Base.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ...
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
#include <armarx/control/common/common.aron.generated.h>
#include <armarx/control/common/control_law/TaskspaceController.h>
#include <armarx/control/common/coordination/SyncCoordination.h>
#include <armarx/control/common/device.h>
#include <armarx/control/njoint_controller/core/HandControlBase.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::njoint_controller::task_space
{
    namespace law = armarx::control::common::control_law;
 
    /**
    * @defgroup Library-NJointTaskspaceController NJointTaskspaceController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointTaskspaceController.
    *
    * @class NJointTaskspaceController
    * @ingroup Library-NJointTaskspaceController
    * @brief Brief description of class NJointTaskspaceController.
    *
    * Detailed description of class NJointTaskspaceController.
    */
    template <typename NJointTaskspaceControllerType>
    class NJointTaskspaceController :
        virtual public NJointController,
        virtual public TSCtrlInterface,
        virtual public armarx::ArVizComponentPluginUser
    {
    public:
        using ControlType = NJointTaskspaceControllerType;
        using ConfigPtrT = ConfigurableNJointControllerConfigPtr;
        using Config = typename NJointTaskspaceControllerType::Config;
        using ConfigDict = typename NJointTaskspaceControllerType::ConfigDict;
 
        using RtStatus = armarx::control::common::control_law::TSCtrlRtStatus;
        using PoseFrameMode = armarx::control::common::arondto::PoseFrameMode;
 
        struct ArmData
        {
            /// devices
            common::SensorDevicesForNJointTorqueController sensorDevices;
            std::vector<ControlTarget1DoFActuatorTorque*> targetsTorque;
            std::vector<ControlTarget1DoFActuatorVelocity*> targetsVel;
 
            /// names
            std::string kinematicChainName;
            std::vector<std::string> jointNames;
 
            /// controller (maths)
            NJointTaskspaceControllerType controller;
 
            /// set data containers and buffers
            double nonRTAccumulateTime = 0.0;
            double nonRTDeltaT = 0.0;
 
            Config nonRtConfig;
            Config rtConfig;
            TripleBuffer<Config> bufferConfigUserToNonRt;
            TripleBuffer<Config> bufferConfigNonRtToRt;
            TripleBuffer<Config> bufferConfigNonRtToPublish;
            TripleBuffer<Config> bufferConfigRtToOnPublish;
            TripleBuffer<Config> bufferConfigRtToUser;
 
            RtStatus rtStatusInNonRT;
            RtStatus rtStatus;
            TripleBuffer<RtStatus> bufferRtStatusToOnPublish;
            TripleBuffer<RtStatus> bufferRtStatusToUser;
            TripleBuffer<RtStatus> bufferRtStatusToNonRt;
 
            /// flags
            std::atomic_bool rtFirstRun{true};
            std::atomic_bool rtReady{false};
            std::atomic_bool reInitPreActivate{false};
 
            std::atomic_bool desiredPoseSafeOnActivation{false};
 
            /// robot
            VirtualRobot::RobotPtr nonRtRobot;
 
            void rtPostDeactivate();
        };
 
        using ArmPtr = std::unique_ptr<ArmData>;
 
        NJointTaskspaceController(const RobotUnitPtr& robotUnit,
                                  const NJointControllerConfigPtr& config,
                                  const VirtualRobot::RobotPtr&);
 
        void createLimbs();
 
        // virtual std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override = 0;
        // std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override = 0;
 
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;
 
        /// NJointController interface
        void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                          const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool updateTargetPose(const TargetPoseMap& targetPoseMap,
                              const TargetNullspaceMap& targetNullspaceMap,
                              const Ice::Current& = Ice::emptyCurrent) override;
        ::armarx::aron::data::dto::DictPtr
        getConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        ::armarx::aron::data::dto::DictPtr
        getRTStatus(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        Ice::FloatSeq getTCPVel(const std::string& rns,
                                const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        Ice::DoubleSeq
        getCurrentTCPPose(const std::string& nodeSetName,
                          const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        /// ft sensor
        void calibrateFTSensor(const Ice::Current&) override;
        void
        enableSafeGuardForceTorque(const std::string& nodeSetName,
                                   const bool forceGuard,
                                   const bool torqueGuard,
                                   const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool isSafeForceTorque(const std::string& nodeSetName,
                               const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool wasNotSafeForceTorque(const std::string& nodeSetName,
                                   const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        void useCoordinator(const std::string& type,
                            const ::armarx::aron::data::dto::DictPtr& dto,
                            const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void disableCoordinator(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
    public:
        static WidgetDescription::WidgetPtr
        GenerateConfigDescription(const VirtualRobot::RobotPtr&,
                                  const std::map<std::string, ConstControlDevicePtr>&,
                                  const std::map<std::string, ConstSensorDevicePtr>&);
 
