Merge pull request #167 from project-march/develop

Create master branch

Author: Roelemans

.gitignore

@@ -1,2 +1,2 @@
 .idea/*
-cmake-build-debug/**
+*/cmake-build-debug/**

.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    local-name: march
+    uri: https://github.com/project-march/march
+    version: develop

.travis.yml

@@ -0,0 +1,41 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+language: generic # optional, just removes the language badge
+
+services:
+  - docker
+
+notifications:
+  slack:
+    secure: I7/Kqj/ZiaoW9bZzlDFYU2aFv1J3R0z5+6kDf9TI8AHsN9K/GYs05kG8gfpORmaBobF22AwpB/I5o8ga5nJGAP25SgX8bcP3jJaKUyfMxXj3ThkfINTMKeLhZqzh5c3ppBwHy62vdSDry4fyuIhtaWOa+8GqmI3D37/0yzFCPQLLYnSXoF5EKSFkKPytfVdwbOKE/uSgPbAy0xsPUKLEGdIhvFjyDzfj5KIHcYWFu9eus0GpuCJVJE/nGTz7PrQ9Rhuh3eVeJNn5CEXo+0Lgn8lghUY0xRH/0xn+mhjYZnxTNO18YRoiF8lUB+/phQx2E3GiDrtPd7BjtluKGIkgFMZM/dyzHN7lSeCJZ0nDhOuALNwdbhS8Hw18q5a6SanT4Kegno8ebDNwsEyHuiHy6D3XNE2PHIZ5SbSgX9MOaLBtarcHccAR19T+96mWJANS6rIKnhe0zW9+Jxl99mTCgcNjTmcm2YG5Axm8xOBmoK920I4ke1wfb9QLeMIOnQ/JM6DxkMbQGtoN49ztrg4cv+JwUOUnEn/yiLsz+p8EdaFiRLfAbww9VJ+1geDdGifv+TRq72RpTzGnNveNnRRysxBjfei3EwwoZqUFhZyVWQWqHuwSa8xFpxS3FMmDzP16oMAB/TuMV03MBTqNK/JDSMXq54Bs1pmtPJ4kvfGiKKo=
+  email: false
+
+# include the following block if the C/C++ build artifacts should get cached by Travis,
+# CCACHE_DIR needs to get set as well to actually fill the cache
+cache:
+  directories:
+    - $HOME/.ccache
+
+git:
+  quiet: true # optional, silences the cloning of the target repository
+
+# configure the build environment(s)
+# https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst#variables-you-can-configure
+env:
+  global:
+    - ROS_REPO=ros
+    - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci
+    - BUILDER=colcon
+    - CATKIN_LINT=pedantic
+    - UPSTREAM_WORKSPACE='.rosinstall -march/march_gait_scheduler -march/march_gait_selection -march/march_launch -march/march_rqt_launch_menu -march/march_safety -march/march_sound_scheduler -march/march_state_machine'
+    - AFTER_SCRIPT='builder_run_build "$target_ws/install" "$target_ws" --cmake-target-skip-unavailable --cmake-target roslint'
+  matrix:
+    - ROS_DISTRO=kinetic
+    - ROS_DISTRO=melodic
+
+# clone and run industrial_ci
+install:
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
+script:
+  - .industrial_ci/travis.sh

README.md

@@ -1,3 +1,8 @@
-# ethercat-master
-The EtherCAT master of the MARCH IV. This repository uses the SOEM library.
-Currently this repository is empty.
+# Hardware Interface
+The hardware interface of the MARCH exoskeleton. This includes EtherCAT master and uses the SOEM library.
+
+| Branch | Build Status |
+| ------ |:------------:|
+| Master | [![Build Status](https://api.travis-ci.com/project-march/hardware-interface.svg?branch=master)](https://travis-ci.com/project-march/hardware-interface) |
+| Develop | [![Build Status](https://api.travis-ci.com/project-march/hardware-interface.svg?branch=develop)](https://travis-ci.com/project-march/hardware-interface) |
+

codecov.yaml

@@ -0,0 +1,7 @@
+ignore:
+  - "march_hardware/soem/.*"
+  - "march_hardware/test/.*"
+  - "march_hardware_builder/test/.*"
+  - "march_hardware_interface/test/.*"
+  - "march_temperature_sensor_controller/test/.*"
+  

