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kroshu · Apr 25, 2024 · 86c6ac2 · 86c6ac2
1 parent 5c745c3
commit 86c6ac2
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Showing 10 changed files with 138 additions and 138 deletions.
diff --git a/kuka_sunrise_fri_driver/robot_application/src/application/ROS2_Control.java b/kuka_sunrise_fri_driver/robot_application/src/application/ROS2_Control.java
@@ -12,16 +12,16 @@
 /**
  * Implementation of a robot application.
  * <p>
- * The application provides a {@link RoboticsAPITask#initialize()} and a 
- * {@link RoboticsAPITask#run()} method, which will be called successively in 
- * the application lifecycle. The application will terminate automatically after 
- * the {@link RoboticsAPITask#run()} method has finished or after stopping the 
- * task. The {@link RoboticsAPITask#dispose()} method will be called, even if an 
- * exception is thrown during initialization or run. 
+ * The application provides a {@link RoboticsAPITask#initialize()} and a
+ * {@link RoboticsAPITask#run()} method, which will be called successively in
+ * the application lifecycle. The application will terminate automatically after
+ * the {@link RoboticsAPITask#run()} method has finished or after stopping the
+ * task. The {@link RoboticsAPITask#dispose()} method will be called, even if an
+ * exception is thrown during initialization or run.
  * <p>
- * <b>It is imperative to call <code>super.dispose()</code> when overriding the 
- * {@link RoboticsAPITask#dispose()} method.</b> 
- * 
+ * <b>It is imperative to call <code>super.dispose()</code> when overriding the
+ * {@link RoboticsAPITask#dispose()} method.</b>
+ *
  * @see UseRoboticsAPIContext
  * @see #initialize()
  * @see #run()
@@ -30,7 +30,7 @@
 public class ROS2_Control extends RoboticsAPIApplication {
 	@Inject
 	private LBR _lbr;
-	
+
 	private TCPConnection _TCPConnection;
 	private ROS2Connection _ROS2Connection;
 	private FRIManager _FRIManager;
@@ -41,7 +41,7 @@ public void initialize() {
 		_TCPConnection = new TCPConnection(30000);
 		_ROS2Connection = new ROS2Connection();
 		_FRIManager = new FRIManager(_lbr, getApplicationControl());
-		
+
 		_FRIManager.registerROS2ConnectionModule(_ROS2Connection);
 		_TCPConnection.registerROS2ConnectionModule(_ROS2Connection);
 		_ROS2Connection.registerTCPConnectionModule(_TCPConnection);
@@ -57,7 +57,7 @@ public void run() {
 		_ROS2Connection.rejectCommands();
 		_FRIManager.close();
 	}
-	
+
 	@Override
 	public void dispose() {
 		getLogger().info("disposes");

diff --git a/kuka_sunrise_fri_driver/robot_application/src/ros2/modules/FRIManager.java b/kuka_sunrise_fri_driver/robot_application/src/ros2/modules/FRIManager.java
@@ -32,7 +32,7 @@ public enum CommandResult{
 		ERRORED;
 	}
 	private ROS2Connection _ROS2Connection;
-	
+
 	private State _currentState;
 	private LBR _lbr;
 	private FRISession _FRISession;
@@ -42,9 +42,9 @@ public enum CommandResult{
 	private IMotionContainer _motionContainer;
 	private FRIMotionErrorHandler _friMotionErrorHandler = new FRIMotionErrorHandler();
 	//private IApplicationControl _applicationControl;
-	
+
 	private static double[] stiffness_ = new double[7];
-	
+
 	public FRIManager(LBR lbr, IApplicationControl applicationControl){
 		_currentState = new InactiveState();
 		_lbr = lbr;
@@ -57,11 +57,11 @@ public FRIManager(LBR lbr, IApplicationControl applicationControl){
 		//_applicationControl = applicationControl;
 		applicationControl.registerMoveAsyncErrorHandler(_friMotionErrorHandler);
 	}
-	
+
 	public void registerROS2ConnectionModule(ROS2Connection ros2ConnectionModule){
 		_ROS2Connection = ros2ConnectionModule;
 	}
-	
+
 	public void close(){
 		if(_currentState instanceof ControlActiveState){
 			deactivateControl();
@@ -70,36 +70,36 @@ public void close(){
 			endFRI();//TODO: handle error
 		}
 	}
-	
+
 	public FRIConfigurationParams getFRIConfig(){
 		FRIConfigurationParams friConfigurationParams = new FRIConfigurationParams(_FRIConfiguration);
 		return friConfigurationParams;
 	}
-	
+
 	public ClientCommandMode getClientCommandMode(){
 		return _clientCommandMode;
