Merge pull request #34 from ROBOTIS-GIT/feature_changing_control_cycle

Feature changing control cycle

Author: ROBOTIS-zerom

robotis_controller/include/robotis_controller/robotis_controller.h

@@ -95,13 +95,14 @@ class RobotisController : public Singleton<RobotisController>
   void initializeSyncWrite();
 
 public:
-  static const int  CONTROL_CYCLE_MSEC  = 8;    // 8 msec
+  static const int  DEFAULT_CONTROL_CYCLE_MSEC  = 8;    // 8 msec
 
   bool              DEBUG_PRINT;
   Robot            *robot_;
 
   bool              gazebo_mode_;
   std::string       gazebo_robot_name_;
+  int               control_cycle_msec_;
 
   /* bulk read */
   std::map<std::string, dynamixel::GroupBulkRead *>   port_to_bulk_read_;

robotis_controller/src/robotis_controller/robotis_controller.cpp

@@ -51,7 +51,8 @@ RobotisController::RobotisController()
     DEBUG_PRINT(false),
     robot_(0),
     gazebo_mode_(false),
-    gazebo_robot_name_("robotis")
+    gazebo_robot_name_("robotis"),
+    control_cycle_msec_(DEFAULT_CONTROL_CYCLE_MSEC)
 {
   direct_sync_write_.clear();
 }
@@ -603,7 +604,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)
 
 void RobotisController::gazeboTimerThread()
 {
-  ros::Rate gazebo_rate(1000 / CONTROL_CYCLE_MSEC);
+  ros::Rate gazebo_rate(1000 / control_cycle_msec_);
 
   while (!stop_timer_)
   {
@@ -662,7 +663,7 @@ void RobotisController::msgQueueThread()
   ros::ServiceServer joint_module_server = ros_node.advertiseService("/robotis/get_present_joint_ctrl_modules",
                                                         &RobotisController::getCtrlModuleCallback, this);
 
-  ros::WallDuration duration(CONTROL_CYCLE_MSEC / 1000.0);
+  ros::WallDuration duration(control_cycle_msec_ / 1000.0);
   while(ros_node.ok())
     callback_queue.callAvailable(duration);
 }
@@ -679,8 +680,8 @@ void *RobotisController::timerThread(void *param)
 
   while (!controller->stop_timer_)
   {
-    next_time.tv_sec += (next_time.tv_nsec + CONTROL_CYCLE_MSEC * 1000000) / 1000000000;
-    next_time.tv_nsec = (next_time.tv_nsec + CONTROL_CYCLE_MSEC * 1000000) % 1000000000;
+    next_time.tv_sec += (next_time.tv_nsec + controller->control_cycle_msec_ * 1000000) / 1000000000;
+    next_time.tv_nsec = (next_time.tv_nsec + controller->control_cycle_msec_ * 1000000) % 1000000000;
 
     controller->process();
 
@@ -1429,7 +1430,7 @@ void RobotisController::addMotionModule(MotionModule *module)
     }
   }
 
-  module->initialize(CONTROL_CYCLE_MSEC, robot_);
+  module->initialize(control_cycle_msec_, robot_);
   motion_modules_.push_back(module);
   motion_modules_.unique();
 }
@@ -1451,7 +1452,7 @@ void RobotisController::addSensorModule(SensorModule *module)
     }
   }
 
-  module->initialize(CONTROL_CYCLE_MSEC, robot_);
+  module->initialize(control_cycle_msec_, robot_);
   sensor_modules_.push_back(module);
   sensor_modules_.unique();
 }
@@ -1731,7 +1732,7 @@ void RobotisController::setJointCtrlModuleThread(const robotis_controller_msgs::
   for(std::list<MotionModule *>::iterator _stop_m_it = _stop_modules.begin(); _stop_m_it != _stop_modules.end(); _stop_m_it++)
   {
     while((*_stop_m_it)->isRunning())
-      usleep(CONTROL_CYCLE_MSEC * 1000);
+      usleep(control_cycle_msec_ * 1000);
   }
 
   // disable module(s)
@@ -1946,7 +1947,7 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
   for (auto stop_m_it = stop_modules.begin(); stop_m_it != stop_modules.end(); stop_m_it++)
   {
     while ((*stop_m_it)->isRunning())
-      usleep(CONTROL_CYCLE_MSEC * 1000);
+      usleep(control_cycle_msec_ * 1000);
   }
 
   // disable module(s)