BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Now, control cycle can be changed.

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This commit is contained in:
robotis
2016-12-09 14:50:59 +09:00
parent f046b94705
commit 0afd62afb3
2 changed files with 12 additions and 10 deletions
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3
robotis_controller/include/robotis_controller/robotis_controller.h
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@@ -95,13 +95,14 @@ private:
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_;

19
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@@ -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)