X-lanni
349 lines
10 KiB
C++
349 lines
10 KiB
C++
#include "agv_pro_base/agv_pro_driver.h"
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std::array<double, 36> odom_pose_covariance = {
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{1e-9, 0, 0, 0, 0, 0,
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0, 1e-3, 1e-9, 0, 0, 0,
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0, 0, 1e6, 0, 0, 0,
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0, 0, 0, 1e6, 0, 0,
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0, 0, 0, 0, 1e6, 0,
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0, 0, 0, 0, 0, 1e-9} };
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std::array<double, 36> odom_twist_covariance = {
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{1e-9, 0, 0, 0, 0, 0,
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0, 1e-3, 1e-9, 0, 0, 0,
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0, 0, 1e6, 0, 0, 0,
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0, 0, 0, 1e6, 0, 0,
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0, 0, 0, 0, 1e6, 0,
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0, 0, 0, 0, 0, 1e-9} };
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uint16_t crc16_ibm(const uint8_t* data, size_t length) {
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uint16_t crc = 0xFFFF;
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for (size_t i = 0; i < length; ++i) {
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crc ^= static_cast<uint16_t>(data[i]);
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for (int j = 0; j < 8; ++j) {
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if (crc & 0x0001)
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crc = (crc >> 1) ^ 0xA001;
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else
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crc = crc >> 1;
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}
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}
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return crc;
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}
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void AGV_PRO::set_auto_report(){
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std::array<uint8_t, 14> buf = {
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0xFE, 0xFE, 0x0b, 0x23,
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0x01, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00
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};
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uint16_t crc = crc16_ibm(buf.data(), 12);
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buf[12] = (crc >> 8) & 0xff;
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buf[13] = crc & 0xff;
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std::vector<uint8_t> data_vec(buf.begin(), buf.end());
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auto port = serial_driver_->port();
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try
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{
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size_t bytes_transmit_size = port->send(data_vec);
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std::stringstream ss;
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for (auto b : data_vec) {
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ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)
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<< static_cast<int>(b) << " ";
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}
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RCLCPP_INFO(this->get_logger(), "Sent %ld bytes: [%s]", bytes_transmit_size, ss.str().c_str());
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}
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catch(const std::exception &ex)
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{
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RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port:%s",ex.what());
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}
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}
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void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
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{
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linearX = std::clamp(msg->linear.x, -1.5, 1.5);
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linearY = std::clamp(msg->linear.y, -1.0, 1.0);
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angularZ = std::clamp(msg->angular.z, -1.0, 1.0);
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int16_t x_send = static_cast<int16_t>(linearX * 100);
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int16_t y_send = static_cast<int16_t>(linearY * 100);
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int16_t rot_send = static_cast<int16_t>(angularZ * 100);
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uint8_t buf[14] = { 0xfe,0xfe,0x0b,0x21 };
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buf[4] = (x_send >> 8) & 0xff;
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buf[5] = x_send & 0xff;
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buf[6] = (y_send >> 8) & 0xff;
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buf[7] = y_send & 0xff;
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buf[8] = (rot_send >> 8) & 0xff;
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buf[9] = rot_send & 0xff;
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buf[10] = 0x00;
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buf[11] = 0x00;
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uint16_t crc = crc16_ibm(buf, 12);
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buf[12] = (crc >> 8) & 0xff;
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buf[13] = crc & 0xff;
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std::vector<uint8_t> data_vec(buf, buf + sizeof(buf));
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auto port = serial_driver_->port();
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try
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{
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port->send(data_vec);
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//debug************************************
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// size_t bytes_transmit_size = port->send(data_vec);
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// std::stringstream ss;
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// for (auto b : data_vec) {
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// ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)
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// << static_cast<int>(b) << " ";
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// }
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// RCLCPP_INFO(this->get_logger(), "Sent %ld bytes: [%s]", bytes_transmit_size, ss.str().c_str());
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//debug************************************
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}
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catch(const std::exception &ex)
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{
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RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port:%s",ex.what());
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}
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}
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bool AGV_PRO::readData()
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{
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std::vector<uint8_t> buf_header(1);
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std::vector<uint8_t> buf_length(1);
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std::vector<uint8_t> data_buf(RECEIVE_DATA_SIZE-3);
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auto port = serial_driver_->port();
