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Integrate kuka-external-control-sdk (#144)
* use client lib in hwif-without control mode switch * add control mode change * add event subscriber to manager * change type * format * add enums * hack for LD_LIBRARY_PATH * fake hw in activation test * set server event * recv timeout * clean up * fix control mode changes * log fix * log * rollback launch * modify access rights * format * recv timeout * prev_control_mode type * fix build * mutex * cleanup * package xml update + ci * sudo mkdir * fix * git * pipe fix * sudo * home * fix dir * update name * fix dir structure * fix dir * update env * fix deactivate * find_lib * fix build * debug * try without path * Revert "try without path" This reverts commit a80ab26. * fix multiple deact * cleanup * fix controller configuration * update build instructions * fix * remove unnecessary copy * fix switch * package xml * install deps * format * try pre-build script * remove sdk dep * fix upstream * sudo * clean up control mode handling * fix before_build * try path fix * before init * install deps * fix install path * protobuf dep * fix dep * fix condition * target include * fix hack * remove activation test * spell * fix tests with new config * extend ld_lib_path * fix * syntax * try extend again * fix hack * fix hack * debug * debug2 * Update industrial_ci.yml * Remove after init * debug * fix env * cleanup * better driver init * extend doc with torque difference * remove mock from doc * cleanup * fix log * spell * typo --------- Co-authored-by: Szitanics Márk <szitanics@gmail.com> Co-authored-by: Aron Svastits <svastits1@gmail.com> Co-authored-by: Gergely Kovacs <gergely.kovacs4@kuka.com>
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35 changes: 35 additions & 0 deletions
35
kuka_drivers_core/include/kuka_drivers_core/hardware_event.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| // Copyright 2024 Áron Svastits | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef KUKA_DRIVERS_CORE__HARDWARE_EVENT_HPP_ | ||
| #define KUKA_DRIVERS_CORE__HARDWARE_EVENT_HPP_ | ||
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| namespace kuka_drivers_core | ||
| { | ||
| /** | ||
| * @brief Enum for controller-side events | ||
| */ | ||
| enum class HardwareEvent : std::uint8_t | ||
| { | ||
| HARDWARE_EVENT_UNSPECIFIED = 0, | ||
| COMMAND_ACCEPTED = 2, | ||
| CONTROL_STARTED = 3, | ||
| CONTROL_STOPPED = 4, | ||
| CONTROL_MODE_SWITCH = 5, | ||
| ERROR = 6 | ||
| }; | ||
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| } // namespace kuka_drivers_core | ||
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| #endif // KUKA_DRIVERS_CORE__HARDWARE_EVENT_HPP_ |
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67 changes: 67 additions & 0 deletions
67
kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/event_observer.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,67 @@ | ||
| // Copyright 2024 Márk Szitanics | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef KUKA_IIQKA_EAC_DRIVER__EVENT_OBSERVER_HPP_ | ||
| #define KUKA_IIQKA_EAC_DRIVER__EVENT_OBSERVER_HPP_ | ||
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| #include <string> | ||
| #include "rclcpp/macros.hpp" | ||
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| #include "kuka/external-control-sdk/common/irobot.h" | ||
| #include "kuka_drivers_core/hardware_event.hpp" | ||
| #include "kuka_iiqka_eac_driver/hardware_interface.hpp" | ||
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| namespace kuka_eac | ||
| { | ||
| class KukaEACEventObserver : public kuka::external::control::EventHandler | ||
| { | ||
| public: | ||
| explicit KukaEACEventObserver(KukaEACHardwareInterface * hw_interface) | ||
| : hw_interface_(hw_interface) | ||
| { | ||
| } | ||
| void OnSampling() override | ||
| { | ||
| hw_interface_->set_server_event(kuka_drivers_core::HardwareEvent::CONTROL_STARTED); | ||
| RCLCPP_INFO(rclcpp::get_logger("KukaEACHardwareInterface"), "External control is active"); | ||
| } | ||
| void OnControlModeSwitch(const std::string &) override | ||
| { | ||
| hw_interface_->set_server_event(kuka_drivers_core::HardwareEvent::CONTROL_MODE_SWITCH); | ||
| RCLCPP_INFO( | ||
| rclcpp::get_logger("KukaEACHardwareInterface"), "Control mode switch is in progress"); | ||
| hw_interface_->reset_cycle_count(); | ||
| } | ||
| void OnStopped(const std::string &) override | ||
| { | ||
| hw_interface_->set_server_event(kuka_drivers_core::HardwareEvent::CONTROL_STOPPED); | ||
| RCLCPP_INFO(rclcpp::get_logger("KukaEACHardwareInterface"), "External control finished"); | ||
| hw_interface_->set_stop_flag(); | ||
| } | ||
| void OnError(const std::string & reason) override | ||
| { | ||
| hw_interface_->set_server_event(kuka_drivers_core::HardwareEvent::ERROR); | ||
| RCLCPP_ERROR( | ||
| rclcpp::get_logger("KukaEACHardwareInterface"), "External control stopped by an error"); | ||
| RCLCPP_ERROR(rclcpp::get_logger("KukaEACHardwareInterface"), reason.c_str()); | ||
| hw_interface_->set_stop_flag(); | ||
| } | ||
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| private: | ||
| KukaEACHardwareInterface * hw_interface_; | ||
| }; | ||
|
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| } // namespace kuka_eac | ||
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| #endif // KUKA_IIQKA_EAC_DRIVER__EVENT_OBSERVER_HPP_ |
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