joint_trajectory_controller.hpp

// Copyright (c) 2021 ros2_control Development Team
//
// 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.
 
#ifndef JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_
#define JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_
 
#include <atomic>
#include <functional>  // for std::reference_wrapper
#include <memory>
#include <string>
#include <vector>
 
#include "control_msgs/action/follow_joint_trajectory.hpp"
#include "control_msgs/msg/joint_trajectory_controller_state.hpp"
#include "control_msgs/msg/speed_scaling_factor.hpp"
#include "control_msgs/srv/query_trajectory_state.hpp"
#include "control_toolbox/pid.hpp"
#include "controller_interface/controller_interface.hpp"
#include "hardware_interface/loaned_command_interface.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "joint_trajectory_controller/interpolation_methods.hpp"
#include "joint_trajectory_controller/tolerances.hpp"
#include "joint_trajectory_controller/trajectory.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp_action/server.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/realtime_publisher.hpp"
#include "realtime_tools/realtime_server_goal_handle.hpp"
#include "realtime_tools/realtime_thread_safe_box.hpp"
#include "trajectory_msgs/msg/joint_trajectory.hpp"
#include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
// auto-generated by generate_parameter_library
#include "joint_trajectory_controller/joint_trajectory_controller_parameters.hpp"
 
using namespace std::chrono_literals;  // NOLINT
 
namespace joint_trajectory_controller
{
 
class JointTrajectoryController : public controller_interface::ControllerInterface
{
public:
  JointTrajectoryController();
 
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
  controller_interface::return_type update(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
  controller_interface::CallbackReturn on_init() override;
 
  controller_interface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_deactivate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_error(
    const rclcpp_lifecycle::State & previous_state) override;
 
protected:
  // To reduce number of variables and to make the code shorter the interfaces are ordered in types
  // as the following constants
  const std::vector<std::string> allowed_interface_types_ = {
    hardware_interface::HW_IF_POSITION,
    hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION,
    hardware_interface::HW_IF_EFFORT,
  };
 
  // Preallocate variables used in the realtime update() function
  trajectory_msgs::msg::JointTrajectoryPoint state_current_;
  trajectory_msgs::msg::JointTrajectoryPoint command_current_;
  trajectory_msgs::msg::JointTrajectoryPoint command_next_;
  trajectory_msgs::msg::JointTrajectoryPoint state_desired_;
  trajectory_msgs::msg::JointTrajectoryPoint state_error_;
  trajectory_msgs::msg::JointTrajectoryPoint blend_sample_;
  trajectory_msgs::msg::JointTrajectoryPoint blend_bridge_;
  // Tracks which controller joints are commanded by a new blended trajectory
  std::vector<bool> blend_commanded_;
  // Number of points prepended during a blend (prefix + bridge); used to offset action feedback
  size_t blend_prefix_size_ = 0;
 
  // Degrees of freedom
  size_t dof_;
  size_t num_cmd_joints_;
  std::vector<size_t> map_cmd_to_joints_;
 
  // Storing command joint names for interfaces
  std::vector<std::string> command_joint_names_;
 
  // Parameters from ROS for joint_trajectory_controller
  std::shared_ptr<ParamListener> param_listener_;
  Params params_;
  rclcpp::Duration update_period_{0, 0};
 
  rclcpp::Time traj_time_;
 
  // variables for storing internal data for open-loop control
  trajectory_msgs::msg::JointTrajectoryPoint last_commanded_state_;
  rclcpp::Time last_commanded_time_;
  realtime_tools::RealtimeThreadSafeBox<trajectory_msgs::msg::JointTrajectoryPoint>
    rt_last_commanded_state_;
  interpolation_methods::InterpolationMethod interpolation_method_{
    interpolation_methods::DEFAULT_INTERPOLATION};
 
  // The interfaces are defined as the types in 'allowed_interface_types_' member.
  // For convenience, for each type the interfaces are ordered so that i-th position
  // matches i-th index in joint_names_
  template <typename T>
  using InterfaceReferences = std::vector<std::vector<std::reference_wrapper<T>>>;
 
