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Merge pull request #27 from OmidRezayof/fri-3.0
Fri 3.0
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@@ -5,7 +5,7 @@ on: | |
| push: | ||
| pull_request: | ||
| branches: | ||
| - fri-1.15 | ||
| - fri-2.5 | ||
| schedule: | ||
| - cron: "0 0 1 * *" # monthly | ||
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| package lbr_fri_ros2; | ||
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| import static com.kuka.roboticsAPI.motionModel.BasicMotions.positionHold; | ||
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| import java.util.concurrent.TimeUnit; | ||
| import java.util.concurrent.TimeoutException; | ||
| import javax.inject.Inject; | ||
| import java.util.Arrays; | ||
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| import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication; | ||
| import com.kuka.sensitivity.LBR; | ||
| import com.kuka.sensitivity.controlmode.CartesianImpedanceControlMode; | ||
| import com.kuka.sensitivity.controlmode.JointImpedanceControlMode; | ||
| import com.kuka.roboticsAPI.uiModel.ApplicationDialogType; | ||
| import com.kuka.roboticsAPI.uiModel.IApplicationUI; | ||
| import com.kuka.roboticsAPI.motionModel.controlModeModel.*; | ||
| //import com.kuka.fri.FRIChannelInformation; | ||
| //import com.kuka.fri.FRIConfiguration; | ||
| //import com.kuka.fri.FRISession; | ||
| //import com.kuka.fri.IFRISessionListener; | ||
| //import com.kuka.fri.FRIJointOverlay; | ||
| //import com.kuka.fri.common.ClientCommandMode; | ||
| import com.kuka.fri.api.monitoring.IFriChannelInformation; | ||
| import com.kuka.fri.api.monitoring.IFriConfiguration; | ||
| import com.kuka.fri.api.monitoring.IFriMonitoring; | ||
| import com.kuka.fri.api.monitoring.IFriSession; | ||
| import com.kuka.fri.api.monitoring.IFriSessionListener; | ||
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| import com.kuka.fri.api.commanding.IFriJointOverlay; | ||
| import com.kuka.fri.api.commanding.EClientCommandMode; | ||
| import com.kuka.fri.api.commanding.IFriCommanding; | ||
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| public class LBRServer extends RoboticsAPIApplication { | ||
| // members | ||
| @Inject | ||
| private LBR lbr_; | ||
| @Inject | ||
| private IApplicationUI applicationUi; | ||
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| // control mode | ||
| private enum CONTROL_MODE { | ||
| POSITION_CONTROL, | ||
| JOINT_IMPEDANCE_CONTROL, | ||
| CARTESIAN_IMPEDANCE_CONTROL; | ||
| } | ||
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| // convert enum to string array, see | ||
| // https://stackoverflow.com/questions/13783295/getting-all-names-in-an-enum-as-a-string | ||
| public static String[] getNames(Class<? extends Enum<?>> e) { | ||
| return Arrays.toString(e.getEnumConstants()).replaceAll("^.|.$", "").split(", "); | ||
| } | ||
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| // FRI parameters | ||
| private String client_name_; | ||
| private String[] client_names_ = { "172.31.1.148", "192.170.10.1" }; | ||
| private int send_period_; | ||
| private String[] send_periods_ = { "1", "2", "5", "10" }; // send period in ms | ||
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| private IFriConfiguration fri_configuration_; | ||
| private IFriSession fri_session_; | ||
| private IFriJointOverlay fri_overlay_; | ||
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| private AbstractMotionControlMode control_mode_; | ||
| private String[] control_modes_ = getNames(CONTROL_MODE.class); | ||
| private EClientCommandMode command_mode_; | ||
| private String[] command_modes_ = getNames(EClientCommandMode.class); | ||
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| // methods | ||
| public void request_user_config() { | ||
| // send period | ||
| int selectedButtonIndex = applicationUi.displayModalDialog( | ||
| ApplicationDialogType.QUESTION, | ||
| "Select the desired FRI send period [ms]:", | ||
| send_periods_); | ||
| send_period_ = Integer.valueOf(send_periods_[selectedButtonIndex]); | ||