        static ConfigPtrT GenerateConfigFromVariants(const StringVariantBaseMap& values);
 
    protected:
        virtual void additionalTask();
        std::tuple<bool, bool> additionalTaskUpdateStatus();
        bool rtGetDesiredPoseSafeStatus();
        bool rtGetDesiredPoseSafeStatusOnActivation();
        void additionalTaskSetTarget();
        void validateConfigData(Config& config, ArmPtr& arm);
        virtual void validateConfigDataCheckSize(Config& configData, ArmPtr& arm) = 0;
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx&) override;
        void onPublishCoordinator(const DebugObserverInterfacePrx& debugObs);
 
        void commitArviz();
        virtual void collectArviz(viz::StagedCommit& stage) const;
 
        void limbInit(const std::string& nodeSetName,
                      ArmPtr& arm,
                      Config& cfg,
                      VirtualRobot::RobotPtr& nonRtRobotPtr);
        void limbNonRT(ArmPtr& arm);
        void limbRT(ArmPtr& arm, const double deltaT);
        void limbRTUpdateStatus(ArmPtr& arm, const double deltaT);
        void limbRTSetTarget(ArmPtr& arm,
                             const size_t nDoFTorque,
                             const size_t nDoFVelocity,
                             const Eigen::VectorXf& targetTorque,
                             const Eigen::VectorXf& targetVelocity);
        void limbPublish(ArmPtr& arm, const DebugObserverInterfacePrx& debugObs);
        virtual void limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm) = 0;
        void limbReInit(ArmPtr& arm);
        void handleRTNotSafeInNonRT();
 
        /// coordinator
        void rtRunCoordinator(double deltaT);
        void updateInputData(const std::string& key,
                             const Eigen::Matrix4f& targetPose,
                             const PoseFrameMode& targetPoseMode,
                             const Eigen::Matrix4f& pose,
                             const Eigen::Vector6f& vel,
                             const Eigen::Vector6f& ft,
                             const Eigen::Vector6f& stiffness);
 
    protected:
        std::map<std::string, ArmPtr> limb;
        VirtualRobot::RobotPtr nonRtRobot;
        RobotUnitPtr robotUnit;
        ConfigDict userConfig;
        core::HandControlPtr hands = nullptr;
        std::map<std::string, VirtualRobot::RobotNodeSetPtr> controllableNodeSets;
 
        /// coordinator
        std::atomic_bool coordinatorEnabled = false;
        std::shared_ptr<common::coordination::SyncCoordination> coordinator = nullptr;
        std::map<std::string, common::coordination::InputData> coordinatorInputData;
 
        std::optional<viz::ScopedClient> scopedArviz = std::nullopt;
 
    protected:
        /// NJointControllerBase interface
        void activateController(const Ice::Current& current = Ice::emptyCurrent) final;
        void deactivateController(const Ice::Current& current = Ice::emptyCurrent) final;
        void onInitNJointController() override;
        void rtPreActivateController() override;
        void rtPostDeactivateController() override;
 
    private:
        void createHands();
 
        unsigned int skipStepCountArviz_ = 0;
        unsigned int skipStepsArviz_ = 10;
        bool resetArviz = false;
        mutable std::unordered_map<std::string, viz::Layer> storedArvizLayers;
    };
 
    class NJointTSMixImpVelController : public NJointTaskspaceController<law::TSMixImpVelController>
    {
    public:
        NJointTSMixImpVelController(const RobotUnitPtr& robotUnit,
                                    const NJointControllerConfigPtr& config,
                                    const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
        void validateConfigDataCheckSize(Config& configData, ArmPtr& arm) override;
        void limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm) override;
    };
 
    class NJointTSImpController : public NJointTaskspaceController<law::TSImpController>
    {
    public:
        NJointTSImpController(const RobotUnitPtr& robotUnit,
                              const NJointControllerConfigPtr& config,
                              const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
        void validateConfigDataCheckSize(Config& configData, ArmPtr& arm) override;
        void limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm) override;
    };
 
    class NJointTSAdmController : public NJointTaskspaceController<law::TSAdmController>
    {
    public:
        NJointTSAdmController(const RobotUnitPtr& robotUnit,
                              const NJointControllerConfigPtr& config,
                              const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
        void validateConfigDataCheckSize(Config& configData, ArmPtr& arm) override;
        void limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm) override;
    };
 
    class NJointTSVelController : public NJointTaskspaceController<law::TSVelController>
    {
    public:
        NJointTSVelController(const RobotUnitPtr& robotUnit,
                              const NJointControllerConfigPtr& config,
                              const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
        void validateConfigDataCheckSize(Config& configData, ArmPtr& arm) override;
        void limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm) override;
    };
 
} // namespace armarx::control::njoint_controller::task_space