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enable serial number device selection
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(cherry picked from commit 731d7a9)
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Thibault Poignonec committed Sep 2, 2024
1 parent 8374162 commit 9580687
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Showing 4 changed files with 36 additions and 11 deletions.
1 change: 1 addition & 0 deletions fd_description/config/fd.config.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
<xacro:include filename="$(find fd_description)/ros2_control/fd.r2c_hardware.xacro" />
<xacro:fd_ros2_control
interface_id="-1"
interface_sn="-1"
robot_id= "$(arg robot_id)"
use_fake_hardware="$(arg use_fake_hardware)"
use_orientation="$(arg use_orientation)"
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3 changes: 2 additions & 1 deletion fd_description/ros2_control/fd.r2c_hardware.xacro
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Expand Up @@ -2,7 +2,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro
name="fd_ros2_control"
params="robot_id plugin_name:='FDHapticInterface' interface_id:='-1' effector_mass:='-1.0' use_fake_hardware:='false' use_orientation:='false' orientation_is_actuated:='false' use_clutch:='false' emulate_button:='false' ignore_orientation_readings:='false'">
params="robot_id plugin_name:='FDHapticInterface' interface_id:='-1' interface_sn:='-1' effector_mass:='-1.0' use_fake_hardware:='false' use_orientation:='false' orientation_is_actuated:='false' use_clutch:='false' emulate_button:='false' ignore_orientation_readings:='false'">
<ros2_control name="${plugin_name}" type="system">
<hardware>
<xacro:if value="${use_fake_hardware}">
Expand All @@ -11,6 +11,7 @@
<xacro:unless value="${use_fake_hardware}">
<plugin>fd_hardware/FDEffortHardwareInterface</plugin>
<param name="interface_id">${interface_id}</param>
<param name="interface_serial_number">${interface_sn}</param>
<param name="emulate_button">${emulate_button}</param>
<param name="inertia_interface_name">${robot_id}_inertia</param>
<param name="effector_mass">${effector_mass}</param>
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3 changes: 3 additions & 0 deletions fd_hardware/include/fd_hardware/fd_effort_hi.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,9 @@ class FDEffortHardwareInterface : public hardware_interface::SystemInterface
/// ID of the interface (Rq: "-1" = invalid/any that is connected)
char interface_ID_ = -1;

/// Serial number of the interface (Rq: "-1" = invalid / unspecified)
int interface_SN_ = -1;

/// Turned to true after the connection
bool isConnected_ = false;

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40 changes: 30 additions & 10 deletions fd_hardware/src/fd_effort_hi.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,15 @@ CallbackReturn FDEffortHardwareInterface::on_init(
interface_ID_ = -1;
}


auto it_interface_serial_number = info_.hardware_parameters.find("interface_serial_number");
if (it_interface_serial_number != info_.hardware_parameters.end()) {
interface_SN_ = stoi(it_interface_serial_number->second);
RCLCPP_INFO(LOGGER, "Using interface serial number: %d", interface_SN_);
} else {
interface_SN_ = -1;
}

auto it_emulate_button = info_.hardware_parameters.find("emulate_button");
if (it_emulate_button != info_.hardware_parameters.end()) {
emulate_button_ = hardware_interface::parse_bool(it_emulate_button->second);
Expand Down Expand Up @@ -381,7 +390,7 @@ hardware_interface::return_type FDEffortHardwareInterface::read(
flag += dhdGetJointAngles(joint_position, interface_ID_);
// use "dhdJointAnglesToInertiaMatrix (double j[DHD_MAX_DOF], double inertia[6][6], char ID=-1)"
// to get the current inertia matrix
flag += dhdJointAnglesToInertiaMatrix(joint_position, inertia_array);
flag += dhdJointAnglesToInertiaMatrix(joint_position, inertia_array, interface_ID_);
flag += dhdDisableExpertMode();

// Map upper triangular part of inertia to inertia state interface
Expand Down Expand Up @@ -462,28 +471,39 @@ bool FDEffortHardwareInterface::connectToDevice()

// Open connection
bool dhd_open_success = false;
if (interface_ID_ < 0) {
// Open default device
RCLCPP_INFO(LOGGER, "dhd : Connecting to default device...");
interface_ID_ = dhdOpen();
if (interface_SN_ >= 0) {
// Open specified device from serial number
RCLCPP_INFO(
LOGGER, "dhd : Connecting to device with serial number %d, please wait...", interface_SN_);
uint16_t serialNumber = static_cast<uint16_t>(interface_SN_);
interface_ID_ = dhdOpenSerial(serialNumber);
dhd_open_success = (interface_ID_ >= 0);
} else {
// Open specified device
RCLCPP_INFO(LOGGER, "dhd : Connecting to device with ID= %d...", interface_ID_);
// dhd_open_success = (dhdOpenSerial(serialNumber) >= 0);
} else if (interface_ID_ >= 0) {
// Open specified device from device ID
RCLCPP_INFO(LOGGER, "dhd : Connecting to device with ID= %d, please wait...", interface_ID_);
interface_ID_ = dhdOpenID(interface_ID_);
dhd_open_success = (interface_ID_ >= 0);
// dhd_open_success = (dhdOpenID(interface_ID_) >= 0);
} else {
// Open default device
RCLCPP_INFO(LOGGER, "dhd : Connecting to default device., please wait..");
interface_ID_ = dhdOpen();
dhd_open_success = (interface_ID_ >= 0);
// dhd_open_success = (dhdOpen() >= 0);
}

// Check connection and setup dhd device
if (dhd_open_success) {
RCLCPP_INFO(LOGGER, "dhd : %s device detected", dhdGetSystemName());
RCLCPP_INFO(LOGGER, "dhd : %s device detected", dhdGetSystemName(interface_ID_));
uint16_t serialNumber = 0;
if (dhdGetSerialNumber(&serialNumber, interface_ID_) < 0) {
RCLCPP_WARN(LOGGER, "dhd : Impossible to retrieve device serial number: %s!",
dhdErrorGetLastStr());
} else {
RCLCPP_INFO(LOGGER, "dhd : device serial number = %d", serialNumber);
}
RCLCPP_INFO(LOGGER, "dhd : device interface ID = %d", interface_ID_);

// Check if the device has 3 dof or more
if (dhdHasWrist(interface_ID_)) {
Expand Down Expand Up @@ -591,7 +611,7 @@ bool FDEffortHardwareInterface::disconnectFromDevice()
int connectionIsClosed = dhdClose(interface_ID_);
if (connectionIsClosed >= 0) {
RCLCPP_INFO(LOGGER, "dhd : Disconnected ! ");
interface_ID_ = false;
interface_ID_ = -1;
return true;
} else {
RCLCPP_ERROR(LOGGER, "dhd : Failed to disconnect !");
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