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Tool parameter fix #1

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Tool parameter fix #1

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7aa17ae
Change tx and rx types.
livanov93 Jan 27, 2022
caa4dc9
Add info about propagated tool parameters.
livanov93 Jan 27, 2022
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19 changes: 14 additions & 5 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -318,7 +318,7 @@ CallbackReturn URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::
// parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE.
// Then, this parameter is required.}
tool_voltage = std::stoi(info_.hardware_parameters["tool_voltage"]);

RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Tool voltage: '%d'", tool_voltage);
tool_comm_setup->setToolVoltage(static_cast<urcl::ToolVoltage>(tool_voltage));

using ParityT = std::underlying_type<urcl::Parity>::type;
Expand All @@ -329,6 +329,7 @@ CallbackReturn URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
parity = std::stoi(info_.hardware_parameters["tool_parity"]);
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Tool parity: '%d'", parity);
tool_comm_setup->setParity(static_cast<urcl::Parity>(parity));

int baud_rate;
Expand All @@ -338,6 +339,8 @@ CallbackReturn URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
baud_rate = std::stoi(info_.hardware_parameters["tool_baud_rate"]);
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Tool baud rate: '%d'", baud_rate);

tool_comm_setup->setBaudRate(static_cast<uint32_t>(baud_rate));

int stop_bits;
Expand All @@ -347,24 +350,30 @@ CallbackReturn URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
stop_bits = std::stoi(info_.hardware_parameters["tool_stop_bits"]);
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Tool stop bits: '%d'", stop_bits);

tool_comm_setup->setStopBits(static_cast<uint32_t>(stop_bits));

int rx_idle_chars;
float rx_idle_chars;
// Number of idle chars for the RX unit used for tool communication. Will be set as soon as the UR-Program on the
// robot is started. Valid values: min=1.0, max=40.0
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
rx_idle_chars = std::stoi(info_.hardware_parameters["tool_rx_idle_chars"]);
rx_idle_chars = std::stof(info_.hardware_parameters["tool_rx_idle_chars"]);
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Tool receive idle chars: '%f'", rx_idle_chars);

tool_comm_setup->setRxIdleChars(rx_idle_chars);

int tx_idle_chars;
float tx_idle_chars;
// Number of idle chars for the TX unit used for tool communication. Will be set as soon as the UR-Program on the
// robot is started. Valid values: min=0.0, max=40.0
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
tx_idle_chars = std::stoi(info_.hardware_parameters["tool_tx_idle_chars"]);
tx_idle_chars = std::stof(info_.hardware_parameters["tool_tx_idle_chars"]);
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Tool transmit idle chars: '%f'", tx_idle_chars);

tool_comm_setup->setTxIdleChars(tx_idle_chars);
}

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