Add GPIO Tool controller - Controller that can manage different tools (grippers, lifts, forks) and states (automatic/manual) that can be set and determined using IOs (analog or digital)

gpio_controllers/CMakeLists.txt

@@ -7,34 +7,59 @@ export_windows_symbols()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(control_msgs REQUIRED)
 find_package(controller_interface REQUIRED)
+find_package(generate_parameter_library REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(realtime_tools REQUIRED)
-find_package(generate_parameter_library REQUIRED)
-find_package(control_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
 
 generate_parameter_library(gpio_command_controller_parameters
   src/gpio_command_controller_parameters.yaml
 )
 
-add_library(gpio_controllers
-  SHARED
+add_library(gpio_controllers SHARED
   src/gpio_command_controller.cpp
 )
 target_include_directories(gpio_controllers PRIVATE include)
-target_link_libraries(gpio_controllers PUBLIC
-                      gpio_command_controller_parameters
+target_link_libraries(gpio_controllers PUBLIC gpio_command_controller_parameters)
+ament_target_dependencies(gpio_controllers PUBLIC
+  builtin_interfaces
+  controller_interface
+  hardware_interface
+  pluginlib
+  rclcpp_lifecycle
+  rcutils
+  realtime_tools
+  control_msgs
+)
+
+generate_parameter_library(gpio_tool_controller_parameters
+  src/gpio_tool_controller.yaml
+)
+add_library(gpio_tool_controllers SHARED
+  src/gpio_tool_controller.cpp
+)
+target_compile_features(gpio_tool_controllers PUBLIC cxx_std_20)
+target_include_directories(gpio_tool_controllers PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(gpio_tool_controllers PUBLIC
+                      gpio_tool_controller_parameters
                       controller_interface::controller_interface
                       hardware_interface::hardware_interface
                       pluginlib::pluginlib
                       rclcpp::rclcpp
                       rclcpp_lifecycle::rclcpp_lifecycle
                       realtime_tools::realtime_tools
                       ${control_msgs_TARGETS}
-                      ${builtin_interfaces_TARGETS})
+                      ${builtin_interfaces_TARGETS}
+                      ${std_srvs_TARGETS}
+                      )
 
 pluginlib_export_plugin_description_file(controller_interface gpio_controllers_plugin.xml)
 
@@ -46,6 +71,7 @@ install(
 install(
   TARGETS
   gpio_controllers
+  gpio_tool_controllers
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -78,6 +104,32 @@ if(BUILD_TESTING)
     gpio_controllers
     ros2_control_test_assets::ros2_control_test_assets
   )
+
+  ament_add_gmock(
+    test_load_gpio_tool_controller
+    test/test_load_gpio_tool_controller.cpp
+  )
+  target_include_directories(test_load_gpio_tool_controller PRIVATE include)
+  target_link_libraries(test_load_gpio_tool_controller
+    gpio_tool_controllers
+    controller_manager::controller_manager
+    ros2_control_test_assets::ros2_control_test_assets
+  )
+
+  # ament_add_gmock(test_gpio_tool_controller
+  #   test/gpio_tool_controller/test_gpio_tool_controller.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_open.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_close.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_all_param_set.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_open_close_action.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_reconfigure.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_reconfigure_action.cpp
+  # )
+  # target_include_directories(test_gpio_tool_controller PRIVATE include)
+  # target_link_libraries(test_gpio_tool_controller
+  #   gpio_tool_controller
+  #   ros2_control_test_assets::ros2_control_test_assets
+  # )
 endif()
 
 ament_export_dependencies(
@@ -92,5 +144,6 @@ ament_export_include_directories(
 )
 ament_export_libraries(
   gpio_controllers
+  gpio_tool_controllers
 )
 ament_package()

gpio_controllers/doc/userdoc.rst

@@ -57,3 +57,26 @@ The controller expects at least one GPIO interface and the corresponding command
               - ana.2
 
 With the above-defined controller configuration, the controller will accept commands for all gpios' interfaces and will only publish the state of Gpio2.
+
+
+
+### gpio_tool_controller
+
+The controller enables control of tools connected to the robot or components of a robot via general-purpose inputs and outputs (GPIO), digital or analog.
+Concretely the controller is made for controlling the custom-made industrial grippers or tools, or components like lifts or breaks.
+The IOs might even be virtual, like controlling the state machine of a robot that is implemented on a PLC.
+
+The controller provides high-level interface for engaging or disengaging a tool or a component, as well as for reconfiguring it.
+The reconfiguration is possible only in *disengaged* state.
+In the example of gripper this would be *open* state.
+
+
+
+The controller implements state machine for the transition between states and
+
+
+1. Tool Actions
+
+1. Tool state machine
+
+2. Transitions

gpio_controllers/gpio_controllers_plugin.xml

@@ -5,3 +5,12 @@
   </description>
   </class>
 </library>
+
+<library path="gpio_tool_controllers">
+  <class name="gpio_tool_controller/GpioToolController" type="gpio_tool_controller::GpioToolController" base_class_type="controller_interface::ControllerInterface">
+  <description>
+    The gpio tool controllers enables control of the tools that are controlled using GPIOs. For example, pneumatic grippers, lifts, etc. It enables management of multiple engaged state, e.g., if gripper is closed with or without an object.
+    The controller can be also be used in the simple form where certian states of a device are set through GPIOs, e.g., manual and automatic mode.
+  </description>
+  </class>
+</library>