pid_ros.hpp

// Copyright (c) 2020, Open Source Robotics Foundation, Inc.
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
//    copyright notice, this list of conditions and the following
//    disclaimer in the documentation and/or other materials provided
//    with the distribution.
//  * Neither the name of the Willow Garage nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
#ifndef CONTROL_TOOLBOX__PID_ROS_HPP_
#define CONTROL_TOOLBOX__PID_ROS_HPP_
 
#include <memory>
#include <string>
 
#include "control_msgs/msg/pid_state.hpp"
 
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/node.hpp"
 
#include "realtime_tools/realtime_buffer.h"
#include "realtime_tools/realtime_publisher.h"
 
#include "control_toolbox/pid.hpp"
#include "control_toolbox/visibility_control.hpp"
 
namespace control_toolbox
{
 
class CONTROL_TOOLBOX_PUBLIC PidROS
{
public:
  template <class NodeT>
  explicit PidROS(std::shared_ptr<NodeT> node_ptr, std::string topic_prefix = std::string(""))
  : PidROS(
      node_ptr->get_node_base_interface(), node_ptr->get_node_logging_interface(),
      node_ptr->get_node_parameters_interface(), node_ptr->get_node_topics_interface(),
      topic_prefix)
  {
  }
 
  PidROS(
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params,
    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
    std::string topic_prefix = std::string(""))
  : node_base_(node_base),
    node_logging_(node_logging),
    node_params_(node_params),
    topics_interface_(topics_interface)
  {
    initialize(topic_prefix);
  }
 
  void initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup);
 
  bool initPid();
 
  void reset();
 
  double computeCommand(double error, rclcpp::Duration dt);
 
  double computeCommand(double error, double error_dot, rclcpp::Duration dt);
 
  Pid::Gains getGains();
 
  void setGains(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);
 
  void setGains(const Pid::Gains & gains);
 
  void setCurrentCmd(double cmd);
 
  double getCurrentCmd();
 
  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> getPidStatePublisher();
 
  void getCurrentPIDErrors(double & pe, double & ie, double & de);
 
  void printValues();
 
  inline rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr
  getParametersCallbackHandle()
  {
    return parameter_callback_;
  }
 
private:
  void setParameterEventCallback();
 
  void publishPIDState(double cmd, double error, rclcpp::Duration dt);
 
  void declareParam(const std::string & param_name, rclcpp::ParameterValue param_value);
 
  bool getDoubleParam(const std::string & param_name, double & value);
 
  bool getBooleanParam(const std::string & param_name, bool & value);
 
  void initialize(std::string topic_prefix);
 
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_;
 
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params_;
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
 
  std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::PidState>> rt_state_pub_;
  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> state_pub_;
 
  Pid pid_;
  std::string topic_prefix_;
  std::string param_prefix_;
};
 
}  // namespace control_toolbox
 
#endif  // CONTROL_TOOLBOX__PID_ROS_HPP_