xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
134 lines
5.2 KiB
C++
134 lines
5.2 KiB
C++
#ifndef CMVR_ES_ROBOT_ARM_H
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#define CMVR_ES_ROBOT_ARM_H
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#include <cstddef>
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#include <memory>
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#include <optional>
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#include <string>
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#include <vector>
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#include "algorithms/kinematics/ik_solver/common/include/ik_solver.h"
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#include "common/types/arm/arm_types.h"
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#include "devices/abstract_device.h"
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namespace cmvr::device {
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class RobotArm : public AbstractDevice {
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public:
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~RobotArm() override = default;
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DeviceKind kind() const noexcept override { return DeviceKind::Arm; }
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virtual RobotModel getRobotModel() const = 0;
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virtual std::size_t getDof() const = 0;
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virtual ArmState getRobotState() const = 0;
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virtual JointGroupState getJointState() const = 0;
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virtual CartesianPose getTcpPose(FrameType frame = FrameType::Base) const = 0;
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virtual RobotMode getRobotMode() const = 0;
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virtual SafetyMode getSafetyMode() const = 0;
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virtual ControlMode getControlMode() const = 0;
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// ArmTeleop requires an explicitly reviewed group-servo implementation.
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// Existing and vendor arms remain unavailable until their implementations
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// override this capability after timing and partial-write validation.
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virtual bool supportsTeleopGroupServo() const noexcept { return false; }
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virtual JointEffortSource jointEffortSource() const noexcept
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{
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return JointEffortSource::Unspecified;
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}
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virtual Result torqueOn() = 0;
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virtual Result torqueOff() = 0;
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virtual Result calibrateZeroQ(const std::string& joint_name) = 0;
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virtual Result emergencyStop() = 0;
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virtual Result protectiveStop() = 0;
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virtual Result setSpeedScaling(double scaling) = 0;
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virtual double getSpeedScaling() const = 0;
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virtual bool isProtectiveStopped() const = 0;
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virtual bool isEmergencyStopped() const = 0;
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virtual bool isFault() const = 0;
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virtual Result moveJ(const JointPositionCommand& target,
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const MotionOptions& options) = 0;
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virtual Result speedJ(const JointVelocityCommand& velocity,
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double acceleration,
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double duration) = 0;
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virtual Result stopJ(double acceleration) = 0;
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virtual Result moveL(const CartesianPose& target,
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const MotionOptions& options,
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FrameType frame = FrameType::Base) = 0;
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virtual Result speedL(const CartesianVelocity& velocity,
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double acceleration,
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double duration,
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FrameType frame = FrameType::Base) = 0;
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virtual Result stopL(std::optional<double> acceleration = std::nullopt) = 0;
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virtual Result stopMotion() = 0;
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virtual Result moveP(const CartesianPose& target,
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const MotionOptions& options,
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FrameType frame = FrameType::Base)
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{
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return moveL(target, options, frame);
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}
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virtual Result startServoMode(const ServoOptions& options) = 0;
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virtual Result servoJ(const JointPositionCommand& target) = 0;
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virtual Result servoL(const CartesianPose& target,
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FrameType frame = FrameType::Base) = 0;
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virtual Result servoSpeedJ(const JointVelocityCommand& velocity) = 0;
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virtual Result servoSpeedL(const CartesianVelocity& velocity,
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FrameType frame = FrameType::Base) = 0;
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virtual Result stopServoMode() = 0;
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// Torque streaming is optional. Backends which do not provide an atomic
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// group torque port retain source compatibility and fail explicitly.
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virtual Result startTorqueMode(const TorqueServoOptions&)
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{
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return Result::failure(
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ArmErrorCode::UnsupportedCommand,
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"torque servo mode is unsupported by this RobotArm");
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}
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virtual Result servoTorque(const JointTorqueCommand&)
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{
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return Result::failure(
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ArmErrorCode::UnsupportedCommand,
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"torque servo command is unsupported by this RobotArm");
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}
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virtual Result stopTorqueMode()
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{
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return Result::failure(
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ArmErrorCode::UnsupportedCommand,
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"torque servo mode is unsupported by this RobotArm");
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}
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virtual Result connect(const std::string& ip, int port) = 0;
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virtual Result disconnect() = 0;
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virtual bool isConnected() const = 0;
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virtual Result powerOn() = 0;
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virtual Result powerOff() = 0;
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virtual Result brakeRelease() = 0;
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virtual Result shutdown() = 0;
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virtual Result clearFault() = 0;
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virtual Result unlockProtectiveStop() = 0;
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virtual Result loadProgram(const std::string& program_name) = 0;
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virtual Result playProgram() = 0;
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virtual Result pauseProgram() = 0;
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virtual Result stopProgram() = 0;
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virtual std::vector<double> ik(const std::string& base_link,
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const std::string& ee_link,
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const CartesianPose& pose) = 0;
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virtual std::shared_ptr<cmvr::IKSolver> kinematicsSolver() const = 0;
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virtual CartesianPose fk(const std::string& base_link,
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const std::string& ee_link) = 0;
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virtual CartesianPose fk(bool is_tcp = true) = 0;
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virtual CartesianVelocity getSpeedLCommandTwistBase() const = 0;
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virtual bool busy() const = 0;
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};
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} // namespace cmvr::device
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#endif // CMVR_ES_ROBOT_ARM_H
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