doc.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+packages="march_hardware march_hardware_builder march_hardware_interface march_temperature_sensor_controller"
+
+mkdir -p docs/html
+for package in $packages; do
+    catkin document $package --no-deps
+    mv docs/$package/html docs/html/$package
+done

march_hardware/CMakeLists.txt

@@ -0,0 +1,127 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(march_hardware)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    roslint
+    soem
+)
+
+catkin_package(
+    INCLUDE_DIRS include
+    CATKIN_DEPENDS
+    LIBRARIES ${PROJECT_NAME}
+)
+
+set(ROSLINT_CPP_OPTS "--filter=-build/include,-build/header_guard,-runtime/references" "--linelength=120")
+
+file(GLOB_RECURSE lintfiles
+    "src/*.cpp"
+    "include/*.h"
+)
+
+roslint_cpp(${lintfiles})
+
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${soem_INCLUDE_DIRS}/soem
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+add_library(${PROJECT_NAME}
+    include/${PROJECT_NAME}/ActuationMode.h
+    include/${PROJECT_NAME}/AngleConversions.h
+    include/${PROJECT_NAME}/BootShutdownOffsets.h
+    include/${PROJECT_NAME}/Encoder.h
+    include/${PROJECT_NAME}/EtherCAT/EthercatIO.h
+    include/${PROJECT_NAME}/EtherCAT/EthercatMaster.h
+    include/${PROJECT_NAME}/EtherCAT/EthercatSDO.h
+    include/${PROJECT_NAME}/HighVoltage.h
+    include/${PROJECT_NAME}/IMotionCube.h
+    include/${PROJECT_NAME}/IMotionCubeState.h
+    include/${PROJECT_NAME}/IMotionCubeTargetState.h
+    include/${PROJECT_NAME}/Joint.h
+    include/${PROJECT_NAME}/LowVoltage.h
+    include/${PROJECT_NAME}/MarchRobot.h
+    include/${PROJECT_NAME}/NetDriverOffsets.h
+    include/${PROJECT_NAME}/PDOmap.h
+    include/${PROJECT_NAME}/PowerDistributionBoard.h
+    include/${PROJECT_NAME}/Slave.h
+    include/${PROJECT_NAME}/TemperatureGES.h
+    include/${PROJECT_NAME}/TemperatureSensor.h
+    src/Encoder.cpp
+    src/EtherCAT/EthercatIO.cpp
+    src/EtherCAT/EthercatMaster.cpp
+    src/EtherCAT/EthercatSDO.cpp
+    src/HighVoltage.cpp
+    src/IMotionCube.cpp
+    src/IMotionCubeTargetState.cpp
+    src/Joint.cpp
+    src/LowVoltage.cpp
+    src/MarchRobot.cpp
+    src/PDOmap.cpp
+    src/PowerDistributionBoard.cpp
+    src/TemperatureGES.cpp
+)
+
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+add_executable(slave_count_check check/SlaveCount.cpp)
+target_link_libraries(slave_count_check ${PROJECT_NAME})
+
+install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(TARGETS slave_count_check
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Add gtest based cpp test target and link libraries
+if (CATKIN_ENABLE_TESTING)
+    find_package(code_coverage REQUIRED)
+    find_package(rostest REQUIRED)
+
+    if(ENABLE_COVERAGE_TESTING)
+        include(CodeCoverage)
+        append_coverage_compiler_flags()
+    endif()
+
+    add_rostest_gmock(${PROJECT_NAME}-test
+        test/march4cpp.test
+        test/TestRunner.cpp
+        test/TestEncoder.cpp
+        test/TestIMotionCube.cpp
+        test/TestTemperatureGES.cpp
+        test/TestJoint.cpp
+        test/TestPDOmap.cpp
+        test/TestBootShutdownOffsets.cpp
+        test/TestNetDriverOffsets.cpp
+        test/TestNetMonitorOffsets.cpp
+        test/TestLowVoltage.cpp
+        test/TestHighVoltage.cpp
+        test/TestPowerDistributionBoard.cpp
+        test/mocks/MockTemperatureGES.cpp
+        test/mocks/MockTemperatureSensor.cpp
+        test/mocks/MockEncoder.cpp
+        test/mocks/MockIMotionCube.cpp
+        test/mocks/MockJoint.cpp
+    )
+    target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES} ${PROJECT_NAME} gtest)
+
+    if(ENABLE_COVERAGE_TESTING)
+        set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*")
+        add_code_coverage(
+            NAME ${PROJECT_NAME}_coverage
+            DEPENDS tests
+        )
+    endif()
+endif ()

