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ci: setup CI using script #29

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merged 19 commits into from
Jul 6, 2023
Merged

ci: setup CI using script #29

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ef68501
ci: setup CI using script
moriarty Jun 20, 2023
4722c30
serial: Add serial from tylerjw fork
moriarty Jun 21, 2023
90ea352
run ament_uncrustify
moriarty Jun 26, 2023
3dce97a
reorder package.xml for validation
moriarty Jun 26, 2023
7c1b550
add serial fork & branch to all .repos files
moriarty Jun 26, 2023
2e56e0e
ci: remove rhel github jobs
moriarty Jun 26, 2023
1d95302
ci: remove abi compatibility jobs
moriarty Jun 26, 2023
7565379
pre-commit run --all-files
moriarty Jun 27, 2023
c7a2de7
Sync .clang-format with ament_lint
moriarty Jun 30, 2023
801ce61
disable uncrustify: conflicts with clang format
moriarty Jun 30, 2023
f139b2c
Add missing copywrite notices
moriarty Jun 30, 2023
4715e75
IWYU fixes
moriarty Jun 30, 2023
f3216fe
flake8: apply fixes
moriarty Jul 3, 2023
f0427d9
Revert "flake8: apply fixes"
moriarty Jul 3, 2023
825b7d3
Add flake8 to pre-commit and add .flake8
moriarty Jul 3, 2023
eac5fcc
fix linter include order
moriarty Jul 3, 2023
199a0d4
clang/cpplint include " vs <
moriarty Jul 3, 2023
3b3f368
disable ament_flake8 flake8 via pre-commit
moriarty Jul 3, 2023
437228f
run pre-commit format check on push to main
moriarty Jul 3, 2023
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pre-commit run --all-files 
Run pre-commit

Signed-off-by: Alex Moriarty <[email protected]>
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@moriarty
moriarty committed Jun 27, 2023
commit 7565379d4e02dc1bfd43fba0f10818cc3a84fd0c
13 changes: 5 additions & 8 deletions robotiq_controllers/include/robotiq_controllers/robotiq_activation_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,20 +41,17 @@ class RobotiqActivationController : public controller_interface::ControllerInter

controller_interface::InterfaceConfiguration state_interface_configuration() const override;

controller_interface::return_type update(
const rclcpp::Time & time,
const rclcpp::Duration & period) override;
controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;

CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;

CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;

CallbackReturn on_init() override;

private:
bool reactivateGripper(
std_srvs::srv::Trigger::Request::SharedPtr req,
std_srvs::srv::Trigger::Response::SharedPtr resp);
bool reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr req,
std_srvs::srv::Trigger::Response::SharedPtr resp);

static constexpr double ASYNC_WAITING = 2.0;
enum CommandInterfaces
Expand Down
61 changes: 30 additions & 31 deletions robotiq_controllers/src/robotiq_activation_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,7 @@

namespace robotiq_controllers
{
controller_interface::InterfaceConfiguration RobotiqActivationController::
command_interface_configuration() const
controller_interface::InterfaceConfiguration RobotiqActivationController::command_interface_configuration() const
{
controller_interface::InterfaceConfiguration config;
config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
Expand All @@ -42,73 +41,75 @@ command_interface_configuration() const
return config;
}

controller_interface::InterfaceConfiguration RobotiqActivationController::
state_interface_configuration() const
controller_interface::InterfaceConfiguration RobotiqActivationController::state_interface_configuration() const
{
controller_interface::InterfaceConfiguration config;
config.type = controller_interface::interface_configuration_type::INDIVIDUAL;

return config;
}

controller_interface::return_type RobotiqActivationController::update(
const rclcpp::Time & /*time*/,
const rclcpp::Duration & /*period*/)
controller_interface::return_type RobotiqActivationController::update(const rclcpp::Time& /*time*/,
const rclcpp::Duration& /*period*/)
{
return controller_interface::return_type::OK;
}