  InterfaceReferences<hardware_interface::LoanedCommandInterface> joint_command_interface_;
  InterfaceReferences<hardware_interface::LoanedStateInterface> joint_state_interface_;
  std::optional<std::reference_wrapper<hardware_interface::LoanedStateInterface>>
    scaling_state_interface_;
  std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>>
    scaling_command_interface_;
 
  bool has_position_state_interface_ = false;
  bool has_velocity_state_interface_ = false;
  bool has_acceleration_state_interface_ = false;
  bool has_position_command_interface_ = false;
  bool has_velocity_command_interface_ = false;
  bool has_acceleration_command_interface_ = false;
  bool has_effort_command_interface_ = false;
 
  bool use_closed_loop_pid_adapter_ = false;
  using PidPtr = std::shared_ptr<control_toolbox::Pid>;
  std::vector<PidPtr> pids_;
  // Feed-forward velocity weight factor when calculating closed loop pid adapter's command
  std::vector<double> ff_velocity_scale_;
  // Configuration for every joint if it wraps around (ie. is continuous, position error is
  // normalized)
  std::vector<bool> joints_angle_wraparound_;
  // Preallocated storage for closed-loop PID command output.
  std::vector<double> closed_loop_pid_command_;
 
  // If true, enable calculations to stop all joints using constant deceleration
  bool should_decelerate_on_cancel_ = false;
  // reserved storage for the max deceleration values
  std::vector<double> max_decel_;
  // reserved storage for each joints max stopping time
  std::vector<double> stop_time_;
  // reserved storage for each joints hold position at stop
  std::vector<double> hold_position_;
  // reserved storage for each joints stop direction
  std::vector<double> stop_direction_;
  // reserved storage for the stop trajectory
  std::shared_ptr<trajectory_msgs::msg::JointTrajectory> stop_trajectory_;
 
  // Things around speed scaling
  std::atomic<double> scaling_factor_{1.0};
  std::atomic<double> scaling_factor_cmd_{1.0};
 
  // Timeout to consider commands old
  double cmd_timeout_;
  // True if holding position or repeating last trajectory point in case of success
  std::atomic<bool> rt_is_holding_{false};
  // TODO(karsten1987): eventually activate and deactivate subscriber directly when its supported
  std::atomic<bool> subscriber_is_active_{false};
  rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr joint_command_subscriber_ =
    nullptr;
 
  rclcpp::Service<control_msgs::srv::QueryTrajectoryState>::SharedPtr query_state_srv_;
 
  std::unique_ptr<Trajectory> current_trajectory_ = nullptr;
  realtime_tools::RealtimeThreadSafeBox<std::shared_ptr<trajectory_msgs::msg::JointTrajectory>>
    rt_new_trajectory_msg_;
 
  std::shared_ptr<trajectory_msgs::msg::JointTrajectory> hold_position_msg_ptr_ = nullptr;
 
  using ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState;
  using StatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>;
  using StatePublisherPtr = std::unique_ptr<StatePublisher>;
  rclcpp::Publisher<ControllerStateMsg>::SharedPtr publisher_;
  StatePublisherPtr state_publisher_;
  ControllerStateMsg state_msg_;
 
  using FollowJTrajAction = control_msgs::action::FollowJointTrajectory;
  using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle<FollowJTrajAction>;
  using RealtimeGoalHandlePtr = std::shared_ptr<RealtimeGoalHandle>;
 
  rclcpp_action::Server<FollowJTrajAction>::SharedPtr action_server_;
  realtime_tools::RealtimeThreadSafeBox<RealtimeGoalHandlePtr> rt_active_goal_;
  RealtimeGoalHandlePtr rt_active_goal_local_{nullptr};
  std::atomic<bool> rt_has_pending_goal_{false};
  rclcpp::TimerBase::SharedPtr goal_handle_timer_;
  rclcpp::Duration goal_handle_timer_period_ = rclcpp::Duration(50ms);
 
  // callback for topic interface
  void topic_callback(const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> msg);
 
  // Non-RT hook run on every incoming trajectory before validation.
  void preprocess_incoming_trajectory(trajectory_msgs::msg::JointTrajectory & msg) const;
  // true if every point has positions but no velocities or accelerations
  bool is_positions_only(const trajectory_msgs::msg::JointTrajectory & traj) const;
  // fill time_from_start from positions_upsampling.policy_frequency when timing is absent
  void synthesize_timing(trajectory_msgs::msg::JointTrajectory & traj) const;
 
