319 lines
12 KiB
C++
319 lines
12 KiB
C++
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// Copyright 2025 Enactic, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <atomic>
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#include <chrono>
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#include <csignal>
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#include <iostream>
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#include <thread>
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#include <csignal>
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#include <atomic>
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#include <filesystem>
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#include <periodic_timer_thread.hpp>
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#include <robot_state.hpp>
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#include <openarm/can/socket/openarm.hpp>
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#include <openarm/damiao_motor/dm_motor_constants.hpp>
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#include <openarm_port/openarm_init.hpp>
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#include <controller/dynamics.hpp>
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#include <yamlloader.hpp>
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#include <controller/control.hpp>
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std::atomic<bool> keep_running(true);
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void signal_handler(int signal) {
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if (signal == SIGINT) {
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std::cout << "\nCtrl+C detected. Exiting loop..." << std::endl;
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keep_running = false;
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}
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}
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class LeaderArmThread : public PeriodicTimerThread {
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public:
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LeaderArmThread(std::shared_ptr<RobotSystemState> robot_state, Control *control_l, double hz = 500.0)
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: PeriodicTimerThread(hz), robot_state_(robot_state), control_l_(control_l){}
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protected:
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void before_start() override {
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std::cout << "leader start thread " << std::endl;
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}
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void after_stop() override {
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std::cout << "leader stop thread " << std::endl;
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}
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void on_timer() override {
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static auto prev_time = std::chrono::steady_clock::now();
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control_l_->unilateral_step();
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auto now = std::chrono::steady_clock::now();
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auto elapsed_us = std::chrono::duration_cast<std::chrono::microseconds>(now - prev_time).count();
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prev_time = now;
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// std::cout << "[Leader] Period: " << elapsed_us << " us" << std::endl;
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}
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private:
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std::shared_ptr<RobotSystemState> robot_state_;
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Control *control_l_;
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};
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class FollowerArmThread : public PeriodicTimerThread {
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public:
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FollowerArmThread(std::shared_ptr<RobotSystemState> robot_state, Control *control_f, double hz = 500.0)
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: PeriodicTimerThread(hz), robot_state_(robot_state), control_f_(control_f) {}
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protected:
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void before_start() override {
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std::cout << "follower start thread " << std::endl;
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}
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void after_stop() override {
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std::cout << "follower stop thread " << std::endl;
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}
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void on_timer() override {
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static auto prev_time = std::chrono::steady_clock::now();
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control_f_->unilateral_step();
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auto now = std::chrono::steady_clock::now();
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auto elapsed_us = std::chrono::duration_cast<std::chrono::microseconds>(now - prev_time).count();
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prev_time = now;
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// std::cout << "[Follower] Period: " << elapsed_us << " us" << std::endl;
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}
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private:
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std::shared_ptr<RobotSystemState> robot_state_;
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Control *control_f_;
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};
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class AdminThread : public PeriodicTimerThread {
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public:
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AdminThread(std::shared_ptr<RobotSystemState> leader_state,
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std::shared_ptr<RobotSystemState> follower_state,
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Control *control_l,
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Control *control_f,
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double hz = 500.0)
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: PeriodicTimerThread(hz), leader_state_(leader_state), follower_state_(follower_state), control_l_(control_l), control_f_(control_f) {}
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protected:
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void before_start() override {
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std::cout << "admin start thread " << std::endl;
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}
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void after_stop() override {
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std::cout << "admin stop thread " << std::endl;
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}
