Skip to content

Added GPIO parsing and test #436

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 11 commits into from
Jul 4, 2021
Merged

Added GPIO parsing and test #436

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
efede63
Added GPIO parsing and test
mahaarbo Jun 7, 2021
fbe885b
Minor wording
mahaarbo Jun 29, 2021
652b48c
Minor wording
mahaarbo Jun 29, 2021
33921fb
Size and data_type parsing
mahaarbo Jun 29, 2021
be276bc
use same text method as others
mahaarbo Jun 29, 2021
37ae98d
test urdf for size and data_type
mahaarbo Jun 29, 2021
3cea9fe
fixed whitespace that somehow got committed
mahaarbo Jun 29, 2021
fd86e34
GPIO Only: size and data_type field in interfaces
mahaarbo Jul 1, 2021
16016b9
Update hardware_interface/src/component_parser.cpp
mahaarbo Jul 3, 2021
30d8277
Update hardware_interface/src/component_parser.cpp
mahaarbo Jul 3, 2021
688a9f5
Update hardware_interface/include/hardware_interface/hardware_info.hpp
mahaarbo Jul 3, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 8 additions & 3 deletions hardware_interface/include/hardware_interface/hardware_info.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,16 +48,16 @@ struct ComponentInfo
{
/// Name of the component.
std::string name;
/// Type of the component: sensor or joint.
/// Type of the component: sensor, joint, or GPIO.
std::string type;
/**
* Name of the command interfaces that can be set, e.g. "position", "velocity", etc.
* Used by joints.
* Used by joints and GPIO.
*/
std::vector<InterfaceInfo> command_interfaces;
/**
* Name of the state interfaces that can be read, e.g. "position", "velocity", etc.
* Used by Joints and Sensors.
* Used by Joints, Sensors and GPIO.
*/
std::vector<InterfaceInfo> state_interfaces;
/// (Optional) Key-value pairs of component parameters, e.g. min/max values or serial number.
Expand All @@ -84,6 +84,11 @@ struct HardwareInfo
* Required for Sensor and optional for System Hardware.
*/
std::vector<ComponentInfo> sensors;
/**
* Map of GPIO provided by the hardware where the key is a descriptive name of the GPIO.
* Optional for any hardware components.
*/
std::vector<ComponentInfo> gpios;
/**
* Map of transmissions to calcualte ration between joints and physical actuators.
* Optional for Actuator and System Hardware.
Expand Down
3 changes: 3 additions & 0 deletions hardware_interface/src/component_parser.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ constexpr const auto kClassTypeTag = "plugin";
constexpr const auto kParamTag = "param";
constexpr const auto kJointTag = "joint";
constexpr const auto kSensorTag = "sensor";
constexpr const auto kGPIOTag = "gpio";
constexpr const auto kTransmissionTag = "transmission";
constexpr const auto kCommandInterfaceTag = "command_interface";
constexpr const auto kStateInterfaceTag = "state_interface";
Expand Down Expand Up @@ -231,6 +232,8 @@ HardwareInfo parse_resource_from_xml(const tinyxml2::XMLElement * ros2_control_i
hardware.sensors.push_back(parse_component_from_xml(ros2_control_child_it) );
} else if (!std::string(kTransmissionTag).compare(ros2_control_child_it->Name())) {
hardware.transmissions.push_back(parse_component_from_xml(ros2_control_child_it) );
} else if (!std::string(kGPIOTag).compare(ros2_control_child_it->Name())) {
hardware.gpios.push_back(parse_component_from_xml(ros2_control_child_it) );
} else {
throw std::runtime_error("invalid tag name " + std::string(ros2_control_child_it->Name()));
}
Expand Down
42 changes: 42 additions & 0 deletions hardware_interface/test/test_component_parser.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -497,3 +497,45 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_only)
ASSERT_THAT(hardware_info.transmissions[0].parameters, SizeIs(1));
EXPECT_EQ(hardware_info.transmissions[0].parameters.at("joint_to_actuator"), "${1024/PI}");
}

TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio)
{
std::string urdf_to_test =
std::string(ros2_control_test_assets::urdf_head) +
ros2_control_test_assets::valid_urdf_ros2_control_system_robot_with_gpio +
ros2_control_test_assets::urdf_tail;
const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
ASSERT_THAT(control_hardware, SizeIs(1));
auto hardware_info = control_hardware.front();

EXPECT_EQ(hardware_info.name, "RRBotSystemWithGPIO");
EXPECT_EQ(hardware_info.type, "system");
EXPECT_EQ(
hardware_info.hardware_class_type,
"ros2_control_demo_hardware/RRBotSystemWithGPIOHardware");

ASSERT_THAT(hardware_info.joints, SizeIs(2));

EXPECT_EQ(hardware_info.joints[0].name, "joint1");
EXPECT_EQ(hardware_info.joints[0].type, "joint");

EXPECT_EQ(hardware_info.joints[1].name, "joint2");
EXPECT_EQ(hardware_info.joints[1].type, "joint");

ASSERT_THAT(hardware_info.gpios, SizeIs(2));

EXPECT_EQ(hardware_info.gpios[0].name, "flange_analog_IOs");
EXPECT_EQ(hardware_info.gpios[0].type, "gpio");
EXPECT_THAT(hardware_info.gpios[0].state_interfaces, SizeIs(3));
EXPECT_THAT(hardware_info.gpios[0].command_interfaces, SizeIs(1));
EXPECT_THAT(hardware_info.gpios[0].state_interfaces[0].name, "analog_output1");
EXPECT_THAT(hardware_info.gpios[0].state_interfaces[1].name, "analog_input1");
EXPECT_THAT(hardware_info.gpios[0].state_interfaces[2].name, "analog_input2");

EXPECT_EQ(hardware_info.gpios[1].name, "flange_vacuum");
EXPECT_EQ(hardware_info.gpios[1].type, "gpio");
EXPECT_THAT(hardware_info.gpios[1].state_interfaces, SizeIs(1));
EXPECT_THAT(hardware_info.gpios[1].command_interfaces, SizeIs(1));
EXPECT_THAT(hardware_info.gpios[1].state_interfaces[0].name, "vacuum");
EXPECT_THAT(hardware_info.gpios[1].command_interfaces[0].name, "vacuum");
}
36 changes: 36 additions & 0 deletions ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -332,6 +332,42 @@ const auto valid_urdf_ros2_control_actuator_only =
</ros2_control>
)";

// 10. Industrial Robots with integrated GPIO
const auto valid_urdf_ros2_control_system_robot_with_gpio =
R"(
<ros2_control name="RRBotSystemWithGPIO" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemWithGPIOHardware</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<gpio name="flange_analog_IOs">
<command_interface name="analog_output1"/>
<state_interface name="analog_output1"/> <!-- Needed to know current state of the output -->
<state_interface name="analog_input1"/>
<state_interface name="analog_input2"/>
</gpio>
<gpio name="flange_vacuum">
<command_interface name="vacuum"/>
<state_interface name="vacuum"/> <!-- Needed to know current state of the input -->
</gpio>
</ros2_control>
)";

// Errors
const auto invalid_urdf_ros2_control_invalid_child =
R"(
Expand Down