 	}
-	
+
 	public IMotionControlMode getControlMode(){
 		return _controlMode;
 	}
-	
+
 	public FRISessionState getFRISessionState(){
 		return _FRISession.getFRIChannelInformation().getFRISessionState();
 	}
-	
+
 	/*
 	 *  The Following commands change the state of the FRI Manager, and thus are forwarded to the state machine for validation
 	 *  */
-	
+
 	public CommandResult setControlMode(IMotionControlMode controlMode){
 		return _currentState.setControlMode(controlMode);
 	}
-	
+
 	public CommandResult setCommandMode(ClientCommandMode clientCommandMode){
 		return _currentState.setCommandMode(clientCommandMode);
 	}
-		
+
 	public CommandResult setFRIConfig(FRIConfigurationParams friConfigurationParams){
 		return _currentState.setFRIConfig(friConfigurationParams);
 	}
@@ -111,62 +111,62 @@ public CommandResult startFRI(){
 		}
 		return commandResult;
 	}
-	
+
 	public CommandResult endFRI(){
 		CommandResult commandResult = _currentState.endFRI();
 		if(commandResult == CommandResult.EXECUTED){
 			_currentState = new InactiveState();
 		}
 		return commandResult;
 	}
-	
+
 	public CommandResult activateControl(){
 		CommandResult commandResult = _currentState.activateControl();
 		if(commandResult == CommandResult.EXECUTED){
 			_currentState = new ControlActiveState();
 		}
 		return commandResult;
 	}
-	
+
 	public CommandResult deactivateControl(){
 		CommandResult commandResult = _currentState.deactivateControl();
 		if(commandResult == CommandResult.EXECUTED){
 			_currentState = new FRIActiveState();
 		}
 		return commandResult;
 	}
-	
+
 	private class State{
 		/* By default reject all commands */
 		public CommandResult startFRI(){
 			return CommandResult.REJECTED;
 		}
-		
+
 		public CommandResult endFRI(){
 			return CommandResult.REJECTED;
 		}
-		
+
 		public CommandResult activateControl(){
 			return CommandResult.REJECTED;
 		}
-		
+
 		public CommandResult deactivateControl(){
 			return CommandResult.REJECTED;
 		}
-		
+
 		public CommandResult setFRIConfig(FRIConfigurationParams friConfigurationParams){
 			return CommandResult.REJECTED;
 		}
-		
+
 		public CommandResult setControlMode(IMotionControlMode controlMode){
 			return CommandResult.REJECTED;
 		}
-		
+
 		public CommandResult setCommandMode(ClientCommandMode clientCommandMode){
 			return CommandResult.REJECTED;
 		}
 	}
-	
+
 	private class InactiveState extends State{
 		@Override
 		public CommandResult startFRI(){
@@ -177,7 +177,7 @@ public CommandResult startFRI(){
 				FRIManager.this._FRISession.close();
 				return CommandResult.ERRORED;
 			}
-			
+
 			return CommandResult.EXECUTED;
 		}
 		@Override
@@ -196,7 +196,7 @@ public CommandResult setCommandMode(ClientCommandMode clientCommandMode){
 			return CommandResult.EXECUTED;
 		}
 	}
-	
+
 	private class FRIActiveState extends State {
 		@Override
 		public CommandResult endFRI(){
@@ -209,11 +209,11 @@ public CommandResult endFRI(){
 		}
 		@Override
 		public CommandResult activateControl(){
-			FRIJointOverlay friJointOverlay = 
+			FRIJointOverlay friJointOverlay =
 					new FRIJointOverlay(FRIManager.this._FRISession, FRIManager.this._clientCommandMode);
-			PositionHold motion = 
+			PositionHold motion =
 					new PositionHold(FRIManager.this._controlMode, -1, null);
-			FRIManager.this._motionContainer = 
+			FRIManager.this._motionContainer =
 					FRIManager.this._lbr.moveAsync(motion.addMotionOverlay(friJointOverlay));
 			return CommandResult.EXECUTED;
 		}
@@ -228,15 +228,15 @@ public CommandResult setCommandMode(ClientCommandMode clientCommandMode){
 			return CommandResult.EXECUTED;
 		}
 	}
-	
+
 	private class ControlActiveState extends State {
 		@Override
 		public CommandResult deactivateControl(){
 			FRIManager.this._motionContainer.cancel();
 			return CommandResult.EXECUTED;
 		}
 	}
-	
+
 	private class FRIMotionErrorHandler implements IErrorHandler{
 
 		@Override
@@ -260,7 +260,7 @@ public ErrorHandlingAction handleError(Device device,
 			System.out.println("Cancelled containers: " + canceledContainers.toString());
 			return ErrorHandlingAction.Ignore;
 		}
-		
+
 	}
-	
+
 }