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while (true)
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{
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size_t ret = port->receive(buf_header);
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if (ret != 1 || buf_header[0] != 0xfe) {
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continue;
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}
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ret = port->receive(buf_header);
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if (ret == 1 && buf_header[0] == 0xfe) {
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break;
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}
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}
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size_t ret = port->receive(buf_length);
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if (buf_length[0] != 0x0b) {
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RCLCPP_ERROR(this->get_logger(), "The received length is incorrect:%u", buf_length[0]);
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return false;
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}
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ret = port->receive(data_buf);
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if (ret != data_buf.size())
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{
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RCLCPP_ERROR(this->get_logger(), "Failed to receive full payload");
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return false;
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}
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std::vector<uint8_t> recv_buf;
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recv_buf.push_back(0xFE);
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recv_buf.push_back(0xFE);
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recv_buf.push_back(0x0B);
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recv_buf.insert(recv_buf.end(), data_buf.begin(), data_buf.end());
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//debug************************************
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// std::stringstream ss;
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// for (const auto& byte : recv_buf) {
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// ss << std::hex << std::uppercase << std::setw(2) << std::setfill('0')
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// << static_cast<int>(byte) << " ";
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// }
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// RCLCPP_INFO(this->get_logger(), "recv_buf: [%s]", ss.str().c_str());
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//debug************************************
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if (recv_buf[3] != 0x25) {
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// RCLCPP_WARN(this->get_logger(), "Command error:0x%02X", recv_buf[2]);
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return false;
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}
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uint16_t received_crc = recv_buf[13] | (recv_buf[12] << 8);
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uint16_t computed_crc = crc16_ibm(recv_buf.data(), 12);
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if (received_crc != computed_crc) {
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RCLCPP_WARN(this->get_logger(), "CRC error: received 0x%04X, calculated 0x%04X", received_crc, computed_crc);
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return false;
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}
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vx = static_cast<double>(static_cast<int8_t>(recv_buf[4])) * 0.01;
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vy = static_cast<double>(static_cast<int8_t>(recv_buf[5])) * 0.01;
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vtheta = static_cast<double>(static_cast<int8_t>(recv_buf[6])) * 0.01;
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motor_status = recv_buf[7];
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motor_error = recv_buf[8];
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battery_voltage = static_cast<float>(recv_buf[9]) / 10.0f;
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enable_status = recv_buf[10];
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return true;
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}
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void AGV_PRO::publisherVoltage()
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{
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std_msgs::msg::Float32 voltage_msg,voltage_backup_msg;
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voltage_msg.data = battery_voltage;
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pub_voltage->publish(voltage_msg);
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}
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void AGV_PRO::publisherOdom(double dt)
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{
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currentTime = this->get_clock()->now();
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double delta_x = (vx * cos(theta) - vy * sin(theta)) * dt;
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double delta_y = (vx * sin(theta) + vy * cos(theta)) * dt;
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double delta_th = vtheta * dt;
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x += delta_x;
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y += delta_y;
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theta += delta_th;
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geometry_msgs::msg::TransformStamped odom_trans;
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odom_trans.header.stamp = currentTime;
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odom_trans.header.frame_id = frame_id_of_odometry_;
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odom_trans.child_frame_id = child_frame_id_of_odometry_;
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tf2::Quaternion quat;
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quat.setRPY(0.0, 0.0, theta);
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geometry_msgs::msg::Quaternion odom_quat = tf2::toMsg(quat);
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odom_trans.transform.translation.x = x;
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odom_trans.transform.translation.y = y;
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odom_trans.transform.translation.z = 0.0;
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odom_trans.transform.rotation = odom_quat;
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odomBroadcaster->sendTransform(odom_trans);
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nav_msgs::msg::Odometry odom;
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odom.header.stamp = currentTime;
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odom.header.frame_id = frame_id_of_odometry_;
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odom.child_frame_id = child_frame_id_of_odometry_;
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odom.pose.pose.position.x = x;
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odom.pose.pose.position.y = y;
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odom.pose.pose.position.z = 0.0;
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odom.pose.pose.orientation = odom_quat;
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odom.pose.covariance = odom_pose_covariance;
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odom.twist.twist.linear.x = vx;
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odom.twist.twist.linear.y = vy;
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odom.twist.twist.angular.z = vtheta;
