ZeroTorqueOrVelocityController.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       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/util/CPPUtility/TripleBuffer.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
 
#include <armarx/control/common/control_law/ZeroTorqueOrVelocityController.h>
#include <armarx/control/common/control_law/aron/ZeroTorqueOrVelocityControllerConfig.aron.generated.h>
#include <armarx/control/common/device.h>
#include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
namespace armarx
{
    class ControlTarget1DoFActuatorZeroTorque;
    class ControlTarget1DoFActuatorZeroVelocity;
} // namespace armarx
 
namespace armarx::control::njoint_controller::task_space
{
    namespace law = armarx::control::common::control_law;
 
    /**
    * @defgroup Library-NJointTaskspaceZeroTorqueOrVelocityController NJointTaskspaceZeroTorqueOrVelocityController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointTaskspaceZeroTorqueOrVelocityController.
    *
    * @class NJointTaskspaceZeroTorqueOrVelocityController
    * @ingroup Library-NJointTaskspaceZeroTorqueOrVelocityController
    * @brief Brief description of class NJointTaskspaceZeroTorqueOrVelocityController.
    *
    * Detailed description of class NJointTaskspaceZeroTorqueOrVelocityController.
    */
    class NJointTaskspaceZeroTorqueOrVelocityController :
        virtual public NJointController,
        virtual public NJointTaskspaceZeroTorqueOrVelocityControllerInterface
    {
    public:
        using ConfigPtrT = ConfigurableNJointControllerConfigPtr;
        //        using AronDTO = law::arondto::ZeroTorqueOrVelocityControllerConfigDict;
        //        using BO = law::ZeroTorqueOrVelocityController::ConfigDict;
 
        using Config = common::control_law::arondto::ZeroTorqueOrVelocityControllerConfig;
        using ConfigDict = common::control_law::arondto::ZeroTorqueOrVelocityControllerConfigDict;
 
        struct ArmData
        {
            common::SensorDevicesForNJointTorqueController sensorDevices;
            std::vector<ControlTarget1DoFActuatorZeroTorque*> targetsTorque;
            std::vector<ControlTarget1DoFActuatorZeroVelocity*> targetsVel;
 
            std::vector<size_t> torqueControlledIndex;
            std::vector<size_t> velocityControlledIndex;
 
            std::string kinematicChainName;
            std::vector<std::string> jointNames;
            law::ZeroTorqueOrVelocityController controller;
 
            /// set buffers
            TripleBuffer<Config> bufferUserToNonRt;
 
            Config nonRtConfig;
            law::ZeroTorqueOrVelocityController::RtStatus rtStatusInNonRT;
            Config rtConfig;
            TripleBuffer<Config> bufferNonRtToRt;
            TripleBuffer<Config> bufferRtConfigToOnPublish;
            TripleBuffer<Config> bufferRtConfigToUser;
 
            law::ZeroTorqueOrVelocityController::RtStatus rtStatus;
            TripleBuffer<law::ZeroTorqueOrVelocityController::RtStatus> bufferRtStatusToOnPublish;
            TripleBuffer<law::ZeroTorqueOrVelocityController::RtStatus> bufferRtStatusToUser;
            TripleBuffer<law::ZeroTorqueOrVelocityController::RtStatus> bufferRtToNonRt;
 
            std::atomic_bool rtFirstRun{true};
            std::atomic_bool rtReady{false};
            //            std::atomic_bool reInitPreActivate{false};
 
            VirtualRobot::RobotPtr nonRtRobot;
        };
 
        using ArmPtr = std::unique_ptr<ArmData>;
 
        NJointTaskspaceZeroTorqueOrVelocityController(const RobotUnitPtr& robotUnit,
                                                      const NJointControllerConfigPtr& config,
                                                      const VirtualRobot::RobotPtr&);
 
        std::string getClassName(const Ice::Current&) const override;
 
        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;
 
        ::armarx::aron::data::dto::DictPtr
        getConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        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);
 
 
        /// ft sensor
        void calibrateFTSensor(const Ice::Current&) override;
 
    protected:
        void validateConfigData(Config& config, ArmPtr& arm);
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx&) override;
 
        void limbInit(const std::string nodeSetName,
                      ArmPtr& arm,
                      Config cfg,
                      VirtualRobot::RobotPtr& nonRtRobotPtr);
        void limbRT(ArmPtr& arm, const double deltaT);
        void limbPublish(ArmPtr& arm, const DebugObserverInterfacePrx& debugObs);
        void limbReInit(ArmPtr& arm);
 
    protected:
        std::map<std::string, ArmPtr> limb;
        VirtualRobot::RobotPtr nonRtRobot;
        RobotUnitPtr robotUnit;
        ConfigDict userConfig;
 
    protected:
        /// NJointControllerBase interface
        void onInitNJointController() override;
        void rtPreActivateController() override;
        void rtPostDeactivateController() override;
    };
} // namespace armarx::control::njoint_controller::task_space