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Add fake profile velocity #230

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merged 4 commits into from
Nov 22, 2023
Merged

Add fake profile velocity #230

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0fa88cf
Add simple sequence homing emulation
Nov 22, 2023
b196123
Add fake velocity mode
Nov 22, 2023
5567517
Merge branch 'master' into add-fake-profile-velocity
hellantos Nov 22, 2023
0aaca9a
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Nov 22, 2023
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49 changes: 49 additions & 0 deletions canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,11 @@ class CIA402MockSlave : public canopen::BasicSlave
RCLCPP_INFO(rclcpp::get_logger("cia402_slave"), "Joined interpolated_position_mode thread.");
homing_mode.join();
}
if (profiled_velocity_mode.joinable())
{
RCLCPP_INFO(rclcpp::get_logger("cia402_slave"), "Joined interpolated_position_mode thread.");
profiled_velocity_mode.join();
}
}

protected:
Expand Down Expand Up @@ -334,6 +339,32 @@ class CIA402MockSlave : public canopen::BasicSlave
}
}

void run_profile_velocity_mode()
{
RCLCPP_INFO(rclcpp::get_logger("cia402_slave"), "run_profile_velocity_mode");
double actual_position = static_cast<double>(((int32_t)(*this)[0x6064][0])) / 1000.0;
double target_velocity = static_cast<double>(((int32_t)(*this)[0x60FF][0])) / 1000.0;
double old_target = target_velocity;
double control_cycle_period_d = 0.01;
while ((state.load() == InternalState::Operation_Enable) &&
(operation_mode.load() == Profiled_Velocity) && (rclcpp::ok()))
{
actual_position = static_cast<double>(((int32_t)(*this)[0x6064][0])) / 1000.0;
target_velocity = static_cast<double>(((int32_t)(*this)[0x60FF][0])) / 1000.0;
if (old_target != target_velocity)
{
old_target = target_velocity;
RCLCPP_INFO(rclcpp::get_logger("cia402_slave"), "New target velocity: %f", target_velocity);
}
(*this)[0x606C][0] = (int32_t)(target_velocity * 1000);
(*this)[0x6064][0] =
(int32_t)((actual_position + target_velocity * control_cycle_period_d) * 1000.0);
std::this_thread::sleep_for(
std::chrono::milliseconds(((int32_t)control_cycle_period_d * 1000)));
}
RCLCPP_INFO(rclcpp::get_logger("cia402_slave"), "Leaving run_profile_velocity_mode");
}

void run_homing_mode()
{
bool homed = false;
Expand Down Expand Up @@ -565,6 +596,12 @@ class CIA402MockSlave : public canopen::BasicSlave
rclcpp::get_logger("cia402_slave"), "Joined interpolated_position_mode thread.");
homing_mode.join();
}
if (profiled_velocity_mode.joinable())
{
RCLCPP_INFO(
rclcpp::get_logger("cia402_slave"), "Joined interpolated_position_mode thread.");
profiled_velocity_mode.join();
}
old_operation_mode.store(operation_mode.load());
switch (operation_mode.load())
{
Expand All @@ -577,6 +614,12 @@ class CIA402MockSlave : public canopen::BasicSlave
case Interpolated_Position:
start_interpolated_pos_mode();
break;
case Homing:
start_homing_mode();
break;
case Profiled_Velocity:
start_profile_velocity_mode();
break;
default:
break;
}
Expand Down Expand Up @@ -605,6 +648,12 @@ class CIA402MockSlave : public canopen::BasicSlave
homing_mode = std::thread(std::bind(&CIA402MockSlave::run_homing_mode, this));
}

void start_profile_velocity_mode()
{
profiled_velocity_mode =
std::thread(std::bind(&CIA402MockSlave::run_profile_velocity_mode, this));
}

void on_quickstop_active()
{
if (is_enable_operation())
Expand Down
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