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odom.twist.covariance = odom_twist_covariance;
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pub_odom->publish(odom);
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}
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void AGV_PRO::Control()
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{
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if (true == readData())
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{
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currentTime = this->get_clock()->now();
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double dt = 0.0;
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if (lastTime.nanoseconds() != 0) {
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dt = (currentTime - lastTime).seconds();
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}
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lastTime = currentTime;
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publisherOdom(dt);
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// RCLCPP_INFO(this->get_logger(), "dt:%f", dt);
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publisherVoltage();
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}
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}
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AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
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{
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this->declare_parameter<std::string>("port_name","/dev/agvpro_controller");
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this->declare_parameter<std::string>("odometry.frame_id", "odom");
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this->declare_parameter<std::string>("odometry.child_frame_id", "base_footprint");
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this->declare_parameter<std::string>("imu.frame_id", "imu_link");
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this->declare_parameter<std::string>("namespace", "");
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this->get_parameter_or<std::string>("port_name",device_name_,std::string("/dev/agvpro_controller"));
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this->get_parameter_or<std::string>("odometry.frame_id",frame_id_of_odometry_,std::string("odom"));
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this->get_parameter_or<std::string>("odometry.child_frame_id",child_frame_id_of_odometry_,std::string("base_footprint"));
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this->get_parameter_or<std::string>("imu.frame_id",frame_id_of_imu_,std::string("imu_link"));
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this->get_parameter_or<std::string>("namespace",name_space_,std::string(""));
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if (name_space_ != "") {
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frame_id_of_odometry_ = name_space_ + "/" + frame_id_of_odometry_;
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child_frame_id_of_odometry_ = name_space_ + "/" + child_frame_id_of_odometry_;
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frame_id_of_imu_ = name_space_ + "/" + frame_id_of_imu_;
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}
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odomBroadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(this);
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pub_imu = this->create_publisher<sensor_msgs::msg::Imu>("imu", 20);
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pub_odom = this->create_publisher<nav_msgs::msg::Odometry>("odom", 50);
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pub_voltage = create_publisher<std_msgs::msg::Float32>("voltage", 10);
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cmd_sub = this->create_subscription<geometry_msgs::msg::Twist>(
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"/cmd_vel", 10, std::bind(&AGV_PRO::cmdCallback, this, std::placeholders::_1));
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lastTime = this->get_clock()->now();
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drivers::serial_driver::SerialPortConfig config(
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1000000,
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drivers::serial_driver::FlowControl::NONE,
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drivers::serial_driver::Parity::NONE,
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drivers::serial_driver::StopBits::ONE
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);
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try{
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io_context_ = std::make_shared<drivers::common::IoContext>(1);
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serial_driver_ = std::make_shared<drivers::serial_driver::SerialDriver>(*io_context_);
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serial_driver_->init_port(device_name_, config);
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serial_driver_->port()->open();
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RCLCPP_INFO(this->get_logger(), "Serial port initialized successfully");
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RCLCPP_INFO(this->get_logger(), "Using device: %s", serial_driver_->port().get()->device_name().c_str());
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RCLCPP_INFO(this->get_logger(), "Baud_rate: %d", config.get_baud_rate());
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AGV_PRO::set_auto_report();
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}
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catch (const std::exception &ex){
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RCLCPP_ERROR(this->get_logger(), "Failed to initialize serial port: %s", ex.what());
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return;
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}
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control_timer_ = this->create_wall_timer(
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std::chrono::milliseconds(20),
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std::bind(&AGV_PRO::Control, this)
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);
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}
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AGV_PRO::~AGV_PRO()
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{
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std::array<uint8_t, 14> buf = {
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0xFE, 0xFE, 0x0b, 0x22,
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0x01, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00
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};
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uint16_t crc = crc16_ibm(buf.data(), 12);
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buf[12] = (crc >> 8) & 0xff;
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buf[13] = crc & 0xff;
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std::vector<uint8_t> data_vec(buf.begin(), buf.end());
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auto port = serial_driver_->port();
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try
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{
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port->send(data_vec);
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}
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catch(const std::exception &ex)
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{
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RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port:%s",ex.what());
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}
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serial_driver_->port()->close();
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RCLCPP_INFO(this->get_logger(),"Shutting down");
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} |