  // callbacks for action_server_
  rclcpp_action::GoalResponse goal_received_callback(
    const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const FollowJTrajAction::Goal> goal);
  rclcpp_action::CancelResponse goal_cancelled_callback(
    const std::shared_ptr<rclcpp_action::ServerGoalHandle<FollowJTrajAction>> goal_handle);
  void goal_accepted_callback(
    std::shared_ptr<rclcpp_action::ServerGoalHandle<FollowJTrajAction>> goal_handle);
 
  using JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint;
 
  void compute_error_for_joint(
    JointTrajectoryPoint & error, const size_t index, const JointTrajectoryPoint & current,
    const JointTrajectoryPoint & desired) const;
  // fill trajectory_msg so it matches joints controlled by this controller
  // positions set to current position, velocities, accelerations and efforts to 0.0
  void fill_partial_goal(
    std::shared_ptr<trajectory_msgs::msg::JointTrajectory> trajectory_msg) const;
  // Fills omitted joints by sampling the active trajectory so they keep their old motion.
  void fill_omitted_joints_from_old(
    const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> & trajectory_msg,
    const rclcpp::Time & new_start);
  // Blends a new trajectory into the active one in place (Merge-at-Arrival: prefix+bridge+suffix).
  // Returns false, leaving the message untouched, if it cannot be blended.
  bool blend_with_active_trajectory(
    const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> & trajectory_msg,
    const rclcpp::Time & time);
  // sorts the joints of the incoming message to our local order
  void sort_to_local_joint_order(
    std::shared_ptr<trajectory_msgs::msg::JointTrajectory> trajectory_msg) const;
  bool validate_trajectory_msg(const trajectory_msgs::msg::JointTrajectory & trajectory) const;
  void add_new_trajectory_msg(
    const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> & traj_msg);
  bool validate_trajectory_point_field(
    size_t joint_names_size, const std::vector<double> & vector_field,
    const std::string & string_for_vector_field, size_t i, bool allow_empty) const;
 
  // the tolerances from the node parameter
  SegmentTolerances default_tolerances_;
  // the tolerances used for the current goal
  realtime_tools::RealtimeThreadSafeBox<SegmentTolerances> rt_goal_tolerances_;
  // preallocated memory for tolerances used in RT loop
  SegmentTolerances active_tol_;
 
  void preempt_active_goal();
 
  std::shared_ptr<trajectory_msgs::msg::JointTrajectory> set_hold_position();
 
  std::shared_ptr<trajectory_msgs::msg::JointTrajectory> decelerate_to_hold_position();
 
  std::shared_ptr<trajectory_msgs::msg::JointTrajectory> set_success_trajectory_point();
 
  bool reset();
 
  bool has_active_trajectory() const;
 
  void publish_state(
    const rclcpp::Time & time, const JointTrajectoryPoint & desired_state,
    const JointTrajectoryPoint & current_state, const JointTrajectoryPoint & state_error);
 
  void read_state_from_state_interfaces(JointTrajectoryPoint & state);
 
  void update_state_from_command_interfaces(JointTrajectoryPoint & state);
  bool read_commands_from_command_interfaces(JointTrajectoryPoint & commands);
 
  void query_state_service(
    const std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Request> request,
    std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Response> response);
 
private:
  void update_pids();
 
  bool contains_interface_type(
    const std::vector<std::string> & interface_type_list, const std::string & interface_type);
 
  void init_hold_position_msg();
  void resize_joint_trajectory_point(
    trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size, double value = 0.0);
  void resize_joint_trajectory_point_command(
    trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size, double value = 0.0);
  void assign_point_from_command_interface(
    std::vector<double> & trajectory_point_interface,
    const std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> &
      joint_interface);
 
  bool set_scaling_factor(double scaling_factor);
 
  using SpeedScalingMsg = control_msgs::msg::SpeedScalingFactor;
  rclcpp::Subscription<SpeedScalingMsg>::SharedPtr scaling_factor_sub_;
 
  template <typename T>
  void assign_interface_from_point(
    const T & joint_interface, const std::vector<double> & trajectory_point_interface)
  {
    for (size_t index = 0; index < num_cmd_joints_; ++index)
    {
      if (!joint_interface[index].get().set_value(
            trajectory_point_interface[map_cmd_to_joints_[index]]))
      {
        RCLCPP_ERROR(
          get_node()->get_logger(),
          "Failed to set value for joint '%s' in command interface '%s'. ",
          command_joint_names_[index].c_str(), joint_interface[index].get().get_name().c_str());
        return;
      }
    }
  }
};
 
}  // namespace joint_trajectory_controller
 
#endif  // JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_