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
RobotiqActivationController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
RobotiqActivationController::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
{
// Check command interfaces.
if (command_interfaces_.size() != 2) {
RCLCPP_ERROR(
get_node()->get_logger(), "Expected %d command interfaces, but got %zu.", 2,
command_interfaces_.size());
if (command_interfaces_.size() != 2)
{
RCLCPP_ERROR(get_node()->get_logger(), "Expected %d command interfaces, but got %zu.", 2,
command_interfaces_.size());
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
}

try {
try
{
// Create service for re-activating the gripper.
reactivate_gripper_srv_ = get_node()->create_service<std_srvs::srv::Trigger>(
"~/reactivate_gripper",
[this](std_srvs::srv::Trigger::Request::SharedPtr req,
std_srvs::srv::Trigger::Response::SharedPtr resp) {
this->reactivateGripper(req, resp);
});
} catch (...) {
"~/reactivate_gripper",
[this](std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr resp) {
this->reactivateGripper(req, resp);
});
}
catch (...)
{
return LifecycleNodeInterface::CallbackReturn::ERROR;
}
return LifecycleNodeInterface::CallbackReturn::SUCCESS;
}

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
RobotiqActivationController::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
RobotiqActivationController::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
{
try {
try
{
reactivate_gripper_srv_.reset();
} catch (...) {
}
catch (...)
{
return LifecycleNodeInterface::CallbackReturn::ERROR;
}

return LifecycleNodeInterface::CallbackReturn::SUCCESS;
}

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
RobotiqActivationController::on_init()
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqActivationController::on_init()
{
return LifecycleNodeInterface::CallbackReturn::SUCCESS;
}

bool RobotiqActivationController::reactivateGripper(
std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
std_srvs::srv::Trigger::Response::SharedPtr resp)
bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
std_srvs::srv::Trigger::Response::SharedPtr resp)
{
command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);

while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING) {
while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
{
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value();
Expand All @@ -119,6 +120,4 @@ bool RobotiqActivationController::reactivateGripper(

#include "pluginlib/class_list_macros.hpp"

PLUGINLIB_EXPORT_CLASS(
robotiq_controllers::RobotiqActivationController,
controller_interface::ControllerInterface)
PLUGINLIB_EXPORT_CLASS(robotiq_controllers::RobotiqActivationController, controller_interface::ControllerInterface)
2 changes: 1 addition & 1 deletion robotiq_driver/include/robotiq_driver/crc.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,4 +3,4 @@
#include <vector>
#include <cstdint>

uint16_t computeCRC(const std::vector<uint8_t> & cmd);
uint16_t computeCRC(const std::vector<uint8_t>& cmd);
14 changes: 5 additions & 9 deletions robotiq_driver/include/robotiq_driver/hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
RobotiqGripperHardwareInterface();

ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;

ROBOTIQ_DRIVER_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
Expand All @@ -63,20 +63,16 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;

ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;

ROBOTIQ_DRIVER_PUBLIC
hardware_interface::return_type read(
const rclcpp::Time & time,
const rclcpp::Duration & period) override;
hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;

ROBOTIQ_DRIVER_PUBLIC
hardware_interface::return_type write(
const rclcpp::Time & time,
const rclcpp::Duration & period) override;
hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;

private:
static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN();
Expand Down
8 changes: 3 additions & 5 deletions robotiq_driver/include/robotiq_driver/robotiq_gripper_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@
class RobotiqGripperInterface
{
public:
RobotiqGripperInterface(const std::string & com_port = "/dev/ttyUSB0", uint8_t slave_id = 0x09);
RobotiqGripperInterface(const std::string& com_port = "/dev/ttyUSB0", uint8_t slave_id = 0x09);

/**
* @brief Activates the gripper.
Expand Down Expand Up @@ -122,9 +122,7 @@ class RobotiqGripperInterface

private:
std::vector<uint8_t> createReadCommand(uint16_t first_register, uint8_t num_registers);
std::vector<uint8_t> createWriteCommand(
uint16_t first_register,
const std::vector<uint16_t> & data);
std::vector<uint8_t> createWriteCommand(uint16_t first_register, const std::vector<uint16_t>& data);

