callback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg) { +void RWSServiceProviderROS::runtime_state_callback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg) +{ runtime_state_ = msg; } bool RWSServiceProviderROS::get_rc_description( const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, - abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res) { + abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res) +{ res->description = robot_controller_description_.DebugString(); res->message = abb_robot_msgs::msg::ServiceResponses::SUCCESS; @@ -198,18 +214,24 @@ bool RWSServiceProviderROS::get_rc_description( } bool RWSServiceProviderROS::get_file_contents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, - abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res) { - if (!verify_argument_filename(req->filename, res->result_code, res->message)) { + abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res) +{ + if (!verify_argument_filename(req->filename, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.getFile(abb::rws::RWSClient::FileResource(req->filename), &res->contents)) { + if (interface.getFile(abb::rws::RWSClient::FileResource(req->filename), &res->contents)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -220,20 +242,26 @@ bool RWSServiceProviderROS::get_file_contents(const abb_robot_msgs::srv::GetFile } bool RWSServiceProviderROS::get_io_signal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, - abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res) { - if (!verify_argument_signal(req->signal, res->result_code, res->message)) { + abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res) +{ + if (!verify_argument_signal(req->signal, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { res->value = interface.getIOSignal(req->signal); - if (!res->value.empty()) { + if (!res->value.empty()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -244,20 +272,26 @@ bool RWSServiceProviderROS::get_io_signal(const abb_robot_msgs::srv::GetIOSignal } bool RWSServiceProviderROS::get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDBool rapid_bool; - if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_bool)) { + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_bool)) + { res->value = rapid_bool.value; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -268,20 +302,26 @@ bool RWSServiceProviderROS::get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBo } bool RWSServiceProviderROS::get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDDnum rapid_dnum; - if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_dnum)) { + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_dnum)) + { res->value = rapid_dnum.value; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -292,20 +332,26 @@ bool RWSServiceProviderROS::get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDn } bool RWSServiceProviderROS::get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDNum rapid_num{}; - if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_num)) { + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_num)) + { res->value = rapid_num.value; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -316,20 +362,26 @@ bool RWSServiceProviderROS::get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum } bool RWSServiceProviderROS::get_rapid_string(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDString rapid_string{}; - if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_string)) { + if (interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, &rapid_string)) + { res->value = rapid_string.value; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -340,20 +392,26 @@ bool RWSServiceProviderROS::get_rapid_string(const abb_robot_msgs::srv::GetRAPID } bool RWSServiceProviderROS::get_rapid_symbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { res->value = interface.getRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol); - if (!res->value.empty()) { + if (!res->value.empty()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -364,16 +422,21 @@ bool RWSServiceProviderROS::get_rapid_symbol(const abb_robot_msgs::srv::GetRAPID } bool RWSServiceProviderROS::get_speed_ratio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr, - abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res) { - if (!verify_rws_manager_ready(res->result_code, res->message)) { + abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res) +{ + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - try { + try + { res->speed_ratio = interface.getSpeedRatio(); res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } catch (const std::runtime_error& exception) { + } + catch (const std::runtime_error& exception) + { res->message = exception.what(); res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -384,21 +447,28 @@ bool RWSServiceProviderROS::get_speed_ratio(const abb_robot_msgs::srv::GetSpeedR } bool RWSServiceProviderROS::pp_to_main(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_stopped(res->result_code, res->message)) { + if (!verify_rapid_stopped(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.resetRAPIDProgramPointer()) { + if (interface.resetRAPIDProgramPointer()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } @@ -407,24 +477,32 @@ bool RWSServiceProviderROS::pp_to_main(const abb_robot_msgs::srv::TriggerWithRes return true; } bool RWSServiceProviderROS::run_rapid_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_running(res->result_code, res->message)) { + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().rapid().signalRunRAPIDRoutine()) { + if (interface.services().rapid().signalRunRAPIDRoutine()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -435,24 +513,32 @@ bool RWSServiceProviderROS::run_rapid_routine(const abb_robot_msgs::srv::Trigger } bool RWSServiceProviderROS::run_sg_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_running(res->result_code, res->message)) { + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().sg().signalRunSGRoutine()) { + if (interface.services().sg().signalRunSGRoutine()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -463,18 +549,24 @@ bool RWSServiceProviderROS::run_sg_routine(const abb_robot_msgs::srv::TriggerWit } bool RWSServiceProviderROS::set_file_contents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, - abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res) { - if (!verify_argument_filename(req->filename, res->result_code, res->message)) { + abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res) +{ + if (!verify_argument_filename(req->filename, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.uploadFile(abb::rws::RWSClient::FileResource(req->filename), req->contents)) { + if (interface.uploadFile(abb::rws::RWSClient::FileResource(req->filename), req->contents)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -485,18 +577,24 @@ bool RWSServiceProviderROS::set_file_contents(const abb_robot_msgs::srv::SetFile } bool RWSServiceProviderROS::set_io_signal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, - abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res) { - if (!verify_argument_signal(req->signal, res->result_code, res->message)) { + abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res) +{ + if (!verify_argument_signal(req->signal, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.setIOSignal(req->signal, req->value)) { + if (interface.setIOSignal(req->signal, req->value)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -507,15 +605,20 @@ bool RWSServiceProviderROS::set_io_signal(const abb_robot_msgs::srv::SetIOSignal } bool RWSServiceProviderROS::set_motors_off(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_motors_on(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_motors_on(res->result_code, res->message)) + { return true; } rws_manager_.runPriorityService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.setMotorsOff()) { + if (interface.setMotorsOff()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } @@ -525,21 +628,28 @@ bool RWSServiceProviderROS::set_motors_off(const abb_robot_msgs::srv::TriggerWit } bool RWSServiceProviderROS::set_motors_on(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_motors_off(res->result_code, res->message)) { + if (!verify_motors_off(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.setMotorsOn()) { + if (interface.setMotorsOn()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } @@ -549,22 +659,29 @@ bool RWSServiceProviderROS::set_motors_on(const abb_robot_msgs::srv::TriggerWith } bool RWSServiceProviderROS::set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDBool rapid_bool = static_cast(req->value); - if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_bool)) { + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_bool)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -575,22 +692,29 @@ bool RWSServiceProviderROS::set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBo } bool RWSServiceProviderROS::set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDDnum rapid_dnum = req->value; - if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_dnum)) { + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_dnum)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -601,25 +725,32 @@ bool RWSServiceProviderROS::set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDn } bool RWSServiceProviderROS::set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDNum rapid_num = req->value; - if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_num)) { + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_num)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } }); @@ -627,22 +758,29 @@ bool RWSServiceProviderROS::set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum } bool RWSServiceProviderROS::set_rapid_string(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RAPIDString rapid_string = req->value; - if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_string)) { + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, rapid_string)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -653,21 +791,28 @@ bool RWSServiceProviderROS::set_rapid_string(const abb_robot_msgs::srv::SetRAPID } bool RWSServiceProviderROS::set_rapid_symbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { + abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res) +{ + if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, req->value)) { + if (interface.setRAPIDSymbolData(req->path.task, req->path.module, req->path.symbol, req->value)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -678,23 +823,32 @@ bool RWSServiceProviderROS::set_rapid_symbol(const abb_robot_msgs::srv::SetRAPID } bool RWSServiceProviderROS::set_speed_ratio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, - abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - try { - if (interface.setSpeedRatio(req->speed_ratio)) { + try + { + if (interface.setSpeedRatio(req->speed_ratio)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; } - } catch (const std::exception& exception) { + } + catch (const std::exception& exception) + { res->message = exception.what(); RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } @@ -704,21 +858,28 @@ bool RWSServiceProviderROS::set_speed_ratio(const abb_robot_msgs::srv::SetSpeedR } bool RWSServiceProviderROS::start_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_motors_on(res->result_code, res->message)) { + if (!verify_motors_on(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.startRAPIDExecution()) { + if (interface.startRAPIDExecution()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } @@ -728,15 +889,20 @@ bool RWSServiceProviderROS::start_rapid(const abb_robot_msgs::srv::TriggerWithRe } bool RWSServiceProviderROS::stop_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_rapid_running(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } rws_manager_.runPriorityService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.stopRAPIDExecution()) { + if (interface.stopRAPIDExecution()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); } @@ -746,27 +912,35 @@ bool RWSServiceProviderROS::stop_rapid(const abb_robot_msgs::srv::TriggerWithRes } bool RWSServiceProviderROS::get_egm_settings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res) +{ + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RWSStateMachineInterface::EGMSettings settings; - if (interface.services().egm().getSettings(req->task, &settings)) { + if (interface.services().egm().getSettings(req->task, &settings)) + { res->settings = abb::robot::utilities::map(settings); res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -777,32 +951,42 @@ bool RWSServiceProviderROS::get_egm_settings(const abb_rapid_sm_addin_msgs::srv: } bool RWSServiceProviderROS::set_egm_settings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res) +{ + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) { + if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { abb::rws::RWSStateMachineInterface::EGMSettings settings = abb::robot::utilities::map(req->settings); - if (interface.services().egm().setSettings(req->task, settings)) { + if (interface.services().egm().setSettings(req->task, settings)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -814,30 +998,40 @@ bool RWSServiceProviderROS::set_egm_settings(const abb_rapid_sm_addin_msgs::srv: bool RWSServiceProviderROS::set_rapid_routine( const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res) +{ + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) { + if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().rapid().setRoutineName(req->task, req->routine)) { + if (interface.services().rapid().setRoutineName(req->task, req->routine)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -848,30 +1042,40 @@ bool RWSServiceProviderROS::set_rapid_routine( } bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { + abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res) +{ + if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + { return true; } - if (!verify_auto_mode(res->result_code, res->message)) { + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) { + if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) { + if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } unsigned int req_command = 0; - try { + try + { req_command = abb::robot::utilities::map_state_machine_sg_command(req->command); - } catch (const std::runtime_error& exception) { + } + catch (const std::runtime_error& exception) + { res->message = exception.what(); res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; return true; @@ -882,9 +1086,12 @@ bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::S abb::rws::RAPIDNum sg_target_position_input = req->target_position; if (interface.setRAPIDSymbolData(req->task, RAPIDSymbols::SG_COMMAND_INPUT, sg_command_input) && - interface.setRAPIDSymbolData(req->task, RAPIDSymbols::SG_TARGET_POSTION_INPUT, sg_target_position_input)) { + interface.setRAPIDSymbolData(req->task, RAPIDSymbols::SG_TARGET_POSTION_INPUT, sg_target_position_input)) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -895,24 +1102,32 @@ bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::S } bool RWSServiceProviderROS::start_egm_joint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_running(res->result_code, res->message)) { + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().egm().signalEGMStartJoint()) { + if (interface.services().egm().signalEGMStartJoint()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -923,24 +1138,32 @@ bool RWSServiceProviderROS::start_egm_joint(const abb_robot_msgs::srv::TriggerWi } bool RWSServiceProviderROS::start_egm_pose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_running(res->result_code, res->message)) { + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().egm().signalEGMStartPose()) { + if (interface.services().egm().signalEGMStartPose()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -951,24 +1174,32 @@ bool RWSServiceProviderROS::start_egm_pose(const abb_robot_msgs::srv::TriggerWit } bool RWSServiceProviderROS::start_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_running(res->result_code, res->message)) { + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) { + if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().egm().signalEGMStartStream()) { + if (interface.services().egm().signalEGMStartStream()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -979,21 +1210,28 @@ bool RWSServiceProviderROS::start_egm_stream(const abb_robot_msgs::srv::TriggerW } bool RWSServiceProviderROS::stop_egm(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_running(res->result_code, res->message)) { + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runPriorityService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().egm().signalEGMStop()) { + if (interface.services().egm().signalEGMStop()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -1004,21 +1242,28 @@ bool RWSServiceProviderROS::stop_egm(const abb_robot_msgs::srv::TriggerWithResul } bool RWSServiceProviderROS::stop_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) { + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verify_auto_mode(res->result_code, res->message)) + { return true; } - if (!verify_rapid_running(res->result_code, res->message)) { + if (!verify_rapid_running(res->result_code, res->message)) + { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) { + if (!verify_rws_manager_ready(res->result_code, res->message)) + { return true; } rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().egm().signalEGMStopStream()) { + if (interface.services().egm().signalEGMStopStream()) + { res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } else { + } + else + { res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); @@ -1028,8 +1273,10 @@ bool RWSServiceProviderROS::stop_egm_stream(const abb_robot_msgs::srv::TriggerWi return true; } -bool RWSServiceProviderROS::verify_auto_mode(uint16_t& result_code, std::string& message) { - if (!system_state_.auto_mode) { +bool RWSServiceProviderROS::verify_auto_mode(uint16_t& result_code, std::string& message) +{ + if (!system_state_.auto_mode) + { message = abb_robot_msgs::msg::ServiceResponses::NOT_IN_AUTO_MODE; result_code = abb_robot_msgs::msg::ServiceResponses::RC_NOT_IN_AUTO_MODE; return false; @@ -1039,8 +1286,10 @@ bool RWSServiceProviderROS::verify_auto_mode(uint16_t& result_code, std::string& } bool RWSServiceProviderROS::verify_argument_filename(const std::string& filename, uint16_t& result_code, - std::string& message) { - if (filename.empty()) { + std::string& message) +{ + if (filename.empty()) + { message = abb_robot_msgs::msg::ServiceResponses::EMPTY_FILENAME; result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_FILENAME; return false; @@ -1050,20 +1299,24 @@ bool RWSServiceProviderROS::verify_argument_filename(const std::string& filename } bool RWSServiceProviderROS::verify_argument_rapid_symbol_path(const abb_robot_msgs::msg::RAPIDSymbolPath& path, - uint16_t& result_code, std::string& message) { - if (path.task.empty()) { + uint16_t& result_code, std::string& message) +{ + if (path.task.empty()) + { message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_TASK_NAME; result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_TASK_NAME; return false; } - if (path.module.empty()) { + if (path.module.empty()) + { message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_MODULE_NAME; result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_MODULE_NAME; return false; } - if (path.symbol.empty()) { + if (path.symbol.empty()) + { message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_SYMBOL_NAME; result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_SYMBOL_NAME; return false; @@ -1073,8 +1326,10 @@ bool RWSServiceProviderROS::verify_argument_rapid_symbol_path(const abb_robot_ms } bool RWSServiceProviderROS::verify_argument_rapid_task(const std::string& task, uint16_t& result_code, - std::string& message) { - if (task.empty()) { + std::string& message) +{ + if (task.empty()) + { message = abb_robot_msgs::msg::ServiceResponses::EMPTY_RAPID_TASK_NAME; result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_RAPID_TASK_NAME; return false; @@ -1084,8 +1339,10 @@ bool RWSServiceProviderROS::verify_argument_rapid_task(const std::string& task, } bool RWSServiceProviderROS::verify_argument_signal(const std::string& signal, uint16_t& result_code, - std::string& message) { - if (signal.empty()) { + std::string& message) +{ + if (signal.empty()) + { message = abb_robot_msgs::msg::ServiceResponses::EMPTY_SIGNAL_NAME; result_code = abb_robot_msgs::msg::ServiceResponses::RC_EMPTY_SIGNAL_NAME; return false; @@ -1094,8 +1351,10 @@ bool RWSServiceProviderROS::verify_argument_signal(const std::string& signal, ui return true; } -bool RWSServiceProviderROS::verify_motors_off(uint16_t& result_code, std::string& message) { - if (system_state_.motors_on) { +bool RWSServiceProviderROS::verify_motors_off(uint16_t& result_code, std::string& message) +{ + if (system_state_.motors_on) + { message = abb_robot_msgs::msg::ServiceResponses::MOTORS_ARE_ON; result_code = abb_robot_msgs::msg::ServiceResponses::RC_MOTORS_ARE_ON; return false; @@ -1104,8 +1363,10 @@ bool RWSServiceProviderROS::verify_motors_off(uint16_t& result_code, std::string return true; } -bool RWSServiceProviderROS::verify_motors_on(uint16_t& result_code, std::string& message) { - if (!system_state_.motors_on) { +bool RWSServiceProviderROS::verify_motors_on(uint16_t& result_code, std::string& message) +{ + if (!system_state_.motors_on) + { message = abb_robot_msgs::msg::ServiceResponses::MOTORS_ARE_OFF; result_code = abb_robot_msgs::msg::ServiceResponses::RC_MOTORS_ARE_OFF; return false; @@ -1114,8 +1375,10 @@ bool RWSServiceProviderROS::verify_motors_on(uint16_t& result_code, std::string& return true; } -bool RWSServiceProviderROS::verify_sm_addin_runtime_states(uint16_t& result_code, std::string& message) { - if (runtime_state_.state_machines.empty()) { +bool RWSServiceProviderROS::verify_sm_addin_runtime_states(uint16_t& result_code, std::string& message) +{ + if (runtime_state_.state_machines.empty()) + { message = abb_robot_msgs::msg::ServiceResponses::SM_RUNTIME_STATES_MISSING; result_code = abb_robot_msgs::msg::ServiceResponses::RC_SM_RUNTIME_STATES_MISSING; return false; @@ -1125,11 +1388,13 @@ bool RWSServiceProviderROS::verify_sm_addin_runtime_states(uint16_t& result_code } bool RWSServiceProviderROS::verify_sm_addin_task_exist(const std::string& task, uint16_t& result_code, - std::string& message) { + std::string& message) +{ auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), [&](const auto& sm) { return sm.rapid_task == task; }); - if (it == runtime_state_.state_machines.end()) { + if (it == runtime_state_.state_machines.end()) + { message = abb_robot_msgs::msg::ServiceResponses::SM_UNKNOWN_RAPID_TASK; result_code = abb_robot_msgs::msg::ServiceResponses::RC_SM_UNKNOWN_RAPID_TASK; return false; @@ -1139,14 +1404,17 @@ bool RWSServiceProviderROS::verify_sm_addin_task_exist(const std::string& task, } bool RWSServiceProviderROS::verify_sm_addin_task_initialized(const std::string& task, uint16_t& result_code, - std::string& message) { - if (!verify_sm_addin_task_exist(task, result_code, message)) return false; + std::string& message) +{ + if (!verify_sm_addin_task_exist(task, result_code, message)) + return false; auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), [&](const auto& sm) { return sm.rapid_task == task; }); if (it->sm_state == abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_UNKNOWN || - it->sm_state == abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_INITIALIZE) { + it->sm_state == abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_INITIALIZE) + { message = abb_robot_msgs::msg::ServiceResponses::SM_UNINITIALIZED; result_code = abb_robot_msgs::msg::ServiceResponses::RC_SM_UNINITIALIZED; return false; @@ -1155,8 +1423,10 @@ bool RWSServiceProviderROS::verify_sm_addin_task_initialized(const std::string& return true; } -bool RWSServiceProviderROS::verify_rapid_running(uint16_t& result_code, std::string& message) { - if (!system_state_.rapid_running) { +bool RWSServiceProviderROS::verify_rapid_running(uint16_t& result_code, std::string& message) +{ + if (!system_state_.rapid_running) + { message = abb_robot_msgs::msg::ServiceResponses::RAPID_NOT_RUNNING; result_code = abb_robot_msgs::msg::ServiceResponses::RC_RAPID_NOT_RUNNING; return false; @@ -1165,8 +1435,10 @@ bool RWSServiceProviderROS::verify_rapid_running(uint16_t& result_code, std::str return true; } -bool RWSServiceProviderROS::verify_rapid_stopped(uint16_t& result_code, std::string& message) { - if (system_state_.rapid_running) { +bool RWSServiceProviderROS::verify_rapid_stopped(uint16_t& result_code, std::string& message) +{ + if (system_state_.rapid_running) + { message = abb_robot_msgs::msg::ServiceResponses::RAPID_NOT_STOPPED; result_code = abb_robot_msgs::msg::ServiceResponses::RC_RAPID_NOT_STOPPED; return false; @@ -1175,8 +1447,10 @@ bool RWSServiceProviderROS::verify_rapid_stopped(uint16_t& result_code, std::str return true; } -bool RWSServiceProviderROS::verify_rws_manager_ready(uint16_t& result_code, std::string& message) { - if (!rws_manager_.isInterfaceReady()) { +bool RWSServiceProviderROS::verify_rws_manager_ready(uint16_t& result_code, std::string& message) +{ + if (!rws_manager_.isInterfaceReady()) + { message = abb_robot_msgs::msg::ServiceResponses::SERVER_IS_BUSY; result_code = abb_robot_msgs::msg::ServiceResponses::RC_SERVER_IS_BUSY; return false; diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index 15a1df8..b48f9f8 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -43,17 +43,20 @@ #include "abb_rws_client/mapping.hpp" #include "abb_rws_client/utilities.hpp" -namespace { +namespace +{ /** * \brief Time [s] for throttled ROS logging. */ -constexpr double THROTTLE_TIME{10.0}; +constexpr double THROTTLE_TIME{ 10.0 }; } // namespace -namespace abb_rws_client { +namespace abb_rws_client +{ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port) - : RWSClient(node, robot_ip, robot_port) { + : RWSClient(node, robot_ip, robot_port) +{ node_->declare_parameter("polling_rate", 5.0); abb::robot::initializeMotionData(motion_data_, robot_controller_description_); @@ -64,26 +67,34 @@ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, system_state_pub_ = node_->create_publisher("~/system_states", 1); - if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) { + if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) + { runtime_state_pub_ = node_->create_publisher("~/sm_addin/runtime_states", 1); } } -void RWSStatePublisherROS::timer_callback() { - try { +void RWSStatePublisherROS::timer_callback() +{ + try + { rws_manager_.collectAndUpdateRuntimeData(system_state_data_, motion_data_); - } catch (const std::runtime_error& exception) { + } + catch (const std::runtime_error& exception) + { auto& clk = *node_->get_clock(); - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), clk, THROTTLE_TIME, - "Periodic polling of runtime data via RWS failed with '" << exception.what() << "' (will try again later)"); + RCLCPP_WARN_STREAM_THROTTLE(node_->get_logger(), clk, THROTTLE_TIME, + "Periodic polling of runtime data via RWS failed with '" << exception.what() + << "' (will try again later)"); } sensor_msgs::msg::JointState joint_state_msg; - for (auto& group : motion_data_.groups) { - for (auto& unit : group.units) { - for (auto& joint : unit.joints) { + for (auto& group : motion_data_.groups) + { + for (auto& unit : group.units) + { + for (auto& joint : unit.joints) + { joint_state_msg.name.push_back(joint.name); joint_state_msg.position.push_back(joint.state.position); } @@ -95,7 +106,8 @@ void RWSStatePublisherROS::timer_callback() { system_state_msg.auto_mode = system_state_data_.auto_mode.isTrue(); system_state_msg.rapid_running = system_state_data_.rapid_running.isTrue(); - for (const auto& task : system_state_data_.rapid_tasks) { + for (const auto& task : system_state_data_.rapid_tasks) + { abb_robot_msgs::msg::RAPIDTaskState state{}; state.name = task.name; @@ -106,7 +118,8 @@ void RWSStatePublisherROS::timer_callback() { system_state_msg.rapid_tasks.push_back(state); } - for (const auto& unit : system_state_data_.mechanical_units) { + for (const auto& unit : system_state_data_.mechanical_units) + { abb_robot_msgs::msg::MechanicalUnitState state{}; state.name = unit.first; state.activated = unit.second.active; @@ -114,9 +127,11 @@ void RWSStatePublisherROS::timer_callback() { } abb_rapid_sm_addin_msgs::msg::RuntimeState sm_runtime_state_msg; - const auto& system_indicators{robot_controller_description_.system_indicators()}; - if (abb::robot::utilities::verify_state_machine_add_in_presence(system_indicators)) { - for (const auto& sm : system_state_data_.state_machines) { + const auto& system_indicators{ robot_controller_description_.system_indicators() }; + if (abb::robot::utilities::verify_state_machine_add_in_presence(system_indicators)) + { + for (const auto& sm : system_state_data_.state_machines) + { abb_rapid_sm_addin_msgs::msg::StateMachineState state; state.rapid_task = sm.rapid_task; state.sm_state = abb::robot::utilities::map_state_machine_state(sm.sm_state); @@ -132,11 +147,10 @@ void RWSStatePublisherROS::timer_callback() { system_state_msg.header.stamp = time; system_state_pub_->publish(system_state_msg); - if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) - { - sm_runtime_state_msg.header.stamp = time; - runtime_state_pub_->publish(sm_runtime_state_msg); - } - + if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) + { + sm_runtime_state_msg.header.stamp = time; + runtime_state_pub_->publish(sm_runtime_state_msg); + } } } // namespace abb_rws_client diff --git a/abb_rws_client/src/utilities.cpp b/abb_rws_client/src/utilities.cpp index fcfd7db..7a4e9e8 100644 --- a/abb_rws_client/src/utilities.cpp +++ b/abb_rws_client/src/utilities.cpp @@ -55,62 +55,65 @@ namespace /** * \brief Max number of attempts when trying to connect to a robot controller via RWS. */ -constexpr unsigned int RWS_MAX_CONNECTION_ATTEMPTS{5}; +constexpr unsigned int RWS_MAX_CONNECTION_ATTEMPTS{ 5 }; /** * \brief Error message for failed connection attempts when trying to connect to a robot controller via RWS. */ -constexpr char RWS_CONNECTION_ERROR_MESSAGE[]{ - "Failed to establish RWS connection to the robot controller"}; +constexpr char RWS_CONNECTION_ERROR_MESSAGE[]{ "Failed to establish RWS connection to the robot controller" }; /** * \brief Time [s] to wait before trying to reconnect to a robot controller via RWS. */ -constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{1}; +constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{ 1 }; auto LOGGER = rclcpp::get_logger("ABBHardwareInterfaceUtilities"); } // namespace -RobotControllerDescription establish_rws_connection( - RWSManager & rws_manager, const std::string & robot_controller_id, - const bool no_connection_timeout) +RobotControllerDescription establish_rws_connection(RWSManager& rws_manager, const std::string& robot_controller_id, + const bool no_connection_timeout) { - unsigned int attempt{0}; + unsigned int attempt{ 0 }; - while (rclcpp::ok() && (no_connection_timeout || attempt++ < RWS_MAX_CONNECTION_ATTEMPTS)) { - try { + while (rclcpp::ok() && (no_connection_timeout || attempt++ < RWS_MAX_CONNECTION_ATTEMPTS)) + { + try + { return rws_manager.collectAndParseSystemData(robot_controller_id); - } catch (const std::runtime_error & exception) { - if (!no_connection_timeout) { - RCLCPP_WARN_STREAM( - LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (attempt " << attempt << "/" - << RWS_MAX_CONNECTION_ATTEMPTS << "), reason: '" - << exception.what() << "'"); - } else { - RCLCPP_WARN_STREAM( - LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (waiting indefinitely), reason: '" - << exception.what() << "'"); + } + catch (const std::runtime_error& exception) + { + if (!no_connection_timeout) + { + RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (attempt " << attempt << "/" + << RWS_MAX_CONNECTION_ATTEMPTS << "), reason: '" + << exception.what() << "'"); + } + else + { + RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (waiting indefinitely), reason: '" + << exception.what() << "'"); } rclcpp::sleep_for(std::chrono::seconds(RWS_RECONNECTION_WAIT_TIME)); } } - throw std::runtime_error{RWS_CONNECTION_ERROR_MESSAGE}; + throw std::runtime_error{ RWS_CONNECTION_ERROR_MESSAGE }; } -void verify_robotware_version(const RobotWareVersion& rw_version) { - if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && - rw_version.patch_number() < 1) { - auto error_message{"Unsupported RobotWare version (" + rw_version.name() + - ", need at least 6.07.01)"}; +void verify_robotware_version(const RobotWareVersion& rw_version) +{ + if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && rw_version.patch_number() < 1) + { + auto error_message{ "Unsupported RobotWare version (" + rw_version.name() + ", need at least 6.07.01)" }; RCLCPP_FATAL_STREAM(LOGGER, error_message); - throw std::runtime_error{error_message}; + throw std::runtime_error{ error_message }; } } -bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) { - return system_indicators.addins().state_machine_1_0() || - system_indicators.addins().state_machine_1_1(); +bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) +{ + return system_indicators.addins().state_machine_1_0() || system_indicators.addins().state_machine_1_1(); } } // namespace utilities } // namespace robot From 381e3945a4e239af21ae668afe071b810c3c78b1 Mon Sep 17 00:00:00 2001 From: Souphis Date: Tue, 31 May 2022 12:28:06 +0200 Subject: [PATCH 13/27] Rename methods --- .../include/abb_rws_client/mapping.hpp | 8 +- .../rws_service_provider_ros.hpp | 164 ++++++------ abb_rws_client/src/mapping.cpp | 8 +- .../src/rws_service_provider_ros.cpp | 248 +++++++++--------- .../src/rws_state_publisher_ros.cpp | 4 +- 5 files changed, 214 insertions(+), 218 deletions(-) diff --git a/abb_rws_client/include/abb_rws_client/mapping.hpp b/abb_rws_client/include/abb_rws_client/mapping.hpp index de54138..d6e7c73 100644 --- a/abb_rws_client/include/abb_rws_client/mapping.hpp +++ b/abb_rws_client/include/abb_rws_client/mapping.hpp @@ -71,7 +71,7 @@ uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state); * * \return uint8_t containing the mapped state. */ -uint8_t map_state_machine_state(const rws::RAPIDNum& state); +uint8_t mapStateMachineState(const rws::RAPIDNum& state); /** * \brief Maps RobotWare StateMachine Add-In EGM action to ROS representation. @@ -80,7 +80,7 @@ uint8_t map_state_machine_state(const rws::RAPIDNum& state); * * \return uint8_t containing the mapped state. */ -uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action); +uint8_t mapStateMachineEGMAction(const rws::RAPIDNum& action); /** * \brief Maps RobotWare StateMachine Add-In SmartGripper command to RWS representation. @@ -91,7 +91,7 @@ uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action); * * \throw std::runtime_error if the command is unknown. */ -unsigned int map_state_machine_sg_command(const unsigned int command); +unsigned int mapStateMachineSGCommand(const unsigned int command); /** * \brief Maps a RAPID 'pos' data type from RWS to ROS representation. @@ -258,7 +258,7 @@ uint8_t map(const egm::wrapper::Status::RAPIDExecutionState rapid_execution_stat * \throw std::runtime if the mapping failed. */ template -std::string map_vector_to_string(const std::vector& vector); +std::string mapVectorToString(const std::vector& vector); } // namespace utilities } // namespace robot diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index 85a9e6a..145a41e 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -85,135 +85,135 @@ class RWSServiceProviderROS : RWSClient RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); private: - void system_state_callback(const abb_robot_msgs::msg::SystemState& msg); + void systemStateCallback(const abb_robot_msgs::msg::SystemState& msg); - void runtime_state_callback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg); + void runtimeStateCallback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg); - bool get_file_contents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, - abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res); + bool getFileContents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res); - bool get_io_signal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, - abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res); + bool getIOSignal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res); - bool get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res); + bool getRapidBool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res); - bool get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res); + bool getRapidDNum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res); - bool get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res); + bool getRapidNum(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res); - bool get_rapid_string(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res); + bool getRapidString(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res); - bool get_rapid_symbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res); + bool getRapidSymbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res); - bool get_rc_description(const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, - abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res); + bool getRCDescription(const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, + abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res); - bool get_speed_ratio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr req, - abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res); + bool getSpeedRatio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr req, + abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res); - bool pp_to_main(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool ppToMain(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool run_rapid_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool runRapidRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool run_sg_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool runSGRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool set_file_contents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, - abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res); + bool setFileContents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res); - bool set_io_signal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, - abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res); + bool setIOSignal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res); - bool set_motors_off(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool setMotorsOff(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool set_motors_on(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - - bool set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res); + bool setMotorsOn(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res); + bool setRapidBool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res); - bool set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res); + bool setRapidDNum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res); - bool set_rapid_string(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res); + bool setRapidNum(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res); - bool set_rapid_symbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res); + bool setRapidString(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res); - bool set_speed_ratio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, - abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res); + bool setRapidSymbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res); - bool start_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool setSpeedRatio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, + abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res); - bool stop_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + bool startRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool get_egm_settings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res); + bool stopRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool set_egm_settings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res); + bool getEGMSettings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res); - bool set_rapid_routine(const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res); + bool setEGMSettings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res); - bool set_sg_command(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res); + bool setRapidRoutine(const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res); - bool start_egm_joint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool setSGCOmmand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res); - bool start_egm_pose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool startEGMJoint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool start_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool startEGMPose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool stop_egm(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool startEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool stop_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + bool stopEGM(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + + bool stopEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); - bool verify_auto_mode(uint16_t& result_code, std::string& message); + bool verifyAutoMode(uint16_t& result_code, std::string& message); - bool verify_argument_filename(const std::string& filename, uint16_t& result_code, std::string& message); + bool verifyArgumentFilename(const std::string& filename, uint16_t& result_code, std::string& message); - bool verify_argument_rapid_symbol_path(const abb_robot_msgs::msg::RAPIDSymbolPath& path, uint16_t& result_code, - std::string& message); + bool verifyArgumentRapidSymbolPath(const abb_robot_msgs::msg::RAPIDSymbolPath& path, uint16_t& result_code, + std::string& message); - bool verify_argument_rapid_task(const std::string& task, uint16_t& result_code, std::string& message); + bool verifyArgumentRapidTask(const