motion_primitives_base_controller.hpp

// Copyright (c) 2025, b»robotized
//
// 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.
//
// Authors: Mathias Fuhrer
 
#ifndef MOTION_PRIMITIVES_CONTROLLERS__MOTION_PRIMITIVES_BASE_CONTROLLER_HPP_
#define MOTION_PRIMITIVES_CONTROLLERS__MOTION_PRIMITIVES_BASE_CONTROLLER_HPP_
 
#include <chrono>
#include <memory>
#include <string>
#include <vector>
 
#include <realtime_tools/lock_free_queue.hpp>
#include <realtime_tools/realtime_server_goal_handle.hpp>
#include "controller_interface/controller_interface.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/realtime_buffer.hpp"
#include "realtime_tools/realtime_publisher.hpp"
#include "realtime_tools/realtime_thread_safe_box.hpp"
 
#include "control_msgs/msg/motion_primitive.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
 
namespace motion_primitives_controllers
{
enum class ExecutionState : uint8_t
{
  IDLE = 0,
  EXECUTING = 1,
  SUCCESS = 2,
  ERROR = 3,
  STOPPING = 4,
  STOPPED = 5
};
 
using MotionType = control_msgs::msg::MotionPrimitive;
enum class MotionHelperType : uint8_t
{
  STOP_MOTION = 66,
  RESET_STOP = 67,
 
  MOTION_SEQUENCE_START = 100,
  MOTION_SEQUENCE_END = 101
};
 
enum class ReadyForNewPrimitive : uint8_t
{
  NOT_READY = 0,
  READY = 1
};
 
class MotionPrimitivesBaseController : public controller_interface::ControllerInterface
{
public:
  MotionPrimitivesBaseController();
 
  controller_interface::CallbackReturn on_init() override;
 
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
  controller_interface::InterfaceConfiguration state_interface_configuration() const 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::return_type update(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
protected:
  std::string tf_prefix_;
 
  using MotionPrimitive = control_msgs::msg::MotionPrimitive;
  realtime_tools::LockFreeSPSCQueue<MotionPrimitive, 1024> moprim_queue_;
 
  std::atomic<bool> has_active_goal_ = false;
  rclcpp::TimerBase::SharedPtr goal_handle_timer_;
  rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20));
 
  void reset_command_interfaces();
  bool set_command_interfaces();
 
  bool print_error_once_ = true;
  // cancel requested by the action server
  std::atomic<bool> cancel_requested_ = false;
  // robot stop command sent to the hardware interface
  std::atomic<bool> robot_stop_requested_ = false;
  bool was_executing_ = false;
  ExecutionState execution_status_;
  ReadyForNewPrimitive ready_for_new_primitive_;
  MotionPrimitive current_moprim_;
};
 
}  // namespace motion_primitives_controllers
 
#endif  // MOTION_PRIMITIVES_CONTROLLERS__MOTION_PRIMITIVES_BASE_CONTROLLER_HPP_