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void on_timer() override {
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static auto prev_time = std::chrono::steady_clock::now();
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auto now = std::chrono::steady_clock::now();
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// get response
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auto leader_arm_resp = leader_state_->arm_state().get_all_responses();
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auto follower_arm_resp = follower_state_->arm_state().get_all_responses();
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auto leader_hand_resp = leader_state_->hand_state().get_all_responses();
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auto follower_hand_resp = follower_state_->hand_state().get_all_responses();
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//set referense
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leader_state_->arm_state().set_all_references(follower_arm_resp);
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leader_state_->hand_state().set_all_references(follower_hand_resp);
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follower_state_->arm_state().set_all_references(leader_arm_resp);
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follower_state_->hand_state().set_all_references(leader_hand_resp);
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auto elapsed_us = std::chrono::duration_cast<std::chrono::microseconds>(now - prev_time).count();
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prev_time = now;
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// std::cout << "[Admin] Period: " << elapsed_us << " us" << std::endl;
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}
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private:
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std::shared_ptr<RobotSystemState> leader_state_;
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std::shared_ptr<RobotSystemState> follower_state_;
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Control *control_l_;
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Control *control_f_;
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};
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int main(int argc, char** argv) {
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try {
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std::signal(SIGINT, signal_handler);
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// default configration
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std::string arm_side = "right_arm";
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std::string leader_urdf_path;
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std::string follower_urdf_path;
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std::string leader_can_interface = "can0";
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std::string follower_can_interface = "can2";
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if (argc < 3) {
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std::cerr << "Usage: " << argv[0] << " <leader_urdf_path> <follower_urdf_path> [arm_side] [leader_can] [follower_can]" << std::endl;
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return 1;
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}
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// Required: URDF paths
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leader_urdf_path = argv[1];
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follower_urdf_path = argv[2];
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// Optional: arm_side
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if (argc >= 4) {
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arm_side = argv[3];
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if (arm_side != "left_arm" && arm_side != "right_arm") {
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std::cerr << "[ERROR] Invalid arm_side: " << arm_side << ". Must be 'left_arm' or 'right_arm'." << std::endl;
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return 1;
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}
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}
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// Optional: CAN interfaces
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if (argc >= 6) {
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leader_can_interface = argv[4];
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follower_can_interface = argv[5];
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}
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// URDF file existence check
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if (!std::filesystem::exists(leader_urdf_path)) {
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std::cerr << "[ERROR] Leader URDF not found: " << leader_urdf_path << std::endl;
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return 1;
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}
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if (!std::filesystem::exists(follower_urdf_path)) {
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std::cerr << "[ERROR] Follower URDF not found: " << follower_urdf_path << std::endl;
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return 1;
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}
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// Setup dynamics
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std::string root_link = "openarm_body_link0";
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std::string leaf_link = (arm_side == "left_arm") ? "openarm_left_hand" : "openarm_right_hand";
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// Output confirmation
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std::cout << "=== OpenArm Unilateral Control ===" << std::endl;
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std::cout << "Arm side : " << arm_side << std::endl;
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std::cout << "Leader CAN : " << leader_can_interface << std::endl;
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std::cout << "Follower CAN : " << follower_can_interface << std::endl;
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std::cout << "Leader URDF path : " << leader_urdf_path << std::endl;
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std::cout << "Follower URDF path: " << follower_urdf_path << std::endl;
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std::cout << "Root link : " << root_link << std::endl;
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std::cout << "Leaf link : " << leaf_link << std::endl;
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YamlLoader leader_loader("config/leader.yaml");
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YamlLoader follower_loader("config/follower.yaml");
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// Leader parameters
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std::vector<double> leader_kp = leader_loader.get_vector("LeaderArmParam", "Kp");
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std::vector<double> leader_kd = leader_loader.get_vector("LeaderArmParam", "Kd");
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std::vector<double> leader_Fc = leader_loader.get_vector("LeaderArmParam", "Fc");