std::string& task, uint16_t& result_code, std::string& message); - bool verify_argument_signal(const std::string& signal, uint16_t& result_code, std::string& message); + bool verifyArgumentSignal(const std::string& signal, uint16_t& result_code, std::string& message); - bool verify_motors_off(uint16_t& result_code, std::string& message); + bool verifyMotorsOff(uint16_t& result_code, std::string& message); - bool verify_motors_on(uint16_t& result_code, std::string& message); + bool verifyMotorsOn(uint16_t& result_code, std::string& message); - bool verify_sm_addin_runtime_states(uint16_t& result_code, std::string& message); + bool verifySMAddingRuntimeStates(uint16_t& result_code, std::string& message); - bool verify_sm_addin_task_exist(const std::string& task, uint16_t& result_code, std::string& message); + bool verifySMAddingTaskExist(const std::string& task, uint16_t& result_code, std::string& message); - bool verify_sm_addin_task_initialized(const std::string& task, uint16_t& result_code, std::string& message); + bool verifySMAddingTaskInitialized(const std::string& task, uint16_t& result_code, std::string& message); - bool verify_rapid_running(uint16_t& result_code, std::string& message); + bool verifyRapidRunning(uint16_t& result_code, std::string& message); - bool verify_rapid_stopped(uint16_t& result_code, std::string& message); + bool verifyRapidStopped(uint16_t& result_code, std::string& message); - bool verify_rws_manager_ready(uint16_t& result_code, std::string& message); + bool verifyRWSManagerReady(uint16_t& result_code, std::string& message); rclcpp::Subscription::SharedPtr system_state_sub_; rclcpp::Subscription::SharedPtr runtime_state_sub_; diff --git a/abb_rws_client/src/mapping.cpp b/abb_rws_client/src/mapping.cpp index 3c2d20e..93cd324 100644 --- a/abb_rws_client/src/mapping.cpp +++ b/abb_rws_client/src/mapping.cpp @@ -87,7 +87,7 @@ uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) } } -uint8_t map_state_machine_state(const rws::RAPIDNum& state) +uint8_t mapStateMachineState(const rws::RAPIDNum& state) { switch (static_cast(state.value)) { @@ -113,7 +113,7 @@ uint8_t map_state_machine_state(const rws::RAPIDNum& state) } } -uint8_t map_state_machine_egm_action(const rws::RAPIDNum& action) +uint8_t mapStateMachineEGMAction(const rws::RAPIDNum& action) { switch (static_cast(action.value)) { @@ -235,7 +235,7 @@ abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterfac return ros_egm_settings; } -unsigned int map_state_machine_sg_command(const unsigned int command) +unsigned int mapStateMachineSGCommand(const unsigned int command) { switch (command) { @@ -452,7 +452,7 @@ uint8_t map(egm::wrapper::Status::RAPIDExecutionState state) } template -std::string map_vector_to_string(const std::vector& vector) +std::string mapVectorToString(const std::vector& vector) { std::stringstream ss{}; diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index b03f79c..413f311 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -54,77 +54,75 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node : RWSClient(node, robot_ip, robot_port) { system_state_sub_ = node_->create_subscription( - "system_states", 10, std::bind(&RWSServiceProviderROS::system_state_callback, this, std::placeholders::_1)); + "system_states", 10, std::bind(&RWSServiceProviderROS::systemStateCallback, this, std::placeholders::_1)); runtime_state_sub_ = node_->create_subscription( "sm_addin/runtime_states", 10, - std::bind(&RWSServiceProviderROS::runtime_state_callback, this, std::placeholders::_1)); + std::bind(&RWSServiceProviderROS::runtimeStateCallback, this, std::placeholders::_1)); core_services_.push_back(node_->create_service( "~/get_robot_controller_description", - std::bind(&RWSServiceProviderROS::get_rc_description, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getRCDescription, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_file_contents", - std::bind(&RWSServiceProviderROS::get_file_contents, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getFileContents, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_io_signal", - std::bind(&RWSServiceProviderROS::get_io_signal, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getIOSignal, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_rapid_bool", - std::bind(&RWSServiceProviderROS::get_rapid_bool, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getRapidBool, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_rapid_dnum", - std::bind(&RWSServiceProviderROS::get_rapid_dnum, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getRapidDNum, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_rapid_num", - std::bind(&RWSServiceProviderROS::get_rapid_num, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getRapidNum, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_rapid_string", - std::bind(&RWSServiceProviderROS::get_rapid_string, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getRapidString, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_rapid_symbol", - std::bind(&RWSServiceProviderROS::get_rapid_symbol, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getRapidSymbol, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/get_speed_ratio", - std::bind(&RWSServiceProviderROS::get_speed_ratio, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getSpeedRatio, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( - "~/pp_to_main", - std::bind(&RWSServiceProviderROS::pp_to_main, this, std::placeholders::_1, std::placeholders::_2))); + "~/pp_to_main", std::bind(&RWSServiceProviderROS::ppToMain, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_file_contents", - std::bind(&RWSServiceProviderROS::set_file_contents, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setFileContents, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_io_signal", - std::bind(&RWSServiceProviderROS::set_io_signal, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setIOSignal, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_motors_off", - std::bind(&RWSServiceProviderROS::set_motors_off, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setMotorsOff, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_motors_on", - std::bind(&RWSServiceProviderROS::set_motors_on, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setMotorsOn, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_rapid_bool", - std::bind(&RWSServiceProviderROS::set_rapid_bool, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setRapidBool, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_rapid_dnum", - std::bind(&RWSServiceProviderROS::set_rapid_dnum, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setRapidDNum, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_rapid_num", - std::bind(&RWSServiceProviderROS::set_rapid_num, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setRapidNum, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_rapid_string", - std::bind(&RWSServiceProviderROS::set_rapid_string, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setRapidString, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_rapid_symbol", - std::bind(&RWSServiceProviderROS::set_rapid_symbol, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setRapidSymbol, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/set_speed_ratio", - std::bind(&RWSServiceProviderROS::set_speed_ratio, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setSpeedRatio, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( "~/start_rapid", - std::bind(&RWSServiceProviderROS::start_rapid, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::startRapid, this, std::placeholders::_1, std::placeholders::_2))); core_services_.push_back(node_->create_service( - "~/stop_rapid", - std::bind(&RWSServiceProviderROS::stop_rapid, this, std::placeholders::_1, std::placeholders::_2))); + "~/stop_rapid", std::bind(&RWSServiceProviderROS::stopRapid, this, std::placeholders::_1, std::placeholders::_2))); const auto& system_indicators = robot_controller_description_.system_indicators(); @@ -147,34 +145,34 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node { sm_services_.push_back(node_->create_service( "~/run_rapid_routine", - std::bind(&RWSServiceProviderROS::run_rapid_routine, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::runRapidRoutine, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "~/set_rapid_routine", - std::bind(&RWSServiceProviderROS::set_rapid_routine, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setRapidRoutine, this, std::placeholders::_1, std::placeholders::_2))); if (system_indicators.options().egm()) { sm_services_.push_back(node_->create_service( "get_egm_settings", - std::bind(&RWSServiceProviderROS::get_egm_settings, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::getEGMSettings, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "set_egm_settings", - std::bind(&RWSServiceProviderROS::set_egm_settings, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setEGMSettings, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "start_egm_joint", - std::bind(&RWSServiceProviderROS::start_egm_joint, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::startEGMJoint, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "start_egm_pose", - std::bind(&RWSServiceProviderROS::start_egm_pose, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::startEGMPose, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( - "stop_egm", std::bind(&RWSServiceProviderROS::stop_egm, this, std::placeholders::_1, std::placeholders::_2))); + "stop_egm", std::bind(&RWSServiceProviderROS::stopEGM, this, std::placeholders::_1, std::placeholders::_2))); if (has_sm_1_1) { sm_services_.push_back(node_->create_service( "start_egm_stream", - std::bind(&RWSServiceProviderROS::start_egm_stream, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::startEGMStream, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "stop_egm_stream", - std::bind(&RWSServiceProviderROS::stop_egm_stream, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::stopEGMStream, this, std::placeholders::_1, std::placeholders::_2))); } } @@ -182,26 +180,26 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node { sm_services_.push_back(node_->create_service( "run_sg_routine", - std::bind(&RWSServiceProviderROS::run_sg_routine, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::runSGRoutine, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "set_sg_command", - std::bind(&RWSServiceProviderROS::set_sg_command, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setSGCOmmand, this, std::placeholders::_1, std::placeholders::_2))); } } RCLCPP_INFO(node_->get_logger(), "RWS client services initialized!"); } -void RWSServiceProviderROS::system_state_callback(const abb_robot_msgs::msg::SystemState& msg) +void RWSServiceProviderROS::systemStateCallback(const abb_robot_msgs::msg::SystemState& msg) { system_state_ = msg; } -void RWSServiceProviderROS::runtime_state_callback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg) +void RWSServiceProviderROS::runtimeStateCallback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg) { runtime_state_ = msg; } -bool RWSServiceProviderROS::get_rc_description( +bool RWSServiceProviderROS::getRCDescription( const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res) { @@ -213,8 +211,8 @@ bool RWSServiceProviderROS::get_rc_description( return true; } -bool RWSServiceProviderROS::get_file_contents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, - abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res) +bool RWSServiceProviderROS::getFileContents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res) { if (!verify_argument_filename(req->filename, res->result_code, res->message)) { @@ -241,8 +239,8 @@ bool RWSServiceProviderROS::get_file_contents(const abb_robot_msgs::srv::GetFile return true; } -bool RWSServiceProviderROS::get_io_signal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, - abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res) +bool RWSServiceProviderROS::getIOSignal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res) { if (!verify_argument_signal(req->signal, res->result_code, res->message)) { @@ -271,8 +269,8 @@ bool RWSServiceProviderROS::get_io_signal(const abb_robot_msgs::srv::GetIOSignal return true; } -bool RWSServiceProviderROS::get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res) +bool RWSServiceProviderROS::getRapidBool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -301,8 +299,8 @@ bool RWSServiceProviderROS::get_rapid_bool(const abb_robot_msgs::srv::GetRAPIDBo return true; } -bool RWSServiceProviderROS::get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res) +bool RWSServiceProviderROS::getRapidDNum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -331,8 +329,8 @@ bool RWSServiceProviderROS::get_rapid_dnum(const abb_robot_msgs::srv::GetRAPIDDn return true; } -bool RWSServiceProviderROS::get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res) +bool RWSServiceProviderROS::getRapidNum(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -361,8 +359,8 @@ bool RWSServiceProviderROS::get_rapid_num(const abb_robot_msgs::srv::GetRAPIDNum return true; } -bool RWSServiceProviderROS::get_rapid_string(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res) +bool RWSServiceProviderROS::getRapidString(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -391,8 +389,8 @@ bool RWSServiceProviderROS::get_rapid_string(const abb_robot_msgs::srv::GetRAPID return true; } -bool RWSServiceProviderROS::get_rapid_symbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, - abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res) +bool RWSServiceProviderROS::getRapidSymbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -421,8 +419,8 @@ bool RWSServiceProviderROS::get_rapid_symbol(const abb_robot_msgs::srv::GetRAPID return true; } -bool RWSServiceProviderROS::get_speed_ratio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr, - abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res) +bool RWSServiceProviderROS::getSpeedRatio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr, + abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res) { if (!verify_rws_manager_ready(res->result_code, res->message)) { @@ -446,8 +444,8 @@ bool RWSServiceProviderROS::get_speed_ratio(const abb_robot_msgs::srv::GetSpeedR return true; } -bool RWSServiceProviderROS::pp_to_main(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::ppToMain(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -476,8 +474,8 @@ bool RWSServiceProviderROS::pp_to_main(const abb_robot_msgs::srv::TriggerWithRes return true; } -bool RWSServiceProviderROS::run_rapid_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::runRapidRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -512,8 +510,8 @@ bool RWSServiceProviderROS::run_rapid_routine(const abb_robot_msgs::srv::Trigger return true; } -bool RWSServiceProviderROS::run_sg_routine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::runSGRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -548,8 +546,8 @@ bool RWSServiceProviderROS::run_sg_routine(const abb_robot_msgs::srv::TriggerWit return true; } -bool RWSServiceProviderROS::set_file_contents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, - abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res) +bool RWSServiceProviderROS::setFileContents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, + abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res) { if (!verify_argument_filename(req->filename, res->result_code, res->message)) { @@ -576,8 +574,8 @@ bool RWSServiceProviderROS::set_file_contents(const abb_robot_msgs::srv::SetFile return true; } -bool RWSServiceProviderROS::set_io_signal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, - abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res) +bool RWSServiceProviderROS::setIOSignal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, + abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res) { if (!verify_argument_signal(req->signal, res->result_code, res->message)) { @@ -604,8 +602,8 @@ bool RWSServiceProviderROS::set_io_signal(const abb_robot_msgs::srv::SetIOSignal return true; } -bool RWSServiceProviderROS::set_motors_off(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::setMotorsOff(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_motors_on(res->result_code, res->message)) { @@ -627,8 +625,8 @@ bool RWSServiceProviderROS::set_motors_off(const abb_robot_msgs::srv::TriggerWit return true; } -bool RWSServiceProviderROS::set_motors_on(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::setMotorsOn(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -658,8 +656,8 @@ bool RWSServiceProviderROS::set_motors_on(const abb_robot_msgs::srv::TriggerWith return true; } -bool RWSServiceProviderROS::set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res) +bool RWSServiceProviderROS::setRapidBool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -691,8 +689,8 @@ bool RWSServiceProviderROS::set_rapid_bool(const abb_robot_msgs::srv::SetRAPIDBo return true; } -bool RWSServiceProviderROS::set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res) +bool RWSServiceProviderROS::setRapidDNum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -724,8 +722,8 @@ bool RWSServiceProviderROS::set_rapid_dnum(const abb_robot_msgs::srv::SetRAPIDDn return true; } -bool RWSServiceProviderROS::set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res) +bool RWSServiceProviderROS::setRapidNum(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -757,8 +755,8 @@ bool RWSServiceProviderROS::set_rapid_num(const abb_robot_msgs::srv::SetRAPIDNum return true; } -bool RWSServiceProviderROS::set_rapid_string(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res) +bool RWSServiceProviderROS::setRapidString(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -790,8 +788,8 @@ bool RWSServiceProviderROS::set_rapid_string(const abb_robot_msgs::srv::SetRAPID return true; } -bool RWSServiceProviderROS::set_rapid_symbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, - abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res) +bool RWSServiceProviderROS::setRapidSymbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, + abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res) { if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) { @@ -822,8 +820,8 @@ bool RWSServiceProviderROS::set_rapid_symbol(const abb_robot_msgs::srv::SetRAPID return true; } -bool RWSServiceProviderROS::set_speed_ratio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, - abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res) +bool RWSServiceProviderROS::setSpeedRatio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, + abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -857,8 +855,8 @@ bool RWSServiceProviderROS::set_speed_ratio(const abb_robot_msgs::srv::SetSpeedR return true; } -bool RWSServiceProviderROS::start_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::startRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -888,8 +886,8 @@ bool RWSServiceProviderROS::start_rapid(const abb_robot_msgs::srv::TriggerWithRe return true; } -bool RWSServiceProviderROS::stop_rapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::stopRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_rapid_running(res->result_code, res->message)) { @@ -911,8 +909,8 @@ bool RWSServiceProviderROS::stop_rapid(const abb_robot_msgs::srv::TriggerWithRes return true; } -bool RWSServiceProviderROS::get_egm_settings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res) +bool RWSServiceProviderROS::getEGMSettings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res) { if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { @@ -950,8 +948,8 @@ bool RWSServiceProviderROS::get_egm_settings(const abb_rapid_sm_addin_msgs::srv: return true; } -bool RWSServiceProviderROS::set_egm_settings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res) +bool RWSServiceProviderROS::setEGMSettings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res) { if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { @@ -996,9 +994,8 @@ bool RWSServiceProviderROS::set_egm_settings(const abb_rapid_sm_addin_msgs::srv: return true; } -bool RWSServiceProviderROS::set_rapid_routine( - const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res) +bool RWSServiceProviderROS::setRapidRoutine(const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res) { if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { @@ -1041,8 +1038,8 @@ bool RWSServiceProviderROS::set_rapid_routine( return true; } -bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, - abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res) +bool RWSServiceProviderROS::setSGCOmmand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, + abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res) { if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) { @@ -1072,7 +1069,7 @@ bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::S unsigned int req_command = 0; try { - req_command = abb::robot::utilities::map_state_machine_sg_command(req->command); + req_command = abb::robot::utilities::mapStateMachineSGCommand(req->command); } catch (const std::runtime_error& exception) { @@ -1101,8 +1098,8 @@ bool RWSServiceProviderROS::set_sg_command(const abb_rapid_sm_addin_msgs::srv::S return true; } -bool RWSServiceProviderROS::start_egm_joint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::startEGMJoint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -1137,8 +1134,8 @@ bool RWSServiceProviderROS::start_egm_joint(const abb_robot_msgs::srv::TriggerWi return true; } -bool RWSServiceProviderROS::start_egm_pose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::startEGMPose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -1173,8 +1170,8 @@ bool RWSServiceProviderROS::start_egm_pose(const abb_robot_msgs::srv::TriggerWit return true; } -bool RWSServiceProviderROS::start_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::startEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -1209,8 +1206,8 @@ bool RWSServiceProviderROS::start_egm_stream(const abb_robot_msgs::srv::TriggerW return true; } -bool RWSServiceProviderROS::stop_egm(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::stopEGM(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -1241,8 +1238,8 @@ bool RWSServiceProviderROS::stop_egm(const abb_robot_msgs::srv::TriggerWithResul return true; } -bool RWSServiceProviderROS::stop_egm_stream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +bool RWSServiceProviderROS::stopEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { if (!verify_auto_mode(res->result_code, res->message)) { @@ -1273,7 +1270,7 @@ bool RWSServiceProviderROS::stop_egm_stream(const abb_robot_msgs::srv::TriggerWi return true; } -bool RWSServiceProviderROS::verify_auto_mode(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifyAutoMode(uint16_t& result_code, std::string& message) { if (!system_state_.auto_mode) { @@ -1285,8 +1282,8 @@ bool RWSServiceProviderROS::verify_auto_mode(uint16_t& result_code, std::string& return true; } -bool RWSServiceProviderROS::verify_argument_filename(const std::string& filename, uint16_t& result_code, - std::string& message) +bool RWSServiceProviderROS::verifyArgumentFilename(const std::string& filename, uint16_t& result_code, + std::string& message) { if (filename.empty()) { @@ -1298,8 +1295,8 @@ bool RWSServiceProviderROS::verify_argument_filename(const std::string& filename return true; } -bool RWSServiceProviderROS::verify_argument_rapid_symbol_path(const abb_robot_msgs::msg::RAPIDSymbolPath& path, - uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifyArgumentRapidSymbolPath(const abb_robot_msgs::msg::RAPIDSymbolPath& path, + uint16_t& result_code, std::string& message) { if (path.task.empty()) { @@ -1325,8 +1322,8 @@ bool RWSServiceProviderROS::verify_argument_rapid_symbol_path(const abb_robot_ms return true; } -bool RWSServiceProviderROS::verify_argument_rapid_task(const std::string& task, uint16_t& result_code, - std::string& message) +bool RWSServiceProviderROS::verifyArgumentRapidTask(const std::string& task, uint16_t& result_code, + std::string& message) { if (task.empty()) { @@ -1338,8 +1335,7 @@ bool RWSServiceProviderROS::verify_argument_rapid_task(const std::string& task, return true; } -bool RWSServiceProviderROS::verify_argument_signal(const std::string& signal, uint16_t& result_code, - std::string& message) +bool RWSServiceProviderROS::verifyArgumentSignal(const std::string& signal, uint16_t& result_code, std::string& message) { if (signal.empty()) { @@ -1351,7 +1347,7 @@ bool RWSServiceProviderROS::verify_argument_signal(const std::string& signal, ui return true; } -bool RWSServiceProviderROS::verify_motors_off(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifyMotorsOff(uint16_t& result_code, std::string& message) { if (system_state_.motors_on) { @@ -1363,7 +1359,7 @@ bool RWSServiceProviderROS::verify_motors_off(uint16_t& result_code, std::string return true; } -bool RWSServiceProviderROS::verify_motors_on(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifyMotorsOn(uint16_t& result_code, std::string& message) { if (!system_state_.motors_on) { @@ -1375,7 +1371,7 @@ bool RWSServiceProviderROS::verify_motors_on(uint16_t& result_code, std::string& return true; } -bool RWSServiceProviderROS::verify_sm_addin_runtime_states(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifySMAddingRuntimeStates(uint16_t& result_code, std::string& message) { if (runtime_state_.state_machines.empty()) { @@ -1387,8 +1383,8 @@ bool RWSServiceProviderROS::verify_sm_addin_runtime_states(uint16_t& result_code return true; } -bool RWSServiceProviderROS::verify_sm_addin_task_exist(const std::string& task, uint16_t& result_code, - std::string& message) +bool RWSServiceProviderROS::verifySMAddingTaskExist(const std::string& task, uint16_t& result_code, + std::string& message) { auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), [&](const auto& sm) { return sm.rapid_task == task; }); @@ -1403,10 +1399,10 @@ bool RWSServiceProviderROS::verify_sm_addin_task_exist(const std::string& task, return true; } -bool RWSServiceProviderROS::verify_sm_addin_task_initialized(const std::string& task, uint16_t& result_code, - std::string& message) +bool RWSServiceProviderROS::verifySMAddingTaskInitialized(const std::string& task, uint16_t& result_code, + std::string& message) { - if (!verify_sm_addin_task_exist(task, result_code, message)) + if (!verifySMAddingTaskExist(task, result_code, message)) return false; auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), @@ -1423,7 +1419,7 @@ bool RWSServiceProviderROS::verify_sm_addin_task_initialized(const std::string& return true; } -bool RWSServiceProviderROS::verify_rapid_running(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifyRapidRunning(uint16_t& result_code, std::string& message) { if (!system_state_.rapid_running) { @@ -1435,7 +1431,7 @@ bool RWSServiceProviderROS::verify_rapid_running(uint16_t& result_code, std::str return true; } -bool RWSServiceProviderROS::verify_rapid_stopped(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifyRapidStopped(uint16_t& result_code, std::string& message) { if (system_state_.rapid_running) { @@ -1447,7 +1443,7 @@ bool RWSServiceProviderROS::verify_rapid_stopped(uint16_t& result_code, std::str return true; } -bool RWSServiceProviderROS::verify_rws_manager_ready(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifyRWSManagerReady(uint16_t& result_code, std::string& message) { if (!rws_manager_.isInterfaceReady()) { diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index b48f9f8..1ccabeb 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -134,8 +134,8 @@ void RWSStatePublisherROS::timer_callback() { abb_rapid_sm_addin_msgs::msg::StateMachineState state; state.rapid_task = sm.rapid_task; - state.sm_state = abb::robot::utilities::map_state_machine_state(sm.sm_state); - state.egm_action = abb::robot::utilities::map_state_machine_egm_action(sm.egm_action); + state.sm_state = abb::robot::utilities::mapStateMachineState(sm.sm_state); + state.egm_action = abb::robot::utilities::mapStateMachineEGMAction(sm.egm_action); sm_runtime_state_msg.state_machines.push_back(state); } } From c503da4e82cf1b1b9f4c6e1ac78b7790ea50a7f8 Mon Sep 17 00:00:00 2001 From: Souphis Date: Tue, 31 May 2022 13:30:49 +0200 Subject: [PATCH 14/27] Apply fixes --- .../rws_service_provider_ros.hpp | 6 +- abb_rws_client/src/mapping.cpp | 8 +- .../src/rws_service_provider_ros.cpp | 201 +++++++++--------- 3 files changed, 107 insertions(+), 108 deletions(-) diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index 145a41e..ce67dc1 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -203,11 +203,11 @@ class RWSServiceProviderROS : RWSClient bool verifyMotorsOn(uint16_t& result_code, std::string& message); - bool verifySMAddingRuntimeStates(uint16_t& result_code, std::string& message); + bool verifySMAddinRuntimeStates(uint16_t& result_code, std::string& message); - bool verifySMAddingTaskExist(const std::string& task, uint16_t& result_code, std::string& message); + bool verifySMAddinTaskExist(const std::string& task, uint16_t& result_code, std::string& message); - bool verifySMAddingTaskInitialized(const std::string& task, uint16_t& result_code, std::string& message); + bool verifySMAddinTaskInitialized(const std::string& task, uint16_t& result_code, std::string& message); bool verifyRapidRunning(uint16_t& result_code, std::string& message); diff --git a/abb_rws_client/src/mapping.cpp b/abb_rws_client/src/mapping.cpp index 93cd324..50552eb 100644 --- a/abb_rws_client/src/mapping.cpp +++ b/abb_rws_client/src/mapping.cpp @@ -474,10 +474,10 @@ std::string mapVectorToString(const std::vector& vector) return ss.str(); } -template std::string map_vector_to_string(const std::vector& vector); -template std::string map_vector_to_string(const std::vector& vector); -template std::string map_vector_to_string(const std::vector& vector); -template std::string map_vector_to_string(const std::vector& vector); +template std::string mapVectorToString(const std::vector& vector); +template std::string mapVectorToString(const std::vector& vector); +template std::string mapVectorToString(const std::vector& vector); +template std::string mapVectorToString(const std::vector& vector); } // namespace utilities } // namespace robot diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index 413f311..ccb9748 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -214,11 +214,11 @@ bool RWSServiceProviderROS::getRCDescription( bool RWSServiceProviderROS::getFileContents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res) { - if (!verify_argument_filename(req->filename, res->result_code, res->message)) + if (!verifyArgumentFilename(req->filename, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -242,11 +242,11 @@ bool RWSServiceProviderROS::getFileContents(const abb_robot_msgs::srv::GetFileCo bool RWSServiceProviderROS::getIOSignal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res) { - if (!verify_argument_signal(req->signal, res->result_code, res->message)) + if (!verifyArgumentSignal(req->signal, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -272,11 +272,11 @@ bool RWSServiceProviderROS::getIOSignal(const abb_robot_msgs::srv::GetIOSignal:: bool RWSServiceProviderROS::getRapidBool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -302,11 +302,11 @@ bool RWSServiceProviderROS::getRapidBool(const abb_robot_msgs::srv::GetRAPIDBool bool RWSServiceProviderROS::getRapidDNum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -332,11 +332,11 @@ bool RWSServiceProviderROS::getRapidDNum(const abb_robot_msgs::srv::GetRAPIDDnum bool RWSServiceProviderROS::getRapidNum(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -362,11 +362,11 @@ bool RWSServiceProviderROS::getRapidNum(const abb_robot_msgs::srv::GetRAPIDNum:: bool RWSServiceProviderROS::getRapidString(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -392,11 +392,11 @@ bool RWSServiceProviderROS::getRapidString(const abb_robot_msgs::srv::GetRAPIDSt bool RWSServiceProviderROS::getRapidSymbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -422,7 +422,7 @@ bool RWSServiceProviderROS::getRapidSymbol(const abb_robot_msgs::srv::GetRAPIDSy bool RWSServiceProviderROS::getSpeedRatio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr, abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res) { - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -447,15 +447,15 @@ bool RWSServiceProviderROS::getSpeedRatio(const abb_robot_msgs::srv::GetSpeedRat bool RWSServiceProviderROS::ppToMain(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_stopped(res->result_code, res->message)) + if (!verifyRapidStopped(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -477,19 +477,19 @@ bool RWSServiceProviderROS::ppToMain(const abb_robot_msgs::srv::TriggerWithResul bool RWSServiceProviderROS::runRapidRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -513,19 +513,19 @@ bool RWSServiceProviderROS::runRapidRoutine(const abb_robot_msgs::srv::TriggerWi bool RWSServiceProviderROS::runSGRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -549,11 +549,11 @@ bool RWSServiceProviderROS::runSGRoutine(const abb_robot_msgs::srv::TriggerWithR bool RWSServiceProviderROS::setFileContents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res) { - if (!verify_argument_filename(req->filename, res->result_code, res->message)) + if (!verifyArgumentFilename(req->filename, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -577,11 +577,11 @@ bool RWSServiceProviderROS::setFileContents(const abb_robot_msgs::srv::SetFileCo bool RWSServiceProviderROS::setIOSignal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res) { - if (!verify_argument_signal(req->signal, res->result_code, res->message)) + if (!verifyArgumentSignal(req->signal, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -605,7 +605,7 @@ bool RWSServiceProviderROS::setIOSignal(const abb_robot_msgs::srv::SetIOSignal:: bool RWSServiceProviderROS::setMotorsOff(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_motors_on(res->result_code, res->message)) + if (!verifyMotorsOn(res->result_code, res->message)) { return true; } @@ -628,15 +628,15 @@ bool RWSServiceProviderROS::setMotorsOff(const abb_robot_msgs::srv::TriggerWithR bool RWSServiceProviderROS::setMotorsOn(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_motors_off(res->result_code, res->message)) + if (!verifyMotorsOff(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -659,15 +659,15 @@ bool RWSServiceProviderROS::setMotorsOn(const abb_robot_msgs::srv::TriggerWithRe bool RWSServiceProviderROS::setRapidBool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -692,15 +692,15 @@ bool RWSServiceProviderROS::setRapidBool(const abb_robot_msgs::srv::SetRAPIDBool bool RWSServiceProviderROS::setRapidDNum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -725,15 +725,15 @@ bool RWSServiceProviderROS::setRapidDNum(const abb_robot_msgs::srv::SetRAPIDDnum bool RWSServiceProviderROS::setRapidNum(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -758,15 +758,15 @@ bool RWSServiceProviderROS::setRapidNum(const abb_robot_msgs::srv::SetRAPIDNum:: bool RWSServiceProviderROS::setRapidString(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -791,15 +791,15 @@ bool RWSServiceProviderROS::setRapidString(const abb_robot_msgs::srv::SetRAPIDSt bool RWSServiceProviderROS::setRapidSymbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res) { - if (!verify_argument_rapid_symbol_path(req->path, res->result_code, res->message)) + if (!verifyArgumentRapidSymbolPath(req->path, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -823,11 +823,11 @@ bool RWSServiceProviderROS::setRapidSymbol(const abb_robot_msgs::srv::SetRAPIDSy bool RWSServiceProviderROS::setSpeedRatio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -858,15 +858,15 @@ bool RWSServiceProviderROS::setSpeedRatio(const abb_robot_msgs::srv::SetSpeedRat bool RWSServiceProviderROS::startRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_motors_on(res->result_code, res->message)) + if (!verifyMotorsOn(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -889,7 +889,7 @@ bool RWSServiceProviderROS::startRapid(const abb_robot_msgs::srv::TriggerWithRes bool RWSServiceProviderROS::stopRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } @@ -912,19 +912,19 @@ bool RWSServiceProviderROS::stopRapid(const abb_robot_msgs::srv::TriggerWithResu bool RWSServiceProviderROS::getEGMSettings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + if (!verifyArgumentRapidTask(req->task, res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + if (!verifySMAddinTaskExist(req->task, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -951,27 +951,27 @@ bool RWSServiceProviderROS::getEGMSettings(const abb_rapid_sm_addin_msgs::srv::G bool RWSServiceProviderROS::setEGMSettings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + if (!verifyArgumentRapidTask(req->task, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + if (!verifySMAddinTaskExist(req->task, res->result_code, res->message)) { return true; } - if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) + if (!verifySMAddinTaskInitialized(req->task, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -997,27 +997,27 @@ bool RWSServiceProviderROS::setEGMSettings(const abb_rapid_sm_addin_msgs::srv::S bool RWSServiceProviderROS::setRapidRoutine(const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + if (!verifyArgumentRapidTask(req->task, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + if (!verifySMAddinTaskExist(req->task, res->result_code, res->message)) { return true; } - if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) + if (!verifySMAddinTaskInitialized(req->task, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -1041,27 +1041,27 @@ bool RWSServiceProviderROS::setRapidRoutine(const abb_rapid_sm_addin_msgs::srv:: bool RWSServiceProviderROS::setSGCOmmand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res) { - if (!verify_argument_rapid_task(req->task, res->result_code, res->message)) + if (!verifyArgumentRapidTask(req->task, res->result_code, res->message)) { return true; } - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_task_exist(req->task, res->result_code, res->message)) + if (!verifySMAddinTaskExist(req->task, res->result_code, res->message)) { return true; } - if (!verify_sm_addin_task_initialized(req->task, res->result_code, res->message)) + if (!verifySMAddinTaskInitialized(req->task, res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -1101,19 +1101,19 @@ bool RWSServiceProviderROS::setSGCOmmand(const abb_rapid_sm_addin_msgs::srv::Set bool RWSServiceProviderROS::startEGMJoint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -1137,19 +1137,19 @@ bool RWSServiceProviderROS::startEGMJoint(const abb_robot_msgs::srv::TriggerWith bool RWSServiceProviderROS::startEGMPose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -1173,19 +1173,19 @@ bool RWSServiceProviderROS::startEGMPose(const abb_robot_msgs::srv::TriggerWithR bool RWSServiceProviderROS::startEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } - if (!verify_sm_addin_runtime_states(res->result_code, res->message)) + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -1209,15 +1209,15 @@ bool RWSServiceProviderROS::startEGMStream(const abb_robot_msgs::srv::TriggerWit bool RWSServiceProviderROS::stopEGM(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -1241,15 +1241,15 @@ bool RWSServiceProviderROS::stopEGM(const abb_robot_msgs::srv::TriggerWithResult bool RWSServiceProviderROS::stopEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) { - if (!verify_auto_mode(res->result_code, res->message)) + if (!verifyAutoMode(res->result_code, res->message)) { return true; } - if (!verify_rapid_running(res->result_code, res->message)) + if (!verifyRapidRunning(res->result_code, res->message)) { return true; } - if (!verify_rws_manager_ready(res->result_code, res->message)) + if (!verifyRWSManagerReady(res->result_code, res->message)) { return true; } @@ -1371,7 +1371,7 @@ bool RWSServiceProviderROS::verifyMotorsOn(uint16_t& result_code, std::string& m return true; } -bool RWSServiceProviderROS::verifySMAddingRuntimeStates(uint16_t& result_code, std::string& message) +bool RWSServiceProviderROS::verifySMAddinRuntimeStates(uint16_t& result_code, std::string& message) { if (runtime_state_.state_machines.empty()) { @@ -1383,8 +1383,7 @@ bool RWSServiceProviderROS::verifySMAddingRuntimeStates(uint16_t& result_code, s return true; } -bool RWSServiceProviderROS::verifySMAddingTaskExist(const std::string& task, uint16_t& result_code, - std::string& message) +bool RWSServiceProviderROS::verifySMAddinTaskExist(const std::string& task, uint16_t& result_code, std::string& message) { auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), [&](const auto& sm) { return sm.rapid_task == task; }); @@ -1399,10 +1398,10 @@ bool RWSServiceProviderROS::verifySMAddingTaskExist(const std::string& task, uin return true; } -bool RWSServiceProviderROS::verifySMAddingTaskInitialized(const std::string& task, uint16_t& result_code, - std::string& message) +bool RWSServiceProviderROS::verifySMAddinTaskInitialized(const std::string& task, uint16_t& result_code, + std::string& message) { - if (!verifySMAddingTaskExist(task, result_code, message)) + if (!verifySMAddinTaskExist(task, result_code, message)) return false; auto it = std::find_if(runtime_state_.state_machines.begin(), runtime_state_.state_machines.end(), From c464ad944b7cae49ff76940de338fbe3c18e496f Mon Sep 17 00:00:00 2001 From: Souphis Date: Wed, 15 Jun 2022 00:51:09 +0200 Subject: [PATCH 15/27] Resolving review comments --- .../abb_hardware_interface/utilities.hpp | 19 +++ abb_hardware_interface/src/utilities.cpp | 6 +- abb_rws_client/CMakeLists.txt | 3 +- .../include/abb_rws_client/rws_client.hpp | 2 - .../rws_service_provider_ros.hpp | 7 +- .../rws_state_publisher_ros.hpp | 7 +- .../include/abb_rws_client/utilities.hpp | 90 ------------- abb_rws_client/package.xml | 1 + abb_rws_client/src/mapping.cpp | 79 +++--------- abb_rws_client/src/rws_client.cpp | 8 +- abb_rws_client/src/rws_client_node.cpp | 4 +- .../src/rws_service_provider_ros.cpp | 6 +- .../src/rws_state_publisher_ros.cpp | 12 +- abb_rws_client/src/utilities.cpp | 120 ------------------ 14 files changed, 59 insertions(+), 305 deletions(-) delete mode 100644 abb_rws_client/include/abb_rws_client/utilities.hpp delete mode 100644 abb_rws_client/src/utilities.cpp diff --git a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp index fd80fe4..f908881 100644 --- a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp +++ b/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp @@ -68,6 +68,25 @@ namespace utilities RobotControllerDescription establishRWSConnection(RWSManager& rws_manager, const std::string& robot_controller_id, const bool no_connection_timeout); +/** + * \brief Verifies that the RobotWare version is supported. + * + * Note: For now, only RobotWare versions in the range [6.07.01, 7.0) are supported (i.e. excluding 7.0). + * + * \param rw_version to verify. + * + * \throw std::runtime_error if the RobotWare version is not supported. + */ +void verifyRobotWareVersion(const RobotWareVersion& rw_version); + +/** + * \brief Verifies that the RobotWare StateMachine Add-In is present in a system. + * + * \param system_indicators to verify. + * + * \return bool true if the StateMachine Add-In is present. + */ +bool verifyStateMachineAddInPresence(const SystemIndicators& system_indicators); } // namespace utilities } // namespace robot } // namespace abb diff --git a/abb_hardware_interface/src/utilities.cpp b/abb_hardware_interface/src/utilities.cpp index ecf5d16..5a94675 100644 --- a/abb_hardware_interface/src/utilities.cpp +++ b/abb_hardware_interface/src/utilities.cpp @@ -42,7 +42,7 @@ #include #include -#include "rclcpp/rclcpp.hpp" +#include namespace abb { @@ -100,7 +100,7 @@ RobotControllerDescription establishRWSConnection(RWSManager& rws_manager, const throw std::runtime_error{ RWS_CONNECTION_ERROR_MESSAGE }; } -void verify_robotware_version(const RobotWareVersion& rw_version) +void verifyRobotWareVersion(const RobotWareVersion& rw_version) { if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && rw_version.patch_number() < 1) { @@ -111,7 +111,7 @@ void verify_robotware_version(const RobotWareVersion& rw_version) } } -bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) +bool verifyStateMachineAddInPresence(const SystemIndicators& system_indicators) { return system_indicators.addins().state_machine_1_0() || system_indicators.addins().state_machine_1_1(); } diff --git a/abb_rws_client/CMakeLists.txt b/abb_rws_client/CMakeLists.txt index 362d260..9782a03 100644 --- a/abb_rws_client/CMakeLists.txt +++ b/abb_rws_client/CMakeLists.txt @@ -24,6 +24,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS abb_robot_msgs abb_rapid_msgs abb_rapid_sm_addin_msgs + abb_hardware_interface rclcpp sensor_msgs ) @@ -44,11 +45,9 @@ add_executable(rws_client src/rws_client.cpp src/rws_service_provider_ros.cpp src/rws_state_publisher_ros.cpp - src/utilities.cpp src/mapping.cpp ) ament_target_dependencies(rws_client ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# target_link_libraries(rws_client abb_egm_rws_managers::abb_egm_rws_managers) target_include_directories( rws_client PRIVATE diff --git a/abb_rws_client/include/abb_rws_client/rws_client.hpp b/abb_rws_client/include/abb_rws_client/rws_client.hpp index 6a435fb..5c43b87 100644 --- a/abb_rws_client/include/abb_rws_client/rws_client.