muriqui用のコードを移植する#38
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Pull request overview
muriqui で利用していた実装を rt_manipulators_lib 側へ移植し、Dynamixel モデル追加（XC330/PH54）や座標変換の切替、外部ポート（アナログ入力）読み取り等を拡張するPRです。
Changes:
- 関節グループの sync_read 対象として external_port1-4 を追加し、読み取り・保持・取得APIを追加
- XC330 の indirect 非対応を考慮した direct アドレス経路（sync_read/sync_write）の導入
- PH54 / XC330 のモデル追加と、それに伴うテスト・FakeIt モック導入
Reviewed changes
Copilot reviewed 27 out of 27 changed files in this pull request and generated 12 comments.
Show a summary per file
| File | Description |
|---|---|
| rt_manipulators_lib/test/test_hardware.cpp | Hardware の read/write_data 等のユニットテスト追加（FakeIt モック使用） |
| rt_manipulators_lib/test/test_dynamixel_ph54.cpp | PH54 の変換系テスト追加 |
| rt_manipulators_lib/test/test_dynamixel_p.cpp | P 系の external port 間接アドレス設定テスト追加 |
| rt_manipulators_lib/test/test_config_file_parser.cpp | external port 読み取り設定のパース検証テスト追加 |
| rt_manipulators_lib/test/config/ok_read_external_port.yaml | external_port1-4 を含む設定追加 |
| rt_manipulators_lib/test/CMakeLists.txt | FakeIt FetchContent とテスト追加 |
| rt_manipulators_lib/src/kinematics_utils.cpp | モデルにより座標変換を切り替える分岐追加 |
| rt_manipulators_lib/src/joint.cpp | XC330/PH54 の生成追加、external port 電圧保持を追加 |
| rt_manipulators_lib/src/hardware.cpp | direct/indirect 切替、external port 読み取り、注入用コンストラクタ等を追加 |
| rt_manipulators_lib/src/hardware_joints.cpp | external port 電圧取得APIを追加 |
| rt_manipulators_lib/src/hardware_communicator.cpp | PacketHandler 取得方法変更、呼び出し箇所更新 |
| rt_manipulators_lib/src/dynamixel_xc330.cpp | XC330 モデル実装追加 |
| rt_manipulators_lib/src/dynamixel_x.cpp | external port / direct read-write 用の定義・抽出・書き込み追加 |
| rt_manipulators_lib/src/dynamixel_ph54.cpp | PH54 モデル実装追加 |
| rt_manipulators_lib/src/dynamixel_p.cpp | external port（間接アドレス・モード設定・抽出）追加、間接アドレス設定の冪等化 |
| rt_manipulators_lib/src/config_file_parser.cpp | parse() 前に parsed_joints をリセット |
| rt_manipulators_lib/src/CMakeLists.txt | PH54 ビルド対象追加 |
| rt_manipulators_lib/include/joint.hpp | external port API / name() 追加 |
| rt_manipulators_lib/include/hardware.hpp | 注入用コンストラクタ、external port API、read/write_data テンプレ追加 |
| rt_manipulators_lib/include/hardware_joints.hpp | external port 電圧取得API追加 |
| rt_manipulators_lib/include/hardware_communicator.hpp | Communicator をモック可能にするため virtual 化 |
| rt_manipulators_lib/include/dynamixel_xc330.hpp | XC330 ヘッダ追加 |
| rt_manipulators_lib/include/dynamixel_x.hpp | external port / direct read-write API・状態追加 |
| rt_manipulators_lib/include/dynamixel_ph54.hpp | PH54 ヘッダ追加 |
| rt_manipulators_lib/include/dynamixel_p.hpp | external port API 追加 |
| rt_manipulators_lib/include/dynamixel_base.hpp | external port / direct read-write 用の仮想API追加 |
| rt_manipulators_lib/CMakeLists.txt | XC330/PH54 ソース追加 |
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| explicit Hardware(const std::string device_name); | ||
| explicit Hardware(std::unique_ptr<hardware_communicator::Communicator> comm); | ||
| ~Hardware(); |
| std::map<JointGroupName, uint16_t> addr_sync_read_temperature_; | ||
| bool thread_enable_; | ||
| std::shared_ptr<std::thread> read_write_thread_; | ||
| bool use_direct_addr_enabled_; |
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| Hardware::Hardware(const std::string device_name) : | ||
| thread_enable_(false) { | ||
| comm_ = std::make_shared<hardware_communicator::Communicator>(device_name); | ||
| comm_ = std::make_unique<hardware_communicator::Communicator>(device_name); | ||
| } | ||
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| Hardware::Hardware(std::unique_ptr<hardware_communicator::Communicator> comm) : | ||
| thread_enable_(false) { | ||
| comm_ = std::move(comm); |
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| if (joints_.group(group_name)->sync_read_external_port1_enabled()) { | ||
| retval = read_external_port(1); | ||
| } | ||
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| if (joints_.group(group_name)->sync_read_external_port2_enabled()) { | ||
| retval = read_external_port(2); | ||
| } | ||
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| if (joints_.group(group_name)->sync_read_external_port3_enabled()) { | ||
| retval = read_external_port(3); | ||
| } | ||
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| if (joints_.group(group_name)->sync_read_external_port4_enabled()) { | ||
| retval = read_external_port(4); | ||
| } |
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| bool Hardware::search_unsupport_indirect_addr_hw_type(const std::string& group_name) { | ||
| bool retval = true; | ||
| for (const auto & joint_name : joints_.group(group_name)->joint_names()) { | ||
| if (joints_.joint(joint_name)->dxl->get_name() == "XC330") { | ||
| use_direct_addr_enabled_ = true; | ||
| retval = false; | ||
| } | ||
| } | ||
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| return retval; | ||
| } |
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| unsigned int DynamixelX::indirect_addr_of_external_port(const int number) { | ||
| if (number == 1) { | ||
| return indirect_addr_of_external_port1_; | ||
| } else if (number == 2) { | ||
| return indirect_addr_of_external_port2_; | ||
| } else if (number == 3) { | ||
| return indirect_addr_of_external_port3_; | ||
| } | ||
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| return indirect_addr_of_external_port1_; | ||
| } |
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| uint16_t target_addr = 0; | ||
| if (number == 1) { | ||
| target_addr = ADDR_EXTERNAL_PORT_MODE1; | ||
| } else if (number == 2) { | ||
| target_addr = ADDR_EXTERNAL_PORT_MODE2; | ||
| } else if (number == 3) { | ||
| target_addr = ADDR_EXTERNAL_PORT_MODE3; | ||
| } |
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| rt_manipulators_cpp::Hardware hardware( | ||
| std::unique_ptr<hardware_communicator::Communicator>(&mock.get())); | ||
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| bool no_coordinate_transformation = false; | ||
| if(file_path.find("bonobo") != std::string::npos){ | ||
| std::cout << "bonobo_links" << std::endl; | ||
| no_coordinate_transformation = true; | ||
| } |
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| uint8_t id() const; | ||
| uint8_t operating_mode() const; | ||
| std::string name() const; |
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What does this implement/fix?
muriquiで使用していたコードを移植します
座標変換を切り替える処理の他、Dynamixelモデル(xc330, ph54)の追加や、処理の追加・変更があります
Does this close any currently open issues?
How has this been tested?
humble、jazzy環境でビルドが通ることを確認しました
humble環境でcrane-x7の重力補償が動作することを確認しました
Any other comments?
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