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std::vector<double> leader_k = leader_loader.get_vector("LeaderArmParam", "k");
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std::vector<double> leader_Fv = leader_loader.get_vector("LeaderArmParam", "Fv");
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std::vector<double> leader_Fo = leader_loader.get_vector("LeaderArmParam", "Fo");
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// Follower parameters
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std::vector<double> follower_kp = follower_loader.get_vector("FollowerArmParam", "Kp");
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std::vector<double> follower_kd = follower_loader.get_vector("FollowerArmParam", "Kd");
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std::vector<double> follower_Fc = follower_loader.get_vector("FollowerArmParam", "Fc");
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std::vector<double> follower_k = follower_loader.get_vector("FollowerArmParam", "k");
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std::vector<double> follower_Fv = follower_loader.get_vector("FollowerArmParam", "Fv");
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std::vector<double> follower_Fo = follower_loader.get_vector("FollowerArmParam", "Fo");
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Dynamics *leader_arm_dynamics = new Dynamics(leader_urdf_path, root_link, leaf_link);
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leader_arm_dynamics->Init();
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Dynamics *follower_arm_dynamics = new Dynamics(follower_urdf_path, root_link, leaf_link);
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follower_arm_dynamics->Init();
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std::cout << "=== Initializing Leader OpenArm ===" << std::endl;
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openarm::can::socket::OpenArm *leader_openarm =
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openarm_init::OpenArmInitializer::initialize_openarm(leader_can_interface, true);
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std::cout << "=== Initializing Follower OpenArm ===" << std::endl;
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openarm::can::socket::OpenArm *follower_openarm =
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openarm_init::OpenArmInitializer::initialize_openarm(follower_can_interface, true);
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size_t leader_arm_motor_num = leader_openarm->get_arm().get_motors().size();
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size_t follower_arm_motor_num = follower_openarm->get_arm().get_motors().size();
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size_t leader_hand_motor_num = leader_openarm->get_gripper().get_motors().size();
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size_t follower_hand_motor_num = follower_openarm->get_gripper().get_motors().size();
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std::cout << "leader arm motor num : " << leader_arm_motor_num << std::endl;
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std::cout << "follower arm motor num : " << follower_arm_motor_num << std::endl;
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std::cout << "leader hand motor num : " << leader_hand_motor_num << std::endl;
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std::cout << "follower hand motor num : " << follower_hand_motor_num << std::endl;
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// Declare robot_state (Joint and motor counts are assumed to be equal)
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std::shared_ptr<RobotSystemState> leader_state =
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std::make_shared<RobotSystemState>(leader_arm_motor_num, leader_hand_motor_num);
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std::shared_ptr<RobotSystemState> follower_state =
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std::make_shared<RobotSystemState>(follower_arm_motor_num, follower_hand_motor_num);
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Control* control_leader = new Control(leader_openarm,leader_arm_dynamics,follower_arm_dynamics, leader_state, 1.0 / FREQUENCY, ROLE_LEADER, arm_side, leader_arm_motor_num, leader_hand_motor_num);
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Control* control_follower = new Control(follower_openarm,leader_arm_dynamics,follower_arm_dynamics, follower_state, 1.0 / FREQUENCY, ROLE_FOLLOWER, arm_side, follower_arm_motor_num, follower_hand_motor_num);
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control_leader->SetParameter(
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leader_kp, leader_kd ,
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leader_Fc, leader_k, leader_Fv, leader_Fo);
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control_follower->SetParameter(
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follower_kp, follower_kd,
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follower_Fc, follower_k, follower_Fv, follower_Fo);
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//set home postion
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std::thread thread_l(&Control::AdjustPosition, control_leader);
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std::thread thread_f(&Control::AdjustPosition, control_follower);
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thread_l.join();
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thread_f.join();
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// Start control process
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LeaderArmThread leader_thread(leader_state ,control_leader, FREQUENCY);
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FollowerArmThread follower_thread(follower_state, control_follower, FREQUENCY);
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AdminThread admin_thread(leader_state, follower_state, control_leader, control_follower, FREQUENCY);
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leader_thread.start_thread();
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follower_thread.start_thread();
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admin_thread.start_thread();
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while (keep_running) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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leader_thread.stop_thread();
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follower_thread.stop_thread();
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admin_thread.stop_thread();
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leader_openarm->disable_all();
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follower_openarm->disable_all();
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}
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catch(const std::exception& e)
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{
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std::cerr << e.what() << '\n';
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}
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return 0;
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}
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