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[spinal][rqt][servo monitor] add joint calib function only for dynamixel #722

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[spinal][rqt][servo monitor] add joint calib function only for dynamixel #722

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51 changes: 35 additions & 16 deletions aerial_robot_nerve/spinal/src/spinal/servo_monitor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,9 @@ def __init__(self, context):
jointCalibAction = QAction("joint calib", self._widget.servoTableWidget)
jointCalibAction.triggered.connect(self.jointCalib)
self._widget.servoTableWidget.addAction(jointCalibAction)
dynamixeljointCalibAction = QAction("dynamixel joint calib", self._widget.servoTableWidget)
dynamixeljointCalibAction.triggered.connect(self.DynamixeljointCalib)
self._widget.servoTableWidget.addAction(dynamixeljointCalibAction)
boardRebootAction = QAction("board reboot", self._widget.servoTableWidget)
boardRebootAction.triggered.connect(self.boardReboot)
self._widget.servoTableWidget.addAction(boardRebootAction)
Expand Down Expand Up @@ -168,30 +171,29 @@ def allServoOnButtonCallback(self):
def allServoOffButtonCallback(self):
self.allServoTorqueControl(0)

def jointCalib(self):
servo_index = self._widget.servoTableWidget.currentIndex().row()
def _doHomingOffset(self, servo_index, homing_value): # NEW
if servo_index == -1:
rospy.logerr("No servo exists")
return

board_id = int(self._widget.servoTableWidget.item(servo_index, self._headers.index("board")).text())
servo_id = int(self._widget.servoTableWidget.item(servo_index, self._headers.index("index")).text())
req = None
if(board_id == 0):

board_col = self._headers.index("board")
idx_col = self._headers.index("index")
board_id = int(self._widget.servoTableWidget.item(servo_index, board_col).text())
servo_id = int(self._widget.servoTableWidget.item(servo_index, idx_col).text())

if board_id == 0:
req = SetDirectServoConfigRequest()
req.data.append(servo_id)
else:
req = SetBoardConfigRequest()
req.data.append(board_id)
req.data.append(servo_id)
try:
req.data.append(int(self._widget.homingOffsetLineEdit.text()))
except ValueError as e:
print(e)
return

# offset value
req.data.append(int(homing_value))
req.command = req.SET_SERVO_HOMING_OFFSET

#need to disable servo torque
# servo disable
servo_trq_msg = ServoTorqueCmd()
servo_trq_msg.index = [servo_index]
servo_trq_msg.torque_enable = [0]
Expand All @@ -202,13 +204,30 @@ def jointCalib(self):
rospy.loginfo('command: ' + str(req.command))
rospy.loginfo('data: ' + str(req.data))
try:
if(board_id == 0):
if board_id == 0:
res = self.set_direct_servo_config_client_(req)
else:
res = self.set_board_config_client_(req)
rospy.loginfo(bool(res.success))
rospy.loginfo(bool(res.success))
except rospy.ServiceException as e:
print("/set_board_config service call failed: %s"%e)
print("/set_board_config service call failed: %s" % e)

def jointCalib(self):
servo_index = self._widget.servoTableWidget.currentIndex().row()
try:
val = int(self._widget.homingOffsetLineEdit.text())
except ValueError as e:
print(e)
return
self._doHomingOffset(servo_index, val)

def DynamixeljointCalib(self):
servo_index = self._widget.servoTableWidget.currentIndex().row()
self._doHomingOffset(servo_index, 2047)
try:
self._widget.homingOffsetLineEdit.setText("2047")
except Exception:
pass

def boardReboot(self):
servo_index = self._widget.servoTableWidget.currentIndex().row()
Expand Down