mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-12 19:10:47 +02:00
95 lines
2.6 KiB
C++
95 lines
2.6 KiB
C++
/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/ros/service_stopper.h"
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ServiceStopper::ServiceStopper(std::vector<Service*> services)
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: enable_service_(nh_.advertiseService("ur_driver/robot_enable", &ServiceStopper::enableCallback, this))
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, services_(services)
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, last_state_(RobotState::Error)
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, activation_mode_(ActivationMode::Never)
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{
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std::string mode;
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ros::param::param("~require_activation", mode, std::string("Never"));
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if (mode == "Always")
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{
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activation_mode_ = ActivationMode::Always;
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}
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else if (mode == "OnStartup")
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{
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activation_mode_ = ActivationMode::OnStartup;
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}
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else
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{
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if (mode != "Never")
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{
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LOG_WARN("Found invalid value for param require_activation: '%s'\nShould be one of Never, OnStartup, Always",
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mode.c_str());
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mode = "Never";
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}
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notify_all(RobotState::Running);
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}
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LOG_INFO("Service 'ur_driver/robot_enable' activation mode: %s", mode.c_str());
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}
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bool ServiceStopper::enableCallback(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& resp)
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{
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// After the startup call OnStartup and Never behave the same
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if (activation_mode_ == ActivationMode::OnStartup)
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activation_mode_ = ActivationMode::Never;
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notify_all(RobotState::Running);
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return true;
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}
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void ServiceStopper::notify_all(RobotState state)
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{
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if (last_state_ == state)
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return;
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for (auto const service : services_)
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{
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service->onRobotStateChange(state);
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}
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last_state_ = state;
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}
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bool ServiceStopper::handle(SharedRobotModeData& data, bool error)
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{
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if (data.emergency_stopped)
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{
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notify_all(RobotState::EmergencyStopped);
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}
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else if (data.protective_stopped)
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{
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notify_all(RobotState::ProtectiveStopped);
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}
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else if (error)
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{
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notify_all(RobotState::Error);
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}
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else if (activation_mode_ == ActivationMode::Never)
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{
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// No error encountered, the user requested automatic reactivation
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notify_all(RobotState::Running);
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}
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return true;
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}
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