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_client.hpp @@ -40,10 +40,8 @@ #pragma once -// ROS #include -// ABB #include #include diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index ce67dc1..e4d8299 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -40,24 +40,21 @@ #pragma once -#include "abb_rws_client/rws_client.hpp" +#include -// SYSMTEM #include #include -// ROS #include -// ABB MSG #include #include -// ABB SRV #include #include #include #include + #include #include #include diff --git a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp index 0e700cd..665c839 100644 --- a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp @@ -40,18 +40,13 @@ #pragma once -#include "abb_rws_client/rws_client.hpp" +#include -// SYSTEM #include -// ROS #include - -// ROS INTERFACES #include -// ABB INTERFACES #include #include #include diff --git a/abb_rws_client/include/abb_rws_client/utilities.hpp b/abb_rws_client/include/abb_rws_client/utilities.hpp deleted file mode 100644 index f29155d..0000000 --- a/abb_rws_client/include/abb_rws_client/utilities.hpp +++ /dev/null @@ -1,90 +0,0 @@ -/*********************************************************************************************************************** - * - * Copyright (c) 2020, ABB Schweiz AG - * All rights reserved. - * - * 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 ABB 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. - * - *********************************************************************************************************************** - */ - -// This file is a modified copy from -// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/initialization.h -// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/include/abb_robot_cpp_utilities/verification.h - -#pragma once - -#include - -#include - -namespace abb -{ -namespace robot -{ -namespace utilities -{ -/** - * \brief Attempts to establish a connection to a robot controller's RWS server. - * - * If a connection is established, then a structured description of the robot controller is returned. - * - * \param rws_manager for handling the RWS communication with the robot controller. - * \param robot_controller_id for an identifier/nickname for the targeted robot controller. - * \param no_connection_timeout indicator whether to wait indefinitely on the robot controller. - * - * \return RobotControllerDescription of the robot controller. - * - * \throw std::runtime_error if unable to establish a connection. - */ -RobotControllerDescription establish_rws_connection(RWSManager& rws_manager, const std::string& robot_controller_id, - const bool no_connection_timeout); - -/** - * \brief Verifies that the RobotWare version is supported. - * - * Note: For now, only RobotWare versions in the range [6.07.01, 7.0) are supported (i.e. excluding 7.0). - * - * \param rw_version to verify. - * - * \throw std::runtime_error if the RobotWare version is not supported. - */ -void verify_robotware_version(const RobotWareVersion& rw_version); - -/** - * \brief Verifies that the RobotWare StateMachine Add-In is present in a system. - * - * \param system_indicators to verify. - * - * \return bool true if the StateMachine Add-In is present. - */ -bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators); -} // namespace utilities -} // namespace robot -} // namespace abb diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml index de23dc2..a167d0c 100644 --- a/abb_rws_client/package.xml +++ b/abb_rws_client/package.xml @@ -14,6 +14,7 @@ abb_rapid_msgs abb_robot_msgs abb_rapid_sm_addin_msgs + abb_hardware_interface ament_cmake_gtest diff --git a/abb_rws_client/src/mapping.cpp b/abb_rws_client/src/mapping.cpp index 50552eb..f368da4 100644 --- a/abb_rws_client/src/mapping.cpp +++ b/abb_rws_client/src/mapping.cpp @@ -37,14 +37,12 @@ // This file is a modified copy from // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/mapping.cpp -#include "abb_rws_client/mapping.hpp" +#include -// System #include #include #include -// ABB INTERFACES #include #include #include @@ -63,27 +61,21 @@ uint8_t map(const rws::RWSInterface::RAPIDTaskExecutionState state) { case rws::RWSInterface::UNKNOWN: return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_UNKNOWN; - break; case rws::RWSInterface::READY: return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_READY; - break; case rws::RWSInterface::STOPPED: return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_STOPPED; - break; case rws::RWSInterface::STARTED: return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_STARTED; - break; case rws::RWSInterface::UNINITIALIZED: return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_UNINITIALIZED; - break; default: return abb_robot_msgs::msg::RAPIDTaskState::EXECUTION_STATE_UNKNOWN; - break; } } @@ -93,23 +85,18 @@ uint8_t mapStateMachineState(const rws::RAPIDNum& state) { case 0: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_IDLE; - break; case 1: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_INITIALIZE; - break; case 2: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_RUN_RAPID_ROUTINE; - break; case 3: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_RUN_EGM_ROUTINE; - break; default: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_UNKNOWN; - break; } } @@ -119,37 +106,30 @@ uint8_t mapStateMachineEGMAction(const rws::RAPIDNum& action) { case 0: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_NONE; - break; case 1: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_RUN_JOINT; - break; case 2: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_RUN_POSE; - break; case 3: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_STOP; - break; case 4: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_START_STREAM; - break; case 5: return abb_rapid_sm_addin_msgs::msg::StateMachineState::EGM_ACTION_STOP_STREAM; - break; default: return abb_rapid_sm_addin_msgs::msg::StateMachineState::SM_STATE_UNKNOWN; - break; } } abb_rapid_msgs::msg::Pos map(const rws::Pos& rws_pos) { - abb_rapid_msgs::msg::Pos ros_pos{}; + abb_rapid_msgs::msg::Pos ros_pos; ros_pos.x = rws_pos.x.value; ros_pos.y = rws_pos.y.value; ros_pos.z = rws_pos.z.value; @@ -158,7 +138,7 @@ abb_rapid_msgs::msg::Pos map(const rws::Pos& rws_pos) abb_rapid_msgs::msg::Orient map(const rws::Orient& rws_orient) { - abb_rapid_msgs::msg::Orient ros_orient{}; + abb_rapid_msgs::msg::Orient ros_orient; ros_orient.q1 = rws_orient.q1.value; ros_orient.q2 = rws_orient.q2.value; ros_orient.q3 = rws_orient.q3.value; @@ -168,7 +148,7 @@ abb_rapid_msgs::msg::Orient map(const rws::Orient& rws_orient) abb_rapid_msgs::msg::Pose map(const rws::Pose& rws_pose) { - abb_rapid_msgs::msg::Pose ros_pose{}; + abb_rapid_msgs::msg::Pose ros_pose; ros_pose.trans = map(rws_pose.pos); ros_pose.rot = map(rws_pose.rot); return ros_pose; @@ -176,7 +156,7 @@ abb_rapid_msgs::msg::Pose map(const rws::Pose& rws_pose) abb_rapid_msgs::msg::LoadData map(const rws::LoadData& rws_loaddata) { - abb_rapid_msgs::msg::LoadData ros_loaddata{}; + abb_rapid_msgs::msg::LoadData ros_loaddata; ros_loaddata.mass = rws_loaddata.mass.value; ros_loaddata.cog = map(rws_loaddata.cog); ros_loaddata.aom = map(rws_loaddata.aom); @@ -188,7 +168,7 @@ abb_rapid_msgs::msg::LoadData map(const rws::LoadData& rws_loaddata) abb_rapid_msgs::msg::ToolData map(const rws::ToolData& rws_tooldata) { - abb_rapid_msgs::msg::ToolData ros_tooldata{}; + abb_rapid_msgs::msg::ToolData ros_tooldata; ros_tooldata.robhold = rws_tooldata.robhold.value; ros_tooldata.tframe = map(rws_tooldata.tframe); ros_tooldata.tload = map(rws_tooldata.tload); @@ -197,7 +177,7 @@ abb_rapid_msgs::msg::ToolData map(const rws::ToolData& rws_tooldata) abb_rapid_msgs::msg::WObjData map(const rws::WObjData& rws_wobjdata) { - abb_rapid_msgs::msg::WObjData ros_wobjdata{}; + abb_rapid_msgs::msg::WObjData ros_wobjdata; ros_wobjdata.robhold = rws_wobjdata.robhold.value; ros_wobjdata.ufprog = rws_wobjdata.ufprog.value; ros_wobjdata.ufmec = rws_wobjdata.ufmec.value; @@ -208,7 +188,7 @@ abb_rapid_msgs::msg::WObjData map(const rws::WObjData& rws_wobjdata) abb_rapid_sm_addin_msgs::msg::EGMSettings map(const rws::RWSStateMachineInterface::EGMSettings& rws_egm_settings) { - abb_rapid_sm_addin_msgs::msg::EGMSettings ros_egm_settings{}; + abb_rapid_sm_addin_msgs::msg::EGMSettings ros_egm_settings; ros_egm_settings.allow_egm_motions = rws_egm_settings.allow_egm_motions.value; ros_egm_settings.use_presync = rws_egm_settings.use_presync.value; @@ -241,70 +221,55 @@ unsigned int mapStateMachineSGCommand(const unsigned int command) { case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_NONE: return rws::RWSStateMachineInterface::SG_COMMAND_NONE; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_INITIALIZE: return rws::RWSStateMachineInterface::SG_COMMAND_INITIALIZE; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_CALIBRATE: return rws::RWSStateMachineInterface::SG_COMMAND_CALIBRATE; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_MOVE_TO: return rws::RWSStateMachineInterface::SG_COMMAND_MOVE_TO; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_GRIP_IN: return rws::RWSStateMachineInterface::SG_COMMAND_GRIP_IN; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_GRIP_OUT: return rws::RWSStateMachineInterface::SG_COMMAND_GRIP_OUT; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_ON_1: return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_ON_1; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_ON_2: return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_ON_2; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_OFF_1: return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_OFF_1; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_BLOW_OFF_2: return rws::RWSStateMachineInterface::SG_COMMAND_BLOW_OFF_2; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_ON_1: return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_ON_1; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_ON_2: return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_ON_2; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_OFF_1: return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_OFF_1; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_VACUUM_OFF_2: return rws::RWSStateMachineInterface::SG_COMMAND_VACUUM_OFF_2; - break; case abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SG_COMMAND_UNKNOWN: default: throw std::runtime_error{ "Unknown SmartGripper command" }; - break; } } rws::Pos map(const abb_rapid_msgs::msg::Pos& ros_pos) { - rws::Pos rws_pos{}; + rws::Pos rws_pos; rws_pos.x.value = ros_pos.x; rws_pos.y.value = ros_pos.y; rws_pos.z.value = ros_pos.z; @@ -313,7 +278,7 @@ rws::Pos map(const abb_rapid_msgs::msg::Pos& ros_pos) rws::Orient map(const abb_rapid_msgs::msg::Orient& ros_orient) { - rws::Orient rws_orient{}; + rws::Orient rws_orient; rws_orient.q1 = ros_orient.q1; rws_orient.q2 = ros_orient.q2; rws_orient.q3 = ros_orient.q3; @@ -323,7 +288,7 @@ rws::Orient map(const abb_rapid_msgs::msg::Orient& ros_orient) rws::Pose map(const abb_rapid_msgs::msg::Pose& ros_pose) { - rws::Pose rws_pose{}; + rws::Pose rws_pose; rws_pose.pos = map(ros_pose.trans); rws_pose.rot = map(ros_pose.rot); return rws_pose; @@ -331,7 +296,7 @@ rws::Pose map(const abb_rapid_msgs::msg::Pose& ros_pose) rws::LoadData map(const abb_rapid_msgs::msg::LoadData& ros_loaddata) { - rws::LoadData rws_loaddata{}; + rws::LoadData rws_loaddata; rws_loaddata.mass.value = ros_loaddata.mass; rws_loaddata.cog = map(ros_loaddata.cog); rws_loaddata.aom = map(ros_loaddata.aom); @@ -343,7 +308,7 @@ rws::LoadData map(const abb_rapid_msgs::msg::LoadData& ros_loaddata) rws::ToolData map(const abb_rapid_msgs::msg::ToolData& ros_tooldata) { - rws::ToolData rws_tooldata{}; + rws::ToolData rws_tooldata; rws_tooldata.robhold = ros_tooldata.robhold; rws_tooldata.tframe = map(ros_tooldata.tframe); rws_tooldata.tload = map(ros_tooldata.tload); @@ -352,7 +317,7 @@ rws::ToolData map(const abb_rapid_msgs::msg::ToolData& ros_tooldata) rws::WObjData map(const abb_rapid_msgs::msg::WObjData& ros_wobjdata) { - rws::WObjData rws_wobjdata{}; + rws::WObjData rws_wobjdata; rws_wobjdata.robhold.value = ros_wobjdata.robhold; rws_wobjdata.ufprog.value = ros_wobjdata.ufprog; rws_wobjdata.ufmec.value = ros_wobjdata.ufmec; @@ -363,7 +328,7 @@ rws::WObjData map(const abb_rapid_msgs::msg::WObjData& ros_wobjdata) rws::RWSStateMachineInterface::EGMSettings map(const abb_rapid_sm_addin_msgs::msg::EGMSettings& ros_egm_settings) { - rws::RWSStateMachineInterface::EGMSettings rws_egm_settings{}; + rws::RWSStateMachineInterface::EGMSettings rws_egm_settings; rws_egm_settings.allow_egm_motions.value = ros_egm_settings.allow_egm_motions; rws_egm_settings.use_presync.value = ros_egm_settings.use_presync; @@ -396,20 +361,16 @@ uint8_t map(egm::wrapper::Status::EGMState state) { case egm::wrapper::Status::EGM_ERROR: return abb_egm_msgs::msg::EGMChannelState::EGM_ERROR; - break; case egm::wrapper::Status::EGM_STOPPED: return abb_egm_msgs::msg::EGMChannelState::EGM_STOPPED; - break; case egm::wrapper::Status::EGM_RUNNING: return abb_egm_msgs::msg::EGMChannelState::EGM_RUNNING; - break; case egm::wrapper::Status::EGM_UNDEFINED: default: return abb_egm_msgs::msg::EGMChannelState::EGM_UNDEFINED; - break; } } @@ -419,16 +380,13 @@ uint8_t map(egm::wrapper::Status::MotorState state) { case egm::wrapper::Status::MOTORS_ON: return abb_egm_msgs::msg::EGMChannelState::MOTORS_ON; - break; case egm::wrapper::Status::MOTORS_OFF: return abb_egm_msgs::msg::EGMChannelState::MOTORS_OFF; - break; case egm::wrapper::Status::MOTORS_UNDEFINED: default: return abb_egm_msgs::msg::EGMChannelState::MOTORS_UNDEFINED; - break; } } @@ -438,26 +396,23 @@ uint8_t map(egm::wrapper::Status::RAPIDExecutionState state) { case egm::wrapper::Status::RAPID_STOPPED: return abb_egm_msgs::msg::EGMChannelState::RAPID_STOPPED; - break; case egm::wrapper::Status::RAPID_RUNNING: return abb_egm_msgs::msg::EGMChannelState::RAPID_RUNNING; - break; case egm::wrapper::Status::RAPID_UNDEFINED: default: return abb_egm_msgs::msg::EGMChannelState::RAPID_UNDEFINED; - break; } } template std::string mapVectorToString(const std::vector& vector) { - std::stringstream ss{}; + std::stringstream ss; ss << "["; - for (size_t i{ 0 }; i < vector.size(); ++i) + for (size_t i = 0; i < vector.size(); ++i) { ss << vector[i]; diff --git a/abb_rws_client/src/rws_client.cpp b/abb_rws_client/src/rws_client.cpp index 239ac89..44ae3a7 100644 --- a/abb_rws_client/src/rws_client.cpp +++ b/abb_rws_client/src/rws_client.cpp @@ -38,9 +38,9 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src -#include "abb_rws_client/rws_client.hpp" +#include -#include "abb_rws_client/utilities.hpp" +#include namespace abb_rws_client { @@ -62,7 +62,7 @@ void RWSClient::connect() node_->get_parameter("robot_nickname", robot_id); node_->get_parameter("no_connection_timeout", no_connection_timeout); robot_controller_description_ = - abb::robot::utilities::establish_rws_connection(rws_manager_, robot_id, no_connection_timeout); - abb::robot::utilities::verify_robotware_version(robot_controller_description_.header().robot_ware_version()); + abb::robot::utilities::establishRWSConnection(rws_manager_, robot_id, no_connection_timeout); + abb::robot::utilities::verifyRobotWareVersion(robot_controller_description_.header().robot_ware_version()); } } // namespace abb_rws_client diff --git a/abb_rws_client/src/rws_client_node.cpp b/abb_rws_client/src/rws_client_node.cpp index 97489ca..5c2bbd7 100644 --- a/abb_rws_client/src/rws_client_node.cpp +++ b/abb_rws_client/src/rws_client_node.cpp @@ -1,7 +1,7 @@ #include -#include "abb_rws_client/rws_service_provider_ros.hpp" -#include "abb_rws_client/rws_state_publisher_ros.hpp" +#include +#include int main(int argc, char** argv) { diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index ccb9748..c718725 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -38,12 +38,12 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src -#include "abb_rws_client/rws_service_provider_ros.hpp" +#include #include -#include "abb_rws_client/mapping.hpp" -#include "abb_rws_client/utilities.hpp" +#include +#include using RAPIDSymbols = abb::rws::RWSStateMachineInterface::ResourceIdentifiers::RAPID::Symbols; diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index 1ccabeb..66ef00c 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -38,10 +38,10 @@ // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src // https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src -#include "abb_rws_client/rws_state_publisher_ros.hpp" +#include -#include "abb_rws_client/mapping.hpp" -#include "abb_rws_client/utilities.hpp" +#include +#include namespace { @@ -67,7 +67,7 @@ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, system_state_pub_ = node_->create_publisher("~/system_states", 1); - if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) + if (abb::robot::utilities::verifyStateMachineAddInPresence(robot_controller_description_.system_indicators())) { runtime_state_pub_ = node_->create_publisher("~/sm_addin/runtime_states", 1); @@ -128,7 +128,7 @@ void RWSStatePublisherROS::timer_callback() abb_rapid_sm_addin_msgs::msg::RuntimeState sm_runtime_state_msg; const auto& system_indicators{ robot_controller_description_.system_indicators() }; - if (abb::robot::utilities::verify_state_machine_add_in_presence(system_indicators)) + if (abb::robot::utilities::verifyStateMachineAddInPresence(system_indicators)) { for (const auto& sm : system_state_data_.state_machines) { @@ -147,7 +147,7 @@ void RWSStatePublisherROS::timer_callback() system_state_msg.header.stamp = time; system_state_pub_->publish(system_state_msg); - if (abb::robot::utilities::verify_state_machine_add_in_presence(robot_controller_description_.system_indicators())) + if (abb::robot::utilities::verifyStateMachineAddInPresence(robot_controller_description_.system_indicators())) { sm_runtime_state_msg.header.stamp = time; runtime_state_pub_->publish(sm_runtime_state_msg); diff --git a/abb_rws_client/src/utilities.cpp b/abb_rws_client/src/utilities.cpp deleted file mode 100644 index 