/**
* @brief read response from the gripper.
Expand All @@ -140,7 +138,7 @@ class RobotiqGripperInterface
* @param cmd The command.
* @throw serial::IOException on failure to successfully communicate with gripper port
*/
void sendCommand(const std::vector<uint8_t> & cmd);
void sendCommand(const std::vector<uint8_t>& cmd);

/**
* @brief Read the current status of the gripper, and update member variables as appropriate.
Expand Down
83 changes: 29 additions & 54 deletions robotiq_driver/src/crc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,72 +2,47 @@

/* Table of CRC values for high–order byte */
static unsigned char kCRCHiTable[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80,
0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80,
0x41, 0x00, 0xC1,
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00,
0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81,
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80,
0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80,
0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80,
0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80,
0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40
};

/* Table of CRC values for low–order byte */
static unsigned char kCRCLoTable[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04,
0xCC, 0x0C, 0x0D,
0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19,
0xD9, 0x1B, 0xDB,
0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17,
0x16, 0xD6, 0xD2,
0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36,
0xF6, 0xF7, 0x37,
0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB,
0x39, 0xF9, 0xF8,
0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC,
0x2C, 0xE4, 0x24,
0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,
0x61, 0xA1, 0x63,
0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF,
0x6F, 0x6E, 0xAE,
0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F,
0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3,
0x73, 0xB1, 0x71,
0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95,
0x94, 0x54, 0x9C,
0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45,
0x87, 0x47, 0x46,
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D,
0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB,
0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2,
0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37,
0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8,
0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24,
0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63,
0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE,
0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F,
0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,
0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C,
0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46,
0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40
};

uint16_t computeCRC(const std::vector<uint8_t> & cmd)
uint16_t computeCRC(const std::vector<uint8_t>& cmd)
{
uint16_t crc_hi = 0x00FF;
uint16_t crc_lo = 0x00FF;

for (auto byte : cmd) {
for (auto byte : cmd)
{
std::size_t index = crc_lo ^ byte;
crc_lo = crc_hi ^ kCRCHiTable[index];
crc_hi = kCRCLoTable[index];
Expand Down
25 changes: 17 additions & 8 deletions robotiq_driver/src/gripper_interface_test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,8 @@ constexpr auto kSlaveID = 0x09;

int main()
{
try {
try
{
RobotiqGripperInterface gripper(kComPort, kSlaveID);

std::cout << "Deactivating gripper...\n";
Expand All @@ -49,25 +50,29 @@ int main()

std::cout << "Closing gripper...\n";
gripper.setGripperPosition(0xFF);
while (gripper.gripperIsMoving()) {
while (gripper.gripperIsMoving())
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}

std::cout << "Opening gripper...\n";
gripper.setGripperPosition(0x00);
while (gripper.gripperIsMoving()) {
while (gripper.gripperIsMoving())
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}

std::cout << "Half closing gripper...\n";
gripper.setGripperPosition(0x80);
while (gripper.gripperIsMoving()) {
while (gripper.gripperIsMoving())
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}

std::cout << "Opening gripper...\n";
gripper.setGripperPosition(0x00);
while (gripper.gripperIsMoving()) {
while (gripper.gripperIsMoving())
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}

Expand All @@ -76,7 +81,8 @@ int main()

std::cout << "Closing gripper...\n";
gripper.setGripperPosition(0xFF);
while (gripper.gripperIsMoving()) {
while (gripper.gripperIsMoving())
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}

Expand All @@ -85,10 +91,13 @@ int main()

std::cout << "Opening gripper...\n";
gripper.setGripperPosition(0x00);
while (gripper.gripperIsMoving()) {
while (gripper.gripperIsMoving())
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
} catch (const serial::IOException & e) {
}
catch (const serial::IOException& e)
{
std::cout << "Failed to communicating with the Gripper. Please check the Gripper connection";
return 1;
}
Expand Down
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