pid_ros.hpp

// Copyright (c) 2020, Open Source Robotics Foundation, Inc.
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#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 prefix = std::string(""),
    bool prefix_is_for_params = false
  )
  : 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(),
           prefix, prefix_is_for_params)
  {
  }
 
  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 prefix = std::string(""), bool prefix_is_for_params = false);
 
  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_;
  }
 
protected:
  std::string topic_prefix_;
  std::string param_prefix_;
 
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_;
};
 
}  // namespace control_toolbox
 
#endif  // CONTROL_TOOLBOX__PID_ROS_HPP_