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@mhubii
mhubii committed Feb 26, 2024
1 parent 4b440e8 commit e777ec8
Showing 1 changed file with 48 additions and 51 deletions.
99 changes: 48 additions & 51 deletions server_app/LBRServer.java
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
package application;
package lbr_fri_ros2;

import static com.kuka.roboticsAPI.motionModel.BasicMotions.positionHold;

import java.util.concurrent.TimeUnit;
import java.util.concurrent.TimeoutException;
import javax.inject.Inject;
import java.util.Arrays;

import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.sensitivity.LBR;
import com.kuka.sensitivity.controlmode.CartesianImpedanceControlMode;
Expand All @@ -20,68 +20,65 @@
import com.kuka.fri.IFRISessionListener;
import com.kuka.fri.FRIJointOverlay;
import com.kuka.fri.common.ClientCommandMode;




public class LBRServer extends RoboticsAPIApplication {
// members
@Inject private LBR lbr_;
@Inject private IApplicationUI applicationUi;

@Inject
private LBR lbr_;
@Inject
private IApplicationUI applicationUi;

// control mode
private enum CONTROL_MODE {
POSITION_CONTROL,
JOINT_IMPEDANCE_CONTROL,
CARTESIAN_IMPEDANCE_CONTROL;
}

// convert enum to string array, see https://stackoverflow.com/questions/13783295/getting-all-names-in-an-enum-as-a-string

// convert enum to string array, see
// https://stackoverflow.com/questions/13783295/getting-all-names-in-an-enum-as-a-string
public static String[] getNames(Class<? extends Enum<?>> e) {
return Arrays.toString(e.getEnumConstants()).replaceAll("^.|.$", "").split(", ");
}
// FRI parameters

// FRI parameters
private String client_name_;
private String[] client_names_ = {"172.31.1.148", "192.170.10.1"};
private int send_period_;
private String[] send_periods_ = {"1", "2", "5", "10"}; // send period in ms
private String[] client_names_ = { "172.31.1.148", "192.170.10.1" };
private int send_period_;
private String[] send_periods_ = { "1", "2", "5", "10" }; // send period in ms

private FRIConfiguration fri_configuration_;
private FRISession fri_session_;
private FRIJointOverlay fri_overlay_;

private AbstractMotionControlMode control_mode_;
private String[] control_modes_ = getNames(CONTROL_MODE.class);
private ClientCommandMode command_mode_;
private String[] command_modes_ = getNames(ClientCommandMode.class);


// methods
public void request_user_config() {
// send period
int selectedButtonIndex = applicationUi.displayModalDialog(
ApplicationDialogType.QUESTION,
"Select the desired FRI send period [ms]:",
send_periods_
);
ApplicationDialogType.QUESTION,
"Select the desired FRI send period [ms]:",
send_periods_);
send_period_ = Integer.valueOf(send_periods_[selectedButtonIndex]);
getLogger().info("Send period set to: " + send_period_);
// remote IP address
selectedButtonIndex = applicationUi.displayModalDialog(
ApplicationDialogType.QUESTION,
"Select your remote IP address:",
client_names_
);
client_names_);
client_name_ = client_names_[selectedButtonIndex];
getLogger().info("Remote address set to: " + client_name_);

// control mode
selectedButtonIndex = applicationUi.displayModalDialog(
ApplicationDialogType.QUESTION,
"Select the desired FRI control mode: ",
control_modes_
);

control_modes_);

CONTROL_MODE control_mode = CONTROL_MODE.values()[selectedButtonIndex];
switch (control_mode) {
case POSITION_CONTROL:
Expand All @@ -99,33 +96,33 @@ public void request_user_config() {
selectedButtonIndex = applicationUi.displayModalDialog(
ApplicationDialogType.QUESTION,
"Select the desired FRI client command mode: ",
command_modes_
);
command_modes_);
command_mode_ = ClientCommandMode.values()[selectedButtonIndex];
getLogger().info("Client command mode set to: " + command_mode_.name());
getLogger().info("Client command mode set to: " + command_mode_.name());
}

public void configure_fri() {
fri_configuration_ = FRIConfiguration.createRemoteConfiguration(lbr_, client_name_);
fri_configuration_.setSendPeriodMilliSec(send_period_);
getLogger().info("Creating FRI connection to " + fri_configuration_.getHostName());
getLogger().info(
"SendPeriod: " + fri_configuration_.getSendPeriodMilliSec() + "ms |"
+ " ReceiveMultiplier: " + fri_configuration_.getReceiveMultiplier()
);
"SendPeriod: " + fri_configuration_.getSendPeriodMilliSec() + "ms |"
+ " ReceiveMultiplier: " + fri_configuration_.getReceiveMultiplier());
fri_session_ = new FRISession(fri_configuration_);
fri_overlay_ = new FRIJointOverlay(fri_session_, command_mode_);
fri_session_.addFRISessionListener(new IFRISessionListener() {
@Override
public void onFRISessionStateChanged(FRIChannelInformation friChannelInformation) {
getLogger().info("Session State change " + friChannelInformation.getFRISessionState().toString() );
getLogger().info("Session State change " + friChannelInformation.getFRISessionState().toString());
}

@Override
public void onFRIConnectionQualityChanged(FRIChannelInformation friChannelInformation) {
getLogger().info("Quality change signalled "+friChannelInformation.getQuality());
getLogger().info("Jitter "+friChannelInformation.getJitter());
getLogger().info("Latency "+friChannelInformation.getLatency());
getLogger().info("Quality change signalled " + friChannelInformation.getQuality());
getLogger().info("Jitter " + friChannelInformation.getJitter());
getLogger().info("Latency " + friChannelInformation.getLatency());
}
});
});
// try to connect
try {
fri_session_.await(10, TimeUnit.SECONDS);
Expand All @@ -135,28 +132,28 @@ public void onFRIConnectionQualityChanged(FRIChannelInformation friChannelInform
}
getLogger().info("FRI connection established.");
}

@Override
public void initialize() {
// set FRI parameters
request_user_config();
// configure the FRI
configure_fri();
}

@Override
public void run() {
// run the FRI
lbr_.getFlange().move(positionHold(control_mode_, -1, TimeUnit.SECONDS).addMotionOverlay(fri_overlay_));
lbr_.getFlange().move(positionHold(control_mode_, -1, TimeUnit.SECONDS).addMotionOverlay(fri_overlay_));
return;
}

@Override
public void dispose() {
getLogger().info("Close connection to client");

if (null != fri_session_)
{
fri_session_.close();
}
getLogger().info("Close connection to client");

if (null != fri_session_) {
fri_session_.close();
}
}

}
}

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