FTSensorTrigger.cpp

Go to the documentation of this file.

/**
 * 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "FTSensorTrigger.h"
 
#include "ArmarXCore/core/logging/Logging.h"
#include "ArmarXCore/core/time/Clock.h"
#include <ArmarXCore/observers/Observer.h>
#include <ArmarXCore/observers/variant/DatafieldRef.h>
 
#include <RobotAPI/libraries/core/FramedPose.h>
 
namespace armarx::control::common::ft
{
 
    FTSensorTrigger::FTSensorTrigger(armarx::armem::robot_state::RobotReader& robotReader,
                                     const std::string& robotName,
                                     const armem::robot_state::RobotReader::Hand& hand,
                                     const Params& params) :
        robotReader(robotReader), robotName(robotName), hand(hand), params(params)
    {
        ARMARX_INFO << "creating FTSensorTrigger";
    }
 
    void
    FTSensorTrigger::waitForForceSpike(const Edge edge) const
    {
        ARMARX_VERBOSE << "Waiting for force spike";
 
        const auto getForce = [&]()
        {
            const auto timestamp = Clock::Now();
 
            const std::optional<std::map<armem::robot_state::RobotReader::Hand,
                                         armem::robot_state::proprioception::ForceTorque>>
                ft = robotReader.queryForceTorque(robotName, timestamp);
 
 
            if (not ft.has_value())
            {
                ARMARX_ERROR << "No FT data available!";
            }
 
            armem::robot_state::proprioception::ForceTorque ftVal;
            std::string frame;
            ARMARX_TRACE;
 
            using Hand = armem::robot_state::RobotReader::Hand;
 
            switch (hand)
            {
                case Hand::Left:
                    ftVal = ft->at(armem::robot_state::RobotReader::Hand::Left);
                    // frame = leftArmHelper.getForceTorqueSensorFrame();
                    break;
                case Hand::Right:
                    ftVal = ft->at(armem::robot_state::RobotReader::Hand::Right);
                    // frame = rightArmHelper.getForceTorqueSensorFrame();
                    break;
                default:
                    break;
            }
            ARMARX_TRACE;
 
            const armarx::FramedDirection force(ftVal.force, frame, robotName);
 
            const float directionalForce =
                force.toEigen().cwiseProduct(params.forceDetectionMask).norm();
 
            return directionalForce;
        };
 
        ARMARX_INFO << "waiting for force spike";
        std::deque<float> spikes(params.windowSizeMs / params.cycleTimeMs, getForce());
        ARMARX_INFO << "size of spikes " << spikes.size();
 
        while (true) // stop run function if returning true
        {
            const float force = getForce();
            ARMARX_INFO << VAROUT(force);
 
            spikes.push_back(force);
            spikes.pop_front();
 
            float refValue = spikes.at(0);
            bool low = true;
            bool risingEdgeDetected = false;
            bool fallingEdgeDetected = false;
 
            bool f2rDetected = false;
            bool r2fDetected = false;
            ARMARX_TRACE;
            for (const float spike : spikes)
            {
                if (low)
                {
                    if (spike < refValue)
                    {
                        refValue = spike;
                    }
                    else if (spike > refValue + params.forceThreshold)
                    {
                        low = false;
                        risingEdgeDetected = true;
                        f2rDetected |= fallingEdgeDetected;
                    }
                }
 
                if (!low)
                {
                    if (spike > refValue)
                    {
                        refValue = spike;
                    }
                    else if (spike < refValue - params.forceThreshold)
                    {
                        low = true;
                        fallingEdgeDetected = true;
                        r2fDetected |= risingEdgeDetected;
                    }
                }
            }
            ARMARX_TRACE;
 
            if (f2rDetected)
            {
                ARMARX_INFO << "Rising edge detected";
            }
 
            if (r2fDetected)
            {
                ARMARX_INFO << "Falling edge detected";
            }
 
            switch (edge)
            {
                case Edge::RISING:
                {
                    if (f2rDetected)
                    {
                        return;
                    }
                    break;
                }
                case Edge::FALLING:
                {
                    if (r2fDetected)
                    {
                        return;
                    }
                    break;
                }
                default:
                    break;
            }
 
 
            std::this_thread::sleep_for(std::chrono::milliseconds{params.cycleTimeMs});
        }
    }
 
    void
    FTSensorTrigger::waitForForceThreshold(float threshold) const
    {
        ARMARX_VERBOSE << "Waiting for force spike";
 
        const auto getForce = [&]()
        {
            const auto timestamp = Clock::Now();
 
            const std::optional<std::map<armem::robot_state::RobotReader::Hand,
                                         armem::robot_state::proprioception::ForceTorque>>
                ft = robotReader.queryForceTorque(robotName, timestamp);
 
 
            if (not ft.has_value())
            {
                ARMARX_ERROR << "No FT data available!";
            }
 
            armem::robot_state::proprioception::ForceTorque ftVal;
            std::string frame;
            ARMARX_TRACE;
 
            using Hand = armem::robot_state::RobotReader::Hand;
 
            switch (hand)
            {
                case Hand::Left:
                    ftVal = ft->at(armem::robot_state::RobotReader::Hand::Left);
                    // frame = leftArmHelper.getForceTorqueSensorFrame();
                    break;
                case Hand::Right:
                    ftVal = ft->at(armem::robot_state::RobotReader::Hand::Right);
                    // frame = rightArmHelper.getForceTorqueSensorFrame();
                    break;
                default:
                    break;
            }
            ARMARX_TRACE;
 
            const armarx::FramedDirection force(ftVal.force, frame, robotName);
 
            return force.toEigen();
        };
        Eigen::Vector3f force_init = getForce();
        ARMARX_INFO << "--- " << VAROUT(force_init);
 
        while (true) // stop run function if returning true
        {
            const float force_delta = (getForce() - force_init).norm();
 
            ARMARX_INFO << "--- " << VAROUT(force_delta);
            if (force_delta > threshold)
            {
                ARMARX_INFO << VAROUT(force_init);
                ARMARX_INFO << "----- force torque is triggered at value " << force_delta;
                break;
            }
            std::this_thread::sleep_for(std::chrono::milliseconds{params.cycleTimeMs});
        }
    }
} // namespace armarx::control::common::ft