| getLogger().info("Send period set to: " + send_period_); | ||
| // remote IP address | ||
| selectedButtonIndex = applicationUi.displayModalDialog( | ||
| ApplicationDialogType.QUESTION, | ||
| "Select your remote IP address:", | ||
| client_names_); | ||
| client_name_ = client_names_[selectedButtonIndex]; | ||
| getLogger().info("Remote address set to: " + client_name_); | ||
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| // control mode | ||
| selectedButtonIndex = applicationUi.displayModalDialog( | ||
| ApplicationDialogType.QUESTION, | ||
| "Select the desired FRI control mode: ", | ||
| control_modes_); | ||
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| CONTROL_MODE control_mode = CONTROL_MODE.values()[selectedButtonIndex]; | ||
| switch (control_mode) { | ||
| case POSITION_CONTROL: | ||
| control_mode_ = new PositionControlMode(); | ||
| break; | ||
| case JOINT_IMPEDANCE_CONTROL: | ||
| control_mode_ = new JointImpedanceControlMode(200, 200, 200, 200, 200, 200, 200); | ||
| break; | ||
| case CARTESIAN_IMPEDANCE_CONTROL: | ||
| control_mode_ = new CartesianImpedanceControlMode(); | ||
| break; | ||
| } | ||
| getLogger().info("Control mode set to: " + control_mode.name()); | ||
| // command mode | ||
| selectedButtonIndex = applicationUi.displayModalDialog( | ||
| ApplicationDialogType.QUESTION, | ||
| "Select the desired FRI client command mode: ", | ||
| command_modes_); | ||
| command_mode_ = EClientCommandMode.values()[selectedButtonIndex]; | ||
| getLogger().info("Client command mode set to: " + command_mode_.name()); | ||
| } | ||
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| public void configure_fri() { | ||
| IFriMonitoring friMonitoring = lbr_.getCapability(IFriMonitoring.class); | ||
| IFriCommanding friCommanding =lbr_.getCapability(IFriCommanding.class); | ||
| fri_configuration_ = friMonitoring.createFriConfiguration(lbr_, client_name_); | ||
| fri_configuration_.setSendPeriodMilliSec(send_period_); | ||
| getLogger().info("Creating FRI connection to " + fri_configuration_.getHostName()); | ||
| getLogger().info( | ||
| "SendPeriod: " + fri_configuration_.getSendPeriodMilliSec() + "ms |" | ||
| + " ReceiveMultiplier: " + fri_configuration_.getReceiveMultiplier()); | ||
| fri_session_ = friMonitoring.createFriSession(fri_configuration_); | ||
| fri_overlay_ = friCommanding.createJointOverlay(fri_session_, command_mode_); | ||
| IFriSessionListener listener = new IFriSessionListener(){ | ||
| @Override | ||
| public void onFriSessionStateChanged(IFriChannelInformation friChannelInformation) { | ||
| getLogger().info("Session State change " + friChannelInformation.getFriSessionState().toString()); | ||
| } | ||
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| @Override | ||
| public void onFriConnectionQualityChanged(IFriChannelInformation friChannelInformation) { | ||
| getLogger().info("Quality change signalled " + friChannelInformation.getQuality()); | ||
| getLogger().info("Jitter " + friChannelInformation.getJitter()); | ||
| getLogger().info("Latency " + friChannelInformation.getLatency()); | ||
| } | ||
| }; | ||
| fri_session_.addFriSessionListener(listener); | ||
| // try to connect | ||
| try { | ||
| fri_session_.await(10, TimeUnit.SECONDS); | ||
| } catch (final TimeoutException e) { | ||
| getLogger().error(e.getLocalizedMessage()); | ||
| return; | ||
| } | ||
| getLogger().info("FRI connection established."); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| // set FRI parameters | ||
| request_user_config(); | ||
| // configure the FRI | ||
| configure_fri(); | ||
| } | ||
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| @Override | ||
| public void run() { | ||
| // run the FRI | ||
| lbr_.getFlange().move(positionHold(control_mode_, -1, TimeUnit.SECONDS).addMotionOverlay(fri_overlay_)); | ||
| return; | ||
| } | ||
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| @Override | ||
| public void dispose() { | ||
| getLogger().info("Close connection to client"); | ||
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| if (null != fri_session_) { | ||
| fri_session_.close(); | ||
| } | ||
| } | ||
| } |