march_hardware/check/SlaveCount.cpp

@@ -0,0 +1,44 @@
+// Copyright 2019 Project March.
+
+#include <ros/ros.h>
+
+#include <soem/ethercattype.h>
+#include <soem/nicdrv.h>
+#include <soem/ethercatbase.h>
+#include <soem/ethercatmain.h>
+#include <soem/ethercatdc.h>
+#include <soem/ethercatcoe.h>
+#include <soem/ethercatfoe.h>
+#include <soem/ethercatconfig.h>
+#include <soem/ethercatprint.h>
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "slave_count_check");
+    ros::NodeHandle nh;
+
+    ROS_INFO("Trying to start EtherCAT");
+    std::string ifname = "enp2s0";
+
+    // Initialise SOEM, bind socket to ifname
+    if (!ec_init(&ifname[0]))
+    {
+        ROS_FATAL("No socket connection on %s. Confirm that you have selected the right ifname", ifname.c_str());
+        nh.setParam("/check/slave_count", 0);
+        return 1;
+    }
+    ROS_INFO("ec_init on %s succeeded", ifname.c_str());
+
+    // Find and auto-config slaves
+    if (ec_config_init(FALSE) <= 0)
+    {
+        ROS_FATAL("No slaves found, shutting down. Confirm that you have selected the right ifname.");
+        ROS_FATAL("Check that the first slave is connected properly");
+        nh.setParam("/check/slave_count", 0);
+        return 1;
+    }
+    ROS_INFO("%d slave(s) found and initialized.", ec_slavecount);
+
+    nh.setParam("/check/slave_count", ec_slavecount);
+    return 0;
+}

march_hardware/include/march_hardware/ActuationMode.h

@@ -0,0 +1,92 @@
+// Copyright 2019 Project March.
+
+#ifndef MARCH_HARDWARE_INTERFACE_ACTUATIONMODE_H
+#define MARCH_HARDWARE_INTERFACE_ACTUATIONMODE_H
+
+#include <ros/console.h>
+
+namespace march4cpp
+{
+class ActuationMode
+{
+public:
+  enum Value : int
+  {
+    position,
+    torque,
+    unknown,
+  };
+
+  ActuationMode()
+  {
+    this->value = unknown;
+  };
+
+  explicit ActuationMode(const std::string& actuationMode)
+  {
+    if (actuationMode == "position")
+    {
+      this->value = position;
+    }
+    else if (actuationMode == "unknown")
+    {
+      this->value = unknown;
+    }
+    else if (actuationMode == "torque")
+    {
+      this->value = torque;
+    }
+    else
+    {
+      ROS_WARN("Actuation mode (%s) is not recognized, setting to unknown mode", actuationMode.c_str());
+      this->value = ActuationMode::unknown;
+    }
+  }
+
+  int toModeNumber()
+  {
+    if (value == position)
+    {
+      return 8;
+    }
+    else if (value == torque)
+    {
+      return 10;
+    }
+  }
+
+  int getValue() const
+  {
+    return value;
+  }
+
+  bool operator==(ActuationMode::Value a) const
+  {
+    return value == a;
+  }
+
+  bool operator!=(ActuationMode::Value a) const
+  {
+    return value != a;
+  }
+
+  std::string toString() const
+  {
+    switch (this->value)
+    {
+      case position:
+        return "position";
+      case torque:
+        return "torque";
+      default:
+        ROS_WARN("Actuationmode (%i) is neither 'torque' or 'position", value);
+        return "unknown";
+    }
+  }
+
+private:
+  Value value = unknown;
+};
+}  // namespace march4cpp
+
+#endif  // MARCH_HARDWARE_INTERFACE_ACTUATIONMODE_H

march_hardware/include/march_hardware/AngleConversions.h

@@ -0,0 +1,17 @@
+// Copyright 2019 Project March.
+#ifndef PROJECT_ANGLECONVERSIONS_H
+#define PROJECT_ANGLECONVERSIONS_H
+
+#include <cmath>
+
+float DegtoRad(float deg)
+{
+  return static_cast<float>(deg * M_PI / 180);
+}
+
+float RadtoDeg(float rad)
+{
+  return static_cast<float>(rad * 180 / M_PI);
+}
+
+#endif  // PROJECT_ANGLECONVERSIONS_H