7a4e9e8..0000000 --- a/abb_rws_client/src/utilities.cpp +++ /dev/null @@ -1,120 +0,0 @@ -/*********************************************************************************************************************** - * - * Copyright (c) 2020, ABB Schweiz AG - * All rights reserved. - * - * 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 ABB 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. - * - *********************************************************************************************************************** - */ - -// This file is a modified copy from -// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/initialization.cpp -// https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/verification.cpp - -#include - -#include - -#include "rclcpp/rclcpp.hpp" - -namespace abb -{ -namespace robot -{ -namespace utilities -{ -namespace -{ -/** - * \brief Max number of attempts when trying to connect to a robot controller via RWS. - */ -constexpr unsigned int RWS_MAX_CONNECTION_ATTEMPTS{ 5 }; - -/** - * \brief Error message for failed connection attempts when trying to connect to a robot controller via RWS. - */ -constexpr char RWS_CONNECTION_ERROR_MESSAGE[]{ "Failed to establish RWS connection to the robot controller" }; - -/** - * \brief Time [s] to wait before trying to reconnect to a robot controller via RWS. - */ -constexpr uint8_t RWS_RECONNECTION_WAIT_TIME{ 1 }; -auto LOGGER = rclcpp::get_logger("ABBHardwareInterfaceUtilities"); -} // namespace - -RobotControllerDescription establish_rws_connection(RWSManager& rws_manager, const std::string& robot_controller_id, - const bool no_connection_timeout) -{ - unsigned int attempt{ 0 }; - - while (rclcpp::ok() && (no_connection_timeout || attempt++ < RWS_MAX_CONNECTION_ATTEMPTS)) - { - try - { - return rws_manager.collectAndParseSystemData(robot_controller_id); - } - catch (const std::runtime_error& exception) - { - if (!no_connection_timeout) - { - RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (attempt " << attempt << "/" - << RWS_MAX_CONNECTION_ATTEMPTS << "), reason: '" - << exception.what() << "'"); - } - else - { - RCLCPP_WARN_STREAM(LOGGER, RWS_CONNECTION_ERROR_MESSAGE << " (waiting indefinitely), reason: '" - << exception.what() << "'"); - } - rclcpp::sleep_for(std::chrono::seconds(RWS_RECONNECTION_WAIT_TIME)); - } - } - - throw std::runtime_error{ RWS_CONNECTION_ERROR_MESSAGE }; -} - -void verify_robotware_version(const RobotWareVersion& rw_version) -{ - if (rw_version.major_number() == 6 && rw_version.minor_number() < 7 && rw_version.patch_number() < 1) - { - auto error_message{ "Unsupported RobotWare version (" + rw_version.name() + ", need at least 6.07.01)" }; - - RCLCPP_FATAL_STREAM(LOGGER, error_message); - throw std::runtime_error{ error_message }; - } -} - -bool verify_state_machine_add_in_presence(const SystemIndicators& system_indicators) -{ - return system_indicators.addins().state_machine_1_0() || system_indicators.addins().state_machine_1_1(); -} -} // namespace utilities -} // namespace robot -} // namespace abb From d543aea7772af05e9c8e48859e3b0807e8ce7f18 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Wed, 15 Jun 2022 15:39:57 +0200 Subject: [PATCH 16/27] Changed cmake and launch file --- abb_bringup/launch/abb_rws_client.launch.py | 85 ++++++++++++------- abb_rws_client/CMakeLists.txt | 21 ++++- .../rws_service_provider_ros.hpp | 4 +- .../src/rws_state_publisher_ros.cpp | 3 + 4 files changed, 79 insertions(+), 34 deletions(-) diff --git a/abb_bringup/launch/abb_rws_client.launch.py b/abb_bringup/launch/abb_rws_client.launch.py index e2f9f99..9d9c9f1 100644 --- a/abb_bringup/launch/abb_rws_client.launch.py +++ b/abb_bringup/launch/abb_rws_client.launch.py @@ -1,45 +1,70 @@ from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -def launch_setup(context, *args, **kwargs): +def generate_launch_description(): robot_ip = LaunchConfiguration("robot_ip") robot_port = LaunchConfiguration("robot_port") robot_nickname = LaunchConfiguration("robot_nickname") polling_rate = LaunchConfiguration("polling_rate") no_connection_timeout = LaunchConfiguration("no_connection_timeout") - return [ - Node( - package="abb_hardware_interface", - executable="rws_client", - name="rws_client", - output="screen", - parameters=[ - { - "robot_ip": robot_ip, - "robot_port": int(robot_port.perform(context)), - "robot_nickname": robot_nickname, - "polling_rate": float(polling_rate.perform(context)), - "no_connection_timeout": bool( - no_connection_timeout.perform(context) - ), - } - ], + declared_arguments = [] + + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + default_value="None", + description="IP address to the robot controller's RWS server", ) - ] + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_port", + default_value="80", + description="Port number of the robot controller's RWS server", + ) + ) -def generate_launch_description(): - return LaunchDescription( - [ - DeclareLaunchArgument("robot_ip"), - DeclareLaunchArgument("robot_port"), - DeclareLaunchArgument("robot_nickname"), - DeclareLaunchArgument("polling_rate"), - DeclareLaunchArgument("no_connection_timeout"), - OpaqueFunction(function=launch_setup), - ] + declared_arguments.append( + DeclareLaunchArgument( + "robot_nickname", + default_value="", + description="Arbitrary user nickname/identifier for the robot controller", + ) + ) + + declared_arguments.append( + DeclareLaunchArgument( + "no_connection_timeout", + default_value="false", + description="Specifies whether the node is allowed to wait indefinitely \ + for the robot controller during initialization.", + ) + ) + + declared_arguments.append( + DeclareLaunchArgument( + "polling_rate", + default_value="5.0", + description="The frequency [Hz] at which the controller state is collected.", + ) + ) + + node = Node( + package="abb_rws_client", + executable="rws_client", + name="rws_client", + output="screen", + parameters=[ + {"robot_ip": robot_ip}, + {"robot_port": robot_port}, + {"robot_nickname": robot_nickname}, + {"polling_rate": polling_rate}, + {"no_connection_timeout": no_connection_timeout}, + ], ) + return LaunchDescription(declared_arguments + [node]) diff --git a/abb_rws_client/CMakeLists.txt b/abb_rws_client/CMakeLists.txt index 9782a03..b35ef3f 100644 --- a/abb_rws_client/CMakeLists.txt +++ b/abb_rws_client/CMakeLists.txt @@ -40,14 +40,23 @@ endforeach() ## Build ## ########### -add_executable(rws_client +add_library(rws_client_lib src/rws_client_node.cpp src/rws_client.cpp src/rws_service_provider_ros.cpp src/rws_state_publisher_ros.cpp src/mapping.cpp ) -ament_target_dependencies(rws_client ${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_target_dependencies(rws_client_lib ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_include_directories( + rws_client_lib + PRIVATE + include +) + +add_executable(rws_client src/rws_client.cpp) +target_link_libraries(rws_client rws_client_lib) +ament_target_dependencies(rws_client "rclcpp") target_include_directories( rws_client PRIVATE @@ -63,6 +72,14 @@ install( DESTINATION lib/${PROJECT_NAME} ) +install( + TARGETS + rws_client_lib + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + ############# ## Testing ## ############# diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index e4d8299..18c295c 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -215,8 +215,8 @@ class RWSServiceProviderROS : RWSClient rclcpp::Subscription::SharedPtr system_state_sub_; rclcpp::Subscription::SharedPtr runtime_state_sub_; - std::vector core_services_; - std::vector sm_services_; + std::vector core_services_; + std::vector sm_services_; abb_robot_msgs::msg::SystemState system_state_; abb_rapid_sm_addin_msgs::msg::RuntimeState runtime_state_; diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index 66ef00c..67eebbb 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -72,6 +72,9 @@ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, runtime_state_pub_ = node_->create_publisher("~/sm_addin/runtime_states", 1); } + auto polling_rate = node_->get_parameter("polling_rate").as_double(); + node_->create_wall_timer(std::chrono::milliseconds(static_cast(1000.0 / polling_rate)), + std::bind(&RWSStatePublisherROS::timer_callback, this)); } void RWSStatePublisherROS::timer_callback() From 6246534a5b134e8d3b0c50be45c5ffff34eb8709 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Wed, 15 Jun 2022 16:06:26 +0200 Subject: [PATCH 17/27] Fixed connection problems --- abb_rws_client/src/rws_client.cpp | 3 --- abb_rws_client/src/rws_client_node.cpp | 2 ++ abb_rws_client/src/rws_state_publisher_ros.cpp | 4 ++-- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/abb_rws_client/src/rws_client.cpp b/abb_rws_client/src/rws_client.cpp index 44ae3a7..e2d2ab5 100644 --- a/abb_rws_client/src/rws_client.cpp +++ b/abb_rws_client/src/rws_client.cpp @@ -49,9 +49,6 @@ RWSClient::RWSClient(const rclcpp::Node::SharedPtr& node, const std::string& rob , rws_manager_{ robot_ip, robot_port, abb::rws::SystemConstants::General::DEFAULT_USERNAME, abb::rws::SystemConstants::General::DEFAULT_PASSWORD } { - node_->declare_parameter("robot_nickname", std::string{}); - node_->declare_parameter("no_connection_timeout", false); - connect(); } void RWSClient::connect() diff --git a/abb_rws_client/src/rws_client_node.cpp b/abb_rws_client/src/rws_client_node.cpp index 5c2bbd7..2ad0068 100644 --- a/abb_rws_client/src/rws_client_node.cpp +++ b/abb_rws_client/src/rws_client_node.cpp @@ -9,6 +9,8 @@ int main(int argc, char** argv) rclcpp::Node::SharedPtr client_node = rclcpp::Node::make_shared("rws"); + client_node->declare_parameter("robot_nickname", std::string{}); + client_node->declare_parameter("no_connection_timeout", false); std::string robot_ip = client_node->declare_parameter("robot_ip", "127.0.0.1"); int robot_port = client_node->declare_parameter("robot_port", 65535); diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index 67eebbb..fe1f235 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -73,8 +73,8 @@ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, node_->create_publisher("~/sm_addin/runtime_states", 1); } auto polling_rate = node_->get_parameter("polling_rate").as_double(); - node_->create_wall_timer(std::chrono::milliseconds(static_cast(1000.0 / polling_rate)), - std::bind(&RWSStatePublisherROS::timer_callback, this)); + timer_ = node_->create_wall_timer(std::chrono::milliseconds(static_cast(1000.0 / polling_rate)), + std::bind(&RWSStatePublisherROS::timer_callback, this)); } void RWSStatePublisherROS::timer_callback() From 62d7e6acccd8aa1980b91a4f29e3e6de2667c1c9 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Mon, 20 Jun 2022 11:35:54 +0200 Subject: [PATCH 18/27] Add docstrings and perform minor clean up --- abb_rws_client/CMakeLists.txt | 4 +- .../include/abb_rws_client/rws_client.hpp | 65 --- .../rws_service_provider_ros.hpp | 464 +++++++++++++++++- .../rws_state_publisher_ros.hpp | 48 +- abb_rws_client/src/rws_client.cpp | 65 --- .../src/rws_service_provider_ros.cpp | 28 +- .../src/rws_state_publisher_ros.cpp | 12 +- 7 files changed, 535 insertions(+), 151 deletions(-) delete mode 100644 abb_rws_client/include/abb_rws_client/rws_client.hpp delete mode 100644 abb_rws_client/src/rws_client.cpp diff --git a/abb_rws_client/CMakeLists.txt b/abb_rws_client/CMakeLists.txt index b35ef3f..1299ea3 100644 --- a/abb_rws_client/CMakeLists.txt +++ b/abb_rws_client/CMakeLists.txt @@ -41,8 +41,6 @@ endforeach() ########### add_library(rws_client_lib - src/rws_client_node.cpp - src/rws_client.cpp src/rws_service_provider_ros.cpp src/rws_state_publisher_ros.cpp src/mapping.cpp @@ -54,7 +52,7 @@ target_include_directories( include ) -add_executable(rws_client src/rws_client.cpp) +add_executable(rws_client src/rws_client_node.cpp) target_link_libraries(rws_client rws_client_lib) ament_target_dependencies(rws_client "rclcpp") target_include_directories( diff --git a/abb_rws_client/include/abb_rws_client/rws_client.hpp b/abb_rws_client/include/abb_rws_client/rws_client.hpp deleted file mode 100644 index 5c43b87..0000000 --- a/abb_rws_client/include/abb_rws_client/rws_client.hpp +++ /dev/null @@ -1,65 +0,0 @@ -/*********************************************************************************************************************** - * - * Copyright (c) 2020, ABB Schweiz AG - * All rights reserved. - * - * 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 ABB 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. - * - *********************************************************************************************************************** - */ - -// This file is a modified copy from -// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/include/abb_rws_service_provider/ -// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/include/abb_rws_state_publisher/ - -#pragma once - -#include - -#include -#include - -namespace abb_rws_client -{ -class RWSClient -{ -public: - RWSClient(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); - -protected: - rclcpp::Node::SharedPtr node_; - abb::robot::RWSManager rws_manager_; - - abb::robot::RobotControllerDescription robot_controller_description_; - -private: - void connect(); -}; - -} // namespace abb_rws_client diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index 18c295c..c851592 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -40,13 +40,14 @@ #pragma once -#include - #include #include #include +#include +#include + #include #include @@ -76,149 +77,604 @@ namespace abb_rws_client { -class RWSServiceProviderROS : RWSClient +class RWSServiceProviderROS { public: + /** + * \brief Creates a services server. + * + * \param node ROS2 node. + * \param robot_ip IP address for the robot controller's RWS server. + * \param robot_poty Port number for the robot controller's RWS server. + */ RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); private: + /** + * \brief Callback for robot controller system state messages. + * + * \param message to process. + */ void systemStateCallback(const abb_robot_msgs::msg::SystemState& msg); + /** + * \brief Callback for RobotWare StateMachine Add-In runtime state messages. + * + * Note: Only used if the Add-In is present in the robot controller's system. + * + * \param message to process. + */ void runtimeStateCallback(const abb_rapid_sm_addin_msgs::msg::RuntimeState& msg); + /** + * \brief Gets the contents of a file. + * + * The file must be located in the robot controller's home directory. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getFileContents(const abb_robot_msgs::srv::GetFileContents::Request::SharedPtr req, abb_robot_msgs::srv::GetFileContents::Response::SharedPtr res); - + /** + * \brief Gets an IO-signal. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getIOSignal(const abb_robot_msgs::srv::GetIOSignal::Request::SharedPtr req, abb_robot_msgs::srv::GetIOSignal::Response::SharedPtr res); + /** + * \brief Gets a RAPID 'bool' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getRapidBool(const abb_robot_msgs::srv::GetRAPIDBool::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDBool::Response::SharedPtr res); + /** + * \brief Gets a RAPID 'dnum' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getRapidDNum(const abb_robot_msgs::srv::GetRAPIDDnum::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDDnum::Response::SharedPtr res); + /** + * \brief Gets a RAPID 'num' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getRapidNum(const abb_robot_msgs::srv::GetRAPIDNum::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDNum::Response::SharedPtr res); + /** + * \brief Gets a RAPID 'string' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getRapidString(const abb_robot_msgs::srv::GetRAPIDString::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDString::Response::SharedPtr res); + /** + * \brief Gets a RAPID symbol (in raw text format). + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getRapidSymbol(const abb_robot_msgs::srv::GetRAPIDSymbol::Request::SharedPtr req, abb_robot_msgs::srv::GetRAPIDSymbol::Response::SharedPtr res); + /** + * \brief Gets a description of the connected robot controller. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getRCDescription(const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res); + /** + * \brief Gets the controller speed ratio (in the range [0, 100]) for RAPID motions. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getSpeedRatio(const abb_robot_msgs::srv::GetSpeedRatio::Request::SharedPtr req, abb_robot_msgs::srv::GetSpeedRatio::Response::SharedPtr res); + /** + * \brief Sets all RAPID program pointers to respective main procedure. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool ppToMain(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Signals that SmartGripper command(s) should be run for all RAPID programs. + * + * Notes: + * - Requires the StateMachine Add-In. + * - The desired SmartGripper command(s) needs to be specified beforehand (one per RAPID task). + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool runRapidRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Signals that SmartGripper command(s) should be run for all RAPID programs. + * + * Notes: + * - Requires the StateMachine Add-In. + * - The desired SmartGripper command(s) needs to be specified beforehand (one per RAPID task). + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool runSGRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Sets the contents of a file. + * + * The file will be uploaded to the robot controller's home directory. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setFileContents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res); + /** + * \brief Sets an IO-signal. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setIOSignal(const abb_robot_msgs::srv::SetIOSignal::Request::SharedPtr req, abb_robot_msgs::srv::SetIOSignal::Response::SharedPtr res); + /** + * \brief Sets the motors off. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setMotorsOff(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Sets the motors on. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setMotorsOn(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Sets a RAPID 'bool' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setRapidBool(const abb_robot_msgs::srv::SetRAPIDBool::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDBool::Response::SharedPtr res); + /** + * \brief Sets a RAPID 'dnum' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setRapidDNum(const abb_robot_msgs::srv::SetRAPIDDnum::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDDnum::Response::SharedPtr res); + /** + * \brief Sets a RAPID 'num' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setRapidNum(const abb_robot_msgs::srv::SetRAPIDNum::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDNum::Response::SharedPtr res); + /** + * \brief Sets a RAPID 'string' symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setRapidString(const abb_robot_msgs::srv::SetRAPIDString::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDString::Response::SharedPtr res); + /** + * \brief Sets a RAPID symbol. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setRapidSymbol(const abb_robot_msgs::srv::SetRAPIDSymbol::Request::SharedPtr req, abb_robot_msgs::srv::SetRAPIDSymbol::Response::SharedPtr res); + /** + * \brief Sets the controller speed ratio (in the range [0, 100]) for RAPID motions. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setSpeedRatio(const abb_robot_msgs::srv::SetSpeedRatio::Request::SharedPtr req, abb_robot_msgs::srv::SetSpeedRatio::Response::SharedPtr res); + /** + * \brief Starts all RAPID programs. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool startRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Stop all RAPID programs. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool stopRapid(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Gets EGM settings used by a specific RAPID task. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool getEGMSettings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res); + /** + * \brief Sets EGM settings used by a specific RAPID task. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setEGMSettings(const abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetEGMSettings::Response::SharedPtr res); + /** + * \brief Sets desired custom RAPID routine for a specific RAPID task. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setRapidRoutine(const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res); + /** + * \brief Sets desired SmartGripper command for a specific RAPID task. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool setSGCOmmand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res); + /** + * \brief Starts EGM joint motions for all RAPID programs. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool startEGMJoint(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Starts EGM pose motions for all RAPID programs. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool startEGMPose(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Starts EGM position streaming for all RAPID programs. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool startEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Stops EGM motions for all RAPID programs. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool stopEGM(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Stops EGM position streaming for all RAPID programs. + * + * Note: Requires the StateMachine Add-In. + * + * \param request to process. + * \param response for containing the result. + * + * \return bool true if the request was processed. + */ bool stopEGMStream(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr req, abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); + /** + * \brief Verify that auto mode is active. + * + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if auto mode is active. + */ bool verifyAutoMode(uint16_t& result_code, std::string& message); + /** + * \brief Verify that a filename is not empty. + * + * \param filename to verify. + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the filename is not empty. + */ bool verifyArgumentFilename(const std::string& filename, uint16_t& result_code, std::string& message); + /** + * \brief Verify that a RAPID symbol path does not contain any empty subcomponents. + * + * \param path to verify. + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the RAPID symbol path does not contain any empty subcomponents.. + */ bool verifyArgumentRapidSymbolPath(const abb_robot_msgs::msg::RAPIDSymbolPath& path, uint16_t& result_code, std::string& message); + /** + * \brief Verify that a RAPID task name is not empty. + * + * \param task to verify. + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the RAPID task name is not empty. + */ bool verifyArgumentRapidTask(const std::string& task, uint16_t& result_code, std::string& message); + /** + * \brief Verify that an IO-signal name is not empty. + * + * \param signal to verify. + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the IO-signal name is not empty. + */ bool verifyArgumentSignal(const std::string& signal, uint16_t& result_code, std::string& message); + /** + * \brief Verify that motors are off. + * + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the motors are off. + */ bool verifyMotorsOff(uint16_t& result_code, std::string& message); + /** + * \brief Verify that motors are on. + * + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the motors are on. + */ bool verifyMotorsOn(uint16_t& result_code, std::string& message); + /** + * \brief Verify that runtime states has been received for StateMachine Add-In instances. + * + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if runtime states has been received. + */ bool verifySMAddinRuntimeStates(uint16_t& result_code, std::string& message); + /** + * \brief Verify that a StateMachine Add-In instance is used by a RAPID task. + * + * \param task to check. + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the RAPID task is used by a StateMachine Add-In instance. + */ bool verifySMAddinTaskExist(const std::string& task, uint16_t& result_code, std::string& message); + /** + * \brief Verify that a StateMachine Add-In instance is used by a RAPID task and that it has been initialized. + * + * \param task to check. + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the RAPID task is used by a StateMachine Add-In instance and has been initialized. + */ bool verifySMAddinTaskInitialized(const std::string& task, uint16_t& result_code, std::string& message); + /** + * \brief Verify that RAPID is running. + * + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if RAPID is running. + */ bool verifyRapidRunning(uint16_t& result_code, std::string& message); + /** + * \brief Verify that RAPID is stopped. + * + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if RAPID is stopped. + */ bool verifyRapidStopped(uint16_t& result_code, std::string& message); + /** + * \brief Verify that the RWS communication manager is ready. + * + * \param[out] result_code numerical error code. + * \param[out] message container for possible error message. + * + * \return bool true if the RWS communication manager is ready. + */ bool verifyRWSManagerReady(uint16_t& result_code, std::string& message); + rclcpp::Node::SharedPtr node_; + + /** + * \brief Manager for handling RWS communication with the robot controller. + */ + abb::robot::RWSManager rws_manager_; + + /** + * \brief Description of the connected robot controller. + */ + abb::robot::RobotControllerDescription robot_controller_description_; + + /** + * \brief Subscriber for robot controller system states. + */ rclcpp::Subscription::SharedPtr system_state_sub_; + + /** + * \brief Subscriber for RobotWare StateMachine Add-In runtime states. + */ rclcpp::Subscription::SharedPtr runtime_state_sub_; + /** + * \brief List of provided ROS core services. + */ std::vector core_services_; + + /** + * \brief List of provided ROS state machine services. + */ std::vector sm_services_; + /** + * \brief The latest known robot controller system state. + */ abb_robot_msgs::msg::SystemState system_state_; + + /** + * \brief The latest known RobotWare StateMachine Add-In runtime state. + */ abb_rapid_sm_addin_msgs::msg::RuntimeState runtime_state_; }; diff --git a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp index 665c839..7a8a311 100644 --- a/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_state_publisher_ros.hpp @@ -40,34 +40,76 @@ #pragma once -#include - #include #include #include +#include +#include + #include #include #include namespace abb_rws_client { -class RWSStatePublisherROS : RWSClient +class RWSStatePublisherROS { public: + /** + * \brief Creates a state publisher. + * + * \param node ROS2 node. + * \param robot_ip IP address for the robot controller's RWS server. + * \param robot_poty Port number for the robot controller's RWS server. + */ RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); private: + /** + * \brief Time callback for receving and publishing of system states from robot. + */ void timer_callback(); + rclcpp::Node::SharedPtr node_; rclcpp::TimerBase::SharedPtr timer_; + /** + * \brief Manager for handling RWS communication with the robot controller. + */ + abb::robot::RWSManager rws_manager_; + + /** + * \brief Description of the connected robot controller. + */ + abb::robot::RobotControllerDescription robot_controller_description_; + + /** + * \brief Publisher for joint states. + */ rclcpp::Publisher::SharedPtr joint_state_pub_; + + /** + * \brief Publisher for general system states. + */ rclcpp::Publisher::SharedPtr system_state_pub_; + + /** + * \brief Publisher for RobotWare StateMachine Add-In runtime states. + * + * Note: Only used if the Add-In is present in the system. + */ rclcpp::Publisher::SharedPtr runtime_state_pub_; + /** + * \brief Motion data for each mechanical unit defined in the robot controller. + */ abb::robot::MotionData motion_data_; + + /** + * \brief Data about the robot controller's system state. + */ abb::robot::SystemStateData system_state_data_; }; diff --git a/abb_rws_client/src/rws_client.cpp b/abb_rws_client/src/rws_client.cpp deleted file mode 100644 index e2d2ab5..0000000 --- a/abb_rws_client/src/rws_client.cpp +++ /dev/null @@ -1,65 +0,0 @@ -/*********************************************************************************************************************** - * - * Copyright (c) 2020, ABB Schweiz AG - * All rights reserved. - * - * 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 ABB 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. - * - *********************************************************************************************************************** - */ - -// This file is a modified copy from -// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_service_provider/src -// https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_rws_state_publisher/src - -#include - -#include - -namespace abb_rws_client -{ -RWSClient::RWSClient(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port) - : node_(node) - , rws_manager_{ robot_ip, robot_port, abb::rws::SystemConstants::General::DEFAULT_USERNAME, - abb::rws::SystemConstants::General::DEFAULT_PASSWORD } -{ - connect(); -} -void RWSClient::connect() -{ - std::string robot_id; - bool no_connection_timeout; - - node_->get_parameter("robot_nickname", robot_id); - node_->get_parameter("no_connection_timeout", no_connection_timeout); - robot_controller_description_ = - abb::robot::utilities::establishRWSConnection(rws_manager_, robot_id, no_connection_timeout); - abb::robot::utilities::verifyRobotWareVersion(robot_controller_description_.header().robot_ware_version()); -} -} // namespace abb_rws_client diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index c718725..8f753c0 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -51,8 +51,16 @@ namespace abb_rws_client { RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port) - : RWSClient(node, robot_ip, robot_port) + : node_(node) + , rws_manager_{ robot_ip, robot_port, abb::rws::SystemConstants::General::DEFAULT_USERNAME, + abb::rws::SystemConstants::General::DEFAULT_PASSWORD } { + std::string robot_id = node_->get_parameter("robot_nickname").as_string(); + bool no_connection_timeout = node_->get_parameter("no_connection_timeout").as_bool(); + robot_controller_description_ = + abb::robot::utilities::establishRWSConnection(rws_manager_, robot_id, no_connection_timeout); + abb::robot::utilities::verifyRobotWareVersion(robot_controller_description_.header().robot_ware_version()); + system_state_sub_ = node_->create_subscription( "system_states", 10, std::bind(&RWSServiceProviderROS::systemStateCallback, this, std::placeholders::_1)); runtime_state_sub_ = node_->create_subscription( @@ -152,26 +160,26 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node if (system_indicators.options().egm()) { sm_services_.push_back(node_->create_service( - "get_egm_settings", + "~/get_egm_settings", std::bind(&RWSServiceProviderROS::getEGMSettings, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( - "set_egm_settings", + "~/set_egm_settings", std::bind(&RWSServiceProviderROS::setEGMSettings, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( - "start_egm_joint", + "~/start_egm_joint", std::bind(&RWSServiceProviderROS::startEGMJoint, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( - "start_egm_pose", + "~/start_egm_pose", std::bind(&RWSServiceProviderROS::startEGMPose, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( - "stop_egm", std::bind(&RWSServiceProviderROS::stopEGM, this, std::placeholders::_1, std::placeholders::_2))); + "~/stop_egm", std::bind(&RWSServiceProviderROS::stopEGM, this, std::placeholders::_1, std::placeholders::_2))); if (has_sm_1_1) { sm_services_.push_back(node_->create_service( - "start_egm_stream", + "~/start_egm_stream", std::bind(&RWSServiceProviderROS::startEGMStream, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( - "stop_egm_stream", + "~/stop_egm_stream", std::bind(&RWSServiceProviderROS::stopEGMStream, this, std::placeholders::_1, std::placeholders::_2))); } } @@ -179,10 +187,10 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node if (system_indicators.addins().smart_gripper()) { sm_services_.push_back(node_->create_service( - "run_sg_routine", + "~/run_sg_routine", std::bind(&RWSServiceProviderROS::runSGRoutine, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( - "set_sg_command", + "~/set_sg_command", std::bind(&RWSServiceProviderROS::setSGCOmmand, this, std::placeholders::_1, std::placeholders::_2))); } } diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index fe1f235..884495a 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -55,9 +55,18 @@ namespace abb_rws_client { RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port) - : RWSClient(node, robot_ip, robot_port) + : node_(node) + , rws_manager_{ robot_ip, robot_port, abb::rws::SystemConstants::General::DEFAULT_USERNAME, + abb::rws::SystemConstants::General::DEFAULT_PASSWORD } { node_->declare_parameter("polling_rate", 5.0); + + std::string robot_id = node_->get_parameter("robot_nickname").as_string(); + bool no_connection_timeout = node_->get_parameter("no_connection_timeout").as_bool(); + robot_controller_description_ = + abb::robot::utilities::establishRWSConnection(rws_manager_, robot_id, no_connection_timeout); + abb::robot::utilities::verifyRobotWareVersion(robot_controller_description_.header().robot_ware_version()); + abb::robot::initializeMotionData(motion_data_, robot_controller_description_); auto sensor_qos = @@ -75,6 +84,7 @@ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, auto polling_rate = node_->get_parameter("polling_rate").as_double(); timer_ = node_->create_wall_timer(std::chrono::milliseconds(static_cast(1000.0 / polling_rate)), std::bind(&RWSStatePublisherROS::timer_callback, this)); + RCLCPP_INFO(node_->get_logger(), "RWS state publisher initialized!"); } void RWSStatePublisherROS::timer_callback() From a3181e53b624d8674c0f62d4d3e74ce0b50b433f Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Mon, 20 Jun 2022 11:46:12 +0200 Subject: [PATCH 19/27] Fix bug with topic name in service provider class --- abb_rws_client/src/rws_service_provider_ros.cpp | 4 ++-- abb_rws_client/src/rws_state_publisher_ros.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index 8f753c0..38bb540 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -62,9 +62,9 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node abb::robot::utilities::verifyRobotWareVersion(robot_controller_description_.header().robot_ware_version()); system_state_sub_ = node_->create_subscription( - "system_states", 10, std::bind(&RWSServiceProviderROS::systemStateCallback, this, std::placeholders::_1)); + "~/system_states", 10, std::bind(&RWSServiceProviderROS::systemStateCallback, this, std::placeholders::_1)); runtime_state_sub_ = node_->create_subscription( - "sm_addin/runtime_states", 10, + "~/sm_addin/runtime_states", 10, std::bind(&RWSServiceProviderROS::runtimeStateCallback, this, std::placeholders::_1)); core_services_.push_back(node_->create_service( diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index 884495a..73e9572 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -74,12 +74,12 @@ RWSStatePublisherROS::RWSStatePublisherROS(const rclcpp::Node::SharedPtr& node, rmw_qos_profile_sensor_data); joint_state_pub_ = node_->create_publisher("~/joint_states", sensor_qos); - system_state_pub_ = node_->create_publisher("~/system_states", 1); + system_state_pub_ = node_->create_publisher("~/system_states", 10); if (abb::robot::utilities::verifyStateMachineAddInPresence(robot_controller_description_.system_indicators())) { runtime_state_pub_ = - node_->create_publisher("~/sm_addin/runtime_states", 1); + node_->create_publisher("~/sm_addin/runtime_states", 10); } auto polling_rate = node_->get_parameter("polling_rate").as_double(); timer_ = node_->create_wall_timer(std::chrono::milliseconds(static_cast(1000.0 / polling_rate)), From 0706407b13e991ce5bc39e6bf0e95e6abf5868d7 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Mon, 20 Jun 2022 14:04:22 +0200 Subject: [PATCH 20/27] Add simple quick start documentation --- .../rws_service_provider_ros.hpp | 10 +++-- docs/README.md | 6 +++ docs/RWSQuickStart.md | 41 +++++++++++++++++++ 3 files changed, 54 insertions(+), 3 deletions(-) create mode 100644 docs/RWSQuickStart.md diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index c851592..ace5620 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -89,6 +89,10 @@ class RWSServiceProviderROS */ RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node, const std::string& robot_ip, unsigned short robot_port); + RWSServiceProviderROS() = delete; + + virtual ~RWSServiceProviderROS() = default; + private: /** * \brief Callback for robot controller system state messages. @@ -208,7 +212,7 @@ class RWSServiceProviderROS /** * \brief Sets all RAPID program pointers to respective main procedure. - * + * Starts all RAPID programs. * \param request to process. * \param response for containing the result. * @@ -218,11 +222,11 @@ class RWSServiceProviderROS abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res); /** - * \brief Signals that SmartGripper command(s) should be run for all RAPID programs. + * \brief Signals that custom RAPID routine(s) should be run for all RAPID programs. * * Notes: * - Requires the StateMachine Add-In. - * - The desired SmartGripper command(s) needs to be specified beforehand (one per RAPID task). + * - The desired RAPID routine(s) needs to be specified beforehand (one per RAPID task). * * \param request to process. * \param response for containing the result. diff --git a/docs/README.md b/docs/README.md index 8a67957..d104bd6 100644 --- a/docs/README.md +++ b/docs/README.md @@ -100,11 +100,17 @@ After launching the controllers, launch MoveIt: ros2 launch abb_bringup abb_moveit.launch.py robot_xacro_file:=irb1200_5_90.xacro support_package:=abb_irb1200_support moveit_config_package:=abb_irb1200_5_90_moveit_config moveit_config_file:=abb_irb1200_5_90.srdf.xacro + ## Connecting to RWS RWS is a platform that allows interaction with the robot controller over HTTP, which is used by the driver to get information about the robot. Note that only RWS 1.0 is supported - RobotWare 7.0 and higher use RWS 2.0 and are not currently supported. +To launch only RWS communication: + + ros2 launch abb_bringup abb_rws_client.launch.py robot_ip:= + # More Info - [Robot Studio Setup Guide](./RobotStudioSetup.md) - [Network Configuration](./NetworkingConfiguration.md) - [Troubleshooting](./Troubleshooting.md) +- [RWSQuickStart](./RWSQuickStart.md) diff --git a/docs/RWSQuickStart.md b/docs/RWSQuickStart.md new file mode 100644 index 0000000..5d27a3d --- /dev/null +++ b/docs/RWSQuickStart.md @@ -0,0 +1,41 @@ +# Robot Web Services client + +This documentation specified ROS services provided by `abb_rws_client` package for commanding ABB robots via the RWS interface. + +## List of core services + +Below is a list of core services for commanding the ABB robot via the RWS interface. + +| Service name | Description | +|------------------------------------|-------------------------------------------------------------------------------------------------| +| `get_robot_controller_description` | Gets a description of the connected robot controller. | +| `pp_to_main` | Sets all RAPID program pointers to respective main procedure. Starts all RAPID programs. | +| `start_rapid` | Starts all RAPID programs. | +| `stop_rapid` | Stop all RAPID programs. | +| `set_motors_on/off` | Sets the motors on/off. | +| `get/set_file_contents` | Gets/Sets the contents of a file. | +| `get/set_io_signal` | Gets/Sets an IO-signal. | +| `get/set_rapid_bool` | Gets/Sets a RAPID `bool` symbol. | +| `get/set_rapid_dnum` | Gets/Sets a RAPID `dnum` symbol. | +| `get/set_rapid_num` | Gets/Sets a RAPID `num` symbol. | +| `get/set_rapid_string` | Gets/Sets a RAPID `string` symbol. | +| `get/set_rapid_symbol ` | Gets/Sets a RAPID symbol (in raw text format). | +| `get/set_speed_ratio` | Gets/Sets the controller speed ratio (in the range [0, 100]) for RAPID motions. | + + +## List of RobotWare StateMachine Add-in services + +Below is a list of services for operating a robot via the RWS interface with the RobotWare StateMachine Add-in installed. + +| Service name | Description | +|------------------------|----------------------------------------------------------------------------| +| `run_rapid_routine` | Signals that custom RAPID routine(s) should be run for all RAPID programs. | +| `set_rapid_routune` | Sets desired custom RAPID routine for a specific RAPID task. | +| `get/set_egm_settings` | Gets/Sets EGM settings used by a specific RAPID task. | +| `start_egm_joint` | Starts EGM joint motions for all RAPID programs. | +| `start_egm_pose` | Starts EGM pose motions for all RAPID programs. | +| `start_egm_stream` | Starts EGM position streaming for all RAPID programs. | +| `stop_egm` | Stops EGM motions for all RAPID programs. | +| `stop_egm_stream` | Stops EGM position streaming for all RAPID programs. | +| `run_sg_routine` | Signals that SmartGripper command(s) should be run for all RAPID programs. | +| `set_sg_command` | Sets desired SmartGripper command for a specific RAPID task. | From d9c1d6139073a2d0fb605f8a62b336173169ef12 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Mon, 20 Jun 2022 14:27:12 +0200 Subject: [PATCH 21/27] Add comments to rws_service_provider source files --- README.md | 1 + .../rws_service_provider_ros.hpp | 2 +- .../src/rws_service_provider_ros.cpp | 160 ++++++++++-------- 3 files changed, 88 insertions(+), 75 deletions(-) diff --git a/README.md b/README.md index d3ea067..1f9ee58 100644 --- a/README.md +++ b/README.md @@ -2,6 +2,7 @@ This is a meta-package containing everything to run an ABB robot or simulation w - `abb_bringup`: Launch files and ros2_control config files that are generic to many types of ABB robots. - `abb_hardware_interface`: A ros2_control hardware interface using abb_libegm. +- `abb_rws_client`: A package containg nodes for RWS only communication. - `robot_specific_config`: Packages containing robot description and config files that are unique to each type of ABB robot. - `abb_resources`: A small package containing ABB-related xacro resources. - `docs`: More detailed documentation. diff --git a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp index ace5620..cf9ff8a 100644 --- a/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp +++ b/abb_rws_client/include/abb_rws_client/rws_service_provider_ros.hpp @@ -434,7 +434,7 @@ class RWSServiceProviderROS * * \return bool true if the request was processed. */ - bool setSGCOmmand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, + bool setSGCommand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res); /** diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index 38bb540..1b5008e 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -191,7 +191,7 @@ RWSServiceProviderROS::RWSServiceProviderROS(const rclcpp::Node::SharedPtr& node std::bind(&RWSServiceProviderROS::runSGRoutine, this, std::placeholders::_1, std::placeholders::_2))); sm_services_.push_back(node_->create_service( "~/set_sg_command", - std::bind(&RWSServiceProviderROS::setSGCOmmand, this, std::placeholders::_1, std::placeholders::_2))); + std::bind(&RWSServiceProviderROS::setSGCommand, this, std::placeholders::_1, std::placeholders::_2))); } } RCLCPP_INFO(node_->get_logger(), "RWS client services initialized!"); @@ -207,6 +207,10 @@ void RWSServiceProviderROS::runtimeStateCallback(const abb_rapid_sm_addin_msgs:: runtime_state_ = msg; } +/************************************************************************************************************* + **************************************** RWS core services methods ****************************************** + ************************************************************************************************************/ + bool RWSServiceProviderROS::getRCDescription( const abb_robot_msgs::srv::GetRobotControllerDescription::Request::SharedPtr req, abb_robot_msgs::srv::GetRobotControllerDescription::Response::SharedPtr res) @@ -482,77 +486,6 @@ bool RWSServiceProviderROS::ppToMain(const abb_robot_msgs::srv::TriggerWithResul return true; } -bool RWSServiceProviderROS::runRapidRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) -{ - if (!verifyAutoMode(res->result_code, res->message)) - { - return true; - } - if (!verifyRapidRunning(res->result_code, res->message)) - { - return true; - } - if (!verifySMAddinRuntimeStates(res->result_code, res->message)) - { - return true; - } - if (!verifyRWSManagerReady(res->result_code, res->message)) - { - return true; - } - - rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().rapid().signalRunRAPIDRoutine()) - { - res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } - else - { - res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; - res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); - } - }); - - return true; -} - -bool RWSServiceProviderROS::runSGRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, - abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) -{ - if (!verifyAutoMode(res->result_code, res->message)) - { - return true; - } - if (!verifyRapidRunning(res->result_code, res->message)) - { - return true; - } - if (!verifySMAddinRuntimeStates(res->result_code, res->message)) - { - return true; - } - if (!verifyRWSManagerReady(res->result_code, res->message)) - { - return true; - } - - rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { - if (interface.services().sg().signalRunSGRoutine()) - { - res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; - } - else - { - res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; - res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; - RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); - } - }); - - return true; -} bool RWSServiceProviderROS::setFileContents(const abb_robot_msgs::srv::SetFileContents::Request::SharedPtr req, abb_robot_msgs::srv::SetFileContents::Response::SharedPtr res) @@ -917,6 +850,10 @@ bool RWSServiceProviderROS::stopRapid(const abb_robot_msgs::srv::TriggerWithResu return true; } +/************************************************************************************************************* + ******************************** RWS State Machine Add-in services methods ********************************** + ************************************************************************************************************/ + bool RWSServiceProviderROS::getEGMSettings(const abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::GetEGMSettings::Response::SharedPtr res) { @@ -1002,6 +939,78 @@ bool RWSServiceProviderROS::setEGMSettings(const abb_rapid_sm_addin_msgs::srv::S return true; } +bool RWSServiceProviderROS::runRapidRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verifyAutoMode(res->result_code, res->message)) + { + return true; + } + if (!verifyRapidRunning(res->result_code, res->message)) + { + return true; + } + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) + { + return true; + } + if (!verifyRWSManagerReady(res->result_code, res->message)) + { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().rapid().signalRunRAPIDRoutine()) + { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } + else + { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); + } + }); + + return true; +} + +bool RWSServiceProviderROS::runSGRoutine(const abb_robot_msgs::srv::TriggerWithResultCode::Request::SharedPtr, + abb_robot_msgs::srv::TriggerWithResultCode::Response::SharedPtr res) +{ + if (!verifyAutoMode(res->result_code, res->message)) + { + return true; + } + if (!verifyRapidRunning(res->result_code, res->message)) + { + return true; + } + if (!verifySMAddinRuntimeStates(res->result_code, res->message)) + { + return true; + } + if (!verifyRWSManagerReady(res->result_code, res->message)) + { + return true; + } + + rws_manager_.runService([&](abb::rws::RWSStateMachineInterface& interface) { + if (interface.services().sg().signalRunSGRoutine()) + { + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_SUCCESS; + } + else + { + res->message = abb_robot_msgs::msg::ServiceResponses::FAILED; + res->result_code = abb_robot_msgs::msg::ServiceResponses::RC_FAILED; + RCLCPP_DEBUG_STREAM(node_->get_logger(), interface.getLogTextLatestEvent()); + } + }); + + return true; +} + bool RWSServiceProviderROS::setRapidRoutine(const abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetRAPIDRoutine::Response::SharedPtr res) { @@ -1046,7 +1055,7 @@ bool RWSServiceProviderROS::setRapidRoutine(const abb_rapid_sm_addin_msgs::srv:: return true; } -bool RWSServiceProviderROS::setSGCOmmand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, +bool RWSServiceProviderROS::setSGCommand(const abb_rapid_sm_addin_msgs::srv::SetSGCommand::Request::SharedPtr req, abb_rapid_sm_addin_msgs::srv::SetSGCommand::Response::SharedPtr res) { if (!verifyArgumentRapidTask(req->task, res->result_code, res->message)) @@ -1278,6 +1287,10 @@ bool RWSServiceProviderROS::stopEGMStream(const abb_robot_msgs::srv::TriggerWith return true; } +/************************************************************************************************************* + **************************************** Verification helper methods **************************************** + ************************************************************************************************************/ + bool RWSServiceProviderROS::verifyAutoMode(uint16_t& result_code, std::string& message) { if (!system_state_.auto_mode) @@ -1461,5 +1474,4 @@ bool RWSServiceProviderROS::verifyRWSManagerReady(uint16_t& result_code, std::st return true; } - } // namespace abb_rws_client From 6d01a3eed07ff823abea08a25f8eeac96ac60851 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Mon, 20 Jun 2022 14:46:27 +0200 Subject: [PATCH 22/27] Modify RWS docs --- docs/README.md | 4 ---- docs/RWSQuickStart.md | 13 ++++++++++++- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/docs/README.md b/docs/README.md index d104bd6..30cba0a 100644 --- a/docs/README.md +++ b/docs/README.md @@ -105,10 +105,6 @@ After launching the controllers, launch MoveIt: RWS is a platform that allows interaction with the robot controller over HTTP, which is used by the driver to get information about the robot. Note that only RWS 1.0 is supported - RobotWare 7.0 and higher use RWS 2.0 and are not currently supported. -To launch only RWS communication: - - ros2 launch abb_bringup abb_rws_client.launch.py robot_ip:= - # More Info - [Robot Studio Setup Guide](./RobotStudioSetup.md) - [Network Configuration](./NetworkingConfiguration.md) diff --git a/docs/RWSQuickStart.md b/docs/RWSQuickStart.md index 5d27a3d..bb8c1e4 100644 --- a/docs/RWSQuickStart.md +++ b/docs/RWSQuickStart.md @@ -1,6 +1,17 @@ # Robot Web Services client -This documentation specified ROS services provided by `abb_rws_client` package for commanding ABB robots via the RWS interface. +## Overview + +`rws_client` node starts services for commanding ABB robots via RWS interfaces and publishers for polling system data from robot controllers. This node contains the following parameters: +* `robot_ip` - IP address to the robot controller's RWS server. +* `robot_port` - Port number of the robot controller's RWS server. +* `robot_nickname` - Arbitrary user nickname/identifier for the robot controller. +* `polling_rate` - The frequency [Hz] at which the controller state is collected. +* `no_connection_timeout` - Specifies whether the node is allowed to wait indefinitely for the robot controller during initialization. + +To launch only RWS communication: + + ros2 launch abb_bringup abb_rws_client.launch.py robot_ip:= ## List of core services From 451412792325809ff4d0eb6a59e0675d187bd7e2 Mon Sep 17 00:00:00 2001 From: Souphis Date: Mon, 20 Jun 2022 23:58:23 +0200 Subject: [PATCH 23/27] Create abb_common package --- ...ardware_interface.cpp.B90CF9C5D62E3421.idx | Bin 0 -> 6672 bytes ...ardware_interface.hpp.1C38C542CEC63B29.idx | Bin 0 -> 1654 bytes .../index/mapping.cpp.3144CF681799FF9A.idx | Bin 0 -> 10040 bytes .../index/mapping.cpp.CBFB4B495787DB8D.idx | Bin 0 -> 10014 bytes .../index/mapping.hpp.63A500840ABD1FA2.idx | Bin 0 -> 3250 bytes .../index/mapping.hpp.7EEBD7F4D74D9106.idx | Bin 0 -> 3204 bytes .../rws_client_node.cpp.B3BA3031F45F1705.idx | Bin 0 -> 1158 bytes ...vice_provider_ros.cpp.23257787CC1BB7A8.idx | Bin 0 -> 32970 bytes ...vice_provider_ros.hpp.9A12ED002ED022C2.idx | Bin 0 -> 7568 bytes ...ate_publisher_ros.cpp.B9C4118F896EFF34.idx | Bin 0 -> 3934 bytes ...ate_publisher_ros.hpp.5225916AA6207DAB.idx | Bin 0 -> 1376 bytes .../index/utilities.cpp.BC8AB2AD8B37CB17.idx | Bin 0 -> 2760 bytes .../index/utilities.cpp.FA6366B36AB7CB43.idx | Bin 0 -> 2758 bytes .../index/utilities.hpp.2C3FAE4039E1F841.idx | Bin 0 -> 244 bytes .../index/utilities.hpp.3EF3809EE830CF4D.idx | Bin 0 -> 1078 bytes .../visibility_control.h.6BF9DD9BAF8E623B.idx | Bin 0 -> 252 bytes abb_common/CMakeLists.txt | 78 ++++++++++++++++++ .../include/abb_common}/mapping.hpp | 0 .../include/abb_common}/utilities.hpp | 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DESTINATION bin + INCLUDES DESTINATION include +) + +install( + DIRECTORY include/ + DESTINATION include +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/abb_rws_client/include/abb_rws_client/mapping.hpp b/abb_common/include/abb_common/mapping.hpp similarity index 100% rename from abb_rws_client/include/abb_rws_client/mapping.hpp rename to abb_common/include/abb_common/mapping.hpp diff --git a/abb_hardware_interface/include/abb_hardware_interface/utilities.hpp b/abb_common/include/abb_common/utilities.hpp similarity index 100% rename from abb_hardware_interface/include/abb_hardware_interface/utilities.hpp rename to abb_common/include/abb_common/utilities.hpp diff --git a/abb_common/package.xml b/abb_common/package.xml new file mode 100644 index 0000000..da1cd2e --- /dev/null +++ b/abb_common/package.xml @@ -0,0 +1,25 @@ + + + + abb_common + 0.0.0 + TODO: Package description + souphis + TODO: License declaration + + ament_cmake + + rclcpp + abb_egm_rws_managers + abb_egm_msgs + abb_rapid_msgs + abb_rapid_sm_addin_msgs + abb_robot_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/abb_rws_client/src/mapping.cpp b/abb_common/src/mapping.cpp similarity index 99% rename from abb_rws_client/src/mapping.cpp rename to abb_common/src/mapping.cpp index f368da4..46f7bd2 100644 --- a/abb_rws_client/src/mapping.cpp +++ b/abb_common/src/mapping.cpp @@ -37,7 +37,7 @@ // This file is a modified copy from // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/mapping.cpp -#include +#include #include #include diff --git a/abb_hardware_interface/src/utilities.cpp b/abb_common/src/utilities.cpp similarity index 98% rename from abb_hardware_interface/src/utilities.cpp rename to abb_common/src/utilities.cpp index 5a94675..ce7c91d 100644 --- a/abb_hardware_interface/src/utilities.cpp +++ b/abb_common/src/utilities.cpp @@ -39,7 +39,7 @@ // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/initialization.cpp // https://github.com/ros-industrial/abb_robot_driver/blob/master/abb_robot_cpp_utilities/src/verification.cpp -#include +#include #include #include diff --git a/abb_hardware_interface/CMakeLists.txt b/abb_hardware_interface/CMakeLists.txt index 9761ab1..2740586 100644 --- a/abb_hardware_interface/CMakeLists.txt +++ b/abb_hardware_interface/CMakeLists.txt @@ -19,6 +19,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") endif() set(THIS_PACKAGE_INCLUDE_DEPENDS + abb_common abb_egm_rws_managers hardware_interface pluginlib @@ -41,7 +42,6 @@ add_library( ${PROJECT_NAME} SHARED src/abb_hardware_interface.cpp - src/utilities.cpp ) ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS}) target_include_directories( diff --git a/abb_hardware_interface/package.xml b/abb_hardware_interface/package.xml index e518439..d12e31f 100644 --- a/abb_hardware_interface/package.xml +++ b/abb_hardware_interface/package.xml @@ -12,10 +12,10 @@ BSD-3-Clause Dmitri Ignakov - Jon Tjerngren + Jon Tjerngren ament_cmake + abb_common abb_egm_rws_managers hardware_interface pluginlib diff --git a/abb_hardware_interface/src/abb_hardware_interface.cpp b/abb_hardware_interface/src/abb_hardware_interface.cpp index 7be74ad..d907949 100644 --- a/abb_hardware_interface/src/abb_hardware_interface.cpp +++ b/abb_hardware_interface/src/abb_hardware_interface.cpp @@ -14,7 +14,7 @@ // limitations under the License. #include -#include +#include using namespace std::chrono_literals; diff --git a/abb_rws_client/CMakeLists.txt b/abb_rws_client/CMakeLists.txt index 1299ea3..05ddb6d 100644 --- a/abb_rws_client/CMakeLists.txt +++ b/abb_rws_client/CMakeLists.txt @@ -19,12 +19,12 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") endif() set(THIS_PACKAGE_INCLUDE_DEPENDS + abb_common abb_egm_rws_managers abb_egm_msgs abb_robot_msgs abb_rapid_msgs abb_rapid_sm_addin_msgs - abb_hardware_interface rclcpp sensor_msgs ) @@ -43,7 +43,6 @@ endforeach() add_library(rws_client_lib src/rws_service_provider_ros.cpp src/rws_state_publisher_ros.cpp - src/mapping.cpp ) ament_target_dependencies(rws_client_lib ${THIS_PACKAGE_INCLUDE_DEPENDS}) target_include_directories( diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml index a167d0c..9e3d714 100644 --- a/abb_rws_client/package.xml +++ b/abb_rws_client/package.xml @@ -7,14 +7,14 @@ Grzegorz Bartyzel Apache2 - rclcpp + abb_common abb_egm_rws_managers - sensor_msgs abb_egm_msgs abb_rapid_msgs - abb_robot_msgs abb_rapid_sm_addin_msgs - abb_hardware_interface + abb_robot_msgs + rclcpp + sensor_msgs ament_cmake_gtest diff --git a/abb_rws_client/src/rws_service_provider_ros.cpp b/abb_rws_client/src/rws_service_provider_ros.cpp index 1b5008e..ba1a97d 100644 --- a/abb_rws_client/src/rws_service_provider_ros.cpp +++ b/abb_rws_client/src/rws_service_provider_ros.cpp @@ -42,8 +42,8 @@ #include -#include -#include +#include +#include using RAPIDSymbols = abb::rws::RWSStateMachineInterface::ResourceIdentifiers::RAPID::Symbols; diff --git a/abb_rws_client/src/rws_state_publisher_ros.cpp b/abb_rws_client/src/rws_state_publisher_ros.cpp index 73e9572..568519e 100644 --- a/abb_rws_client/src/rws_state_publisher_ros.cpp +++ b/abb_rws_client/src/rws_state_publisher_ros.cpp @@ -40,8 +40,8 @@ #include -#include -#include +#include +#include namespace { From 557ac2baf14cf97876cfd296dbe7ae3175c7179c Mon Sep 17 00:00:00 2001 From: Souphis Date: Sat, 25 Jun 2022 15:49:19 +0200 Subject: [PATCH 24/27] Updated gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index c276ad4..282879d 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ .cache/ +.clangd/ compile_commands.json *.pyc From 44b17592965de1f6b64a8a262bf4b2f74fa2a519 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Thu, 30 Jun 2022 10:20:13 +0200 Subject: [PATCH 25/27] Updated package.xml files --- abb_common/package.xml | 10 +++++++--- abb_rws_client/package.xml | 8 +++++++- 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/abb_common/package.xml b/abb_common/package.xml index da1cd2e..3ed0ee0 100644 --- a/abb_common/package.xml +++ b/abb_common/package.xml @@ -3,10 +3,14 @@ abb_common 0.0.0 - TODO: Package description - souphis - TODO: License declaration + Package providing common function for abb_ros2 + Grzegorz Bartyzel + + Apache2 + BSD-3-Clause + + Jon Tjerngren ament_cmake rclcpp diff --git a/abb_rws_client/package.xml b/abb_rws_client/package.xml index 9e3d714..265711a 100644 --- a/abb_rws_client/package.xml +++ b/abb_rws_client/package.xml @@ -3,9 +3,15 @@ abb_rws_client 0.0.0 - TODO: Package description + Package for receiving data and sending commands from ABB robots via RWS interface. + Grzegorz Bartyzel + Apache2 + BSD-3-Clause + + Jon Tjerngren + ament_cmake abb_common abb_egm_rws_managers From 4640a0e0955c144c25bf0ec3d39baf6c90dac6c0 Mon Sep 17 00:00:00 2001 From: Grzegorz Bartyzel Date: Thu, 30 Jun 2022 10:36:06 +0200 Subject: [PATCH 26/27] Removed .clangd --- ..._hardware_interface.cpp.B90CF9C5D62E3421.idx | Bin 6672 -> 0 bytes ..._hardware_interface.hpp.1C38C542CEC63B29.idx | Bin 1654 -> 0 bytes .clangd/index/mapping.cpp.3144CF681799FF9A.idx | Bin 10040 -> 0 bytes .clangd/index/mapping.cpp.CBFB4B495787DB8D.idx | Bin 10014 -> 0 bytes .clangd/index/mapping.hpp.63A500840ABD1FA2.idx | Bin 3250 -> 0 bytes .clangd/index/mapping.hpp.7EEBD7F4D74D9106.idx | Bin 3204 -> 0 bytes .../rws_client_node.cpp.B3BA3031F45F1705.idx | Bin 1158 -> 0 bytes ...ervice_provider_ros.cpp.23257787CC1BB7A8.idx | Bin 32970 -> 0 bytes ...ervice_provider_ros.hpp.9A12ED002ED022C2.idx | Bin 7568 -> 0 bytes ...state_publisher_ros.cpp.B9C4118F896EFF34.idx | Bin 3934 -> 0 bytes ...state_publisher_ros.hpp.5225916AA6207DAB.idx | Bin 1376 -> 0 bytes .../index/utilities.cpp.BC8AB2AD8B37CB17.idx | Bin 2760 -> 0 bytes .../index/utilities.cpp.FA6366B36AB7CB43.idx | Bin 2758 -> 0 bytes .../index/utilities.hpp.2C3FAE4039E1F841.idx | Bin 244 -> 0 bytes .../index/utilities.hpp.3EF3809EE830CF4D.idx | Bin 1078 -> 0 bytes .../visibility_control.h.6BF9DD9BAF8E623B.idx | Bin 252 -> 0 bytes 16 files changed, 0 insertions(+), 0 deletions(-) delete mode 100644 .clangd/index/abb_hardware_interface.cpp.B90CF9C5D62E3421.idx delete mode 100644 .clangd/index/abb_hardware_interface.hpp.1C38C542CEC63B29.idx delete mode 100644 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a/abb_bringup/config/abb_controllers.yaml b/abb_bringup/config/abb_controllers.yaml index 124aa2d..240dfb6 100644 --- a/abb_bringup/config/abb_controllers.yaml +++ b/abb_bringup/config/abb_controllers.yaml @@ -7,7 +7,7 @@ controller_manager: joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController - + joint_traj_compliance_controller: type: joint_traj_compliance_controller/JointTrajComplianceController @@ -36,7 +36,7 @@ joint_trajectory_controller: stopped_velocity_tolerance: 0.0 goal_time: 0.0 - + joint_traj_compliance_controller: ros__parameters: joints: @@ -71,8 +71,8 @@ joint_traj_compliance_controller: ff_velocity_scale/joint_3: 1.0 ff_velocity_scale/joint_4: 1.0 ff_velocity_scale/joint_5: 1.0 - ff_velocity_scale/joint_6: 1.0 - + ff_velocity_scale/joint_6: 1.0 + forward_command_controller_position: ros__parameters: joints: diff --git a/abb_bringup/launch/abb_moveit_no_rviz.launch.py b/abb_bringup/launch/abb_moveit_no_rviz.launch.py index d0b97e0..8d185d3 100644 --- a/abb_bringup/launch/abb_moveit_no_rviz.launch.py +++ b/abb_bringup/launch/abb_moveit_no_rviz.launch.py @@ -84,9 +84,7 @@ def launch_setup(context, *args, **kwargs): "moveit_simple_controller_manager": moveit_simple_controllers_yaml, "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager", } - publish_robot_description_semantic = { - 'publish_robot_description_semantic': True - } + publish_robot_description_semantic = {"publish_robot_description_semantic": True} trajectory_execution = { # MoveIt does not handle controller switching automatically @@ -116,7 +114,7 @@ def launch_setup(context, *args, **kwargs): trajectory_execution, moveit_controllers, planning_scene_monitor_parameters, - publish_robot_description_semantic + publish_robot_description_semantic, ], ) diff --git a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml index c7c2c1e..69c839f 100644 --- a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml +++ b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml @@ -20,7 +20,7 @@ joint_trajectory_controller: - joint_4 - joint_5 - joint_6 - + joint_traj_compliance_controller: action_ns: follow_joint_trajectory type: FollowJointTrajectory @@ -32,5 +32,3 @@ joint_traj_compliance_controller: - joint_4 - joint_5 - joint_6 - -