1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199

use crate::{
    arm_controller::{ArmController, EndEffectorPose},
    arm_driver::{ArmControlSettings, JointPositions, ServoControlSettings},
    collision_handler::CollisionHandler,
};
use anyhow::Result;
use nalgebra as na;
use std::time::Duration;
use tokio::time::sleep;

/// Selects time it would take to take this trajectory at given speed
/// Picks the longer time for motion wether it is the rotation or translation
fn estimate_time(
    start: &EndEffectorPose,
    target: &EndEffectorPose,
    translation_speed: f32,
    rotational_speed: f32,
) -> Duration {
    let linear_distance = na::distance(&start.position.into(), &target.position.into());
    let angular_distance = (start.end_effector_angle - target.end_effector_angle).abs();

    let translation_time_sec = linear_distance / translation_speed;
    let angular_time_sec = angular_distance / rotational_speed;

    let bigger_time = translation_time_sec.max(angular_time_sec);

    Duration::from_secs_f32(bigger_time)
}

pub struct MotionController {
    arm_controller: Box<dyn ArmController>,
    collision_handler: CollisionHandler,
    /// move speed in m/s
    translation_speed: f32,
    /// degree per second
    // should be rad really
    rotational_speed: f32,
    last_pose: EndEffectorPose,
}

impl MotionController {
    pub async fn new(
        mut arm_controller: Box<dyn ArmController>,
        collision_handler: CollisionHandler,
        translation_speed: f32,
        rotational_speed: f32,
    ) -> Result<Self> {
        arm_controller
            .setup_motors(ArmControlSettings::included_trajectory())
            .await?;
        let last_pose = arm_controller
            .read_position()
            .await?
            .get_end_effector_pose();
        Ok(Self {
            arm_controller,
            collision_handler,
            translation_speed,
            rotational_speed,
            last_pose,
        })
    }

    pub async fn open_gripper(&mut self) -> Result<()> {
        self.arm_controller.move_gripper(0.0).await?;
        Ok(())
    }

    pub async fn close_gripper(&mut self) -> Result<()> {
        self.arm_controller.move_gripper(1.0).await?;
        Ok(())
    }

    pub async fn move_to(&mut self, target: EndEffectorPose) -> Result<()> {
        let duration = estimate_time(
            &self.last_pose,
            &target,
            self.translation_speed,
            self.rotational_speed,
        );
        if let Ok((positions, joints)) = self.arm_controller.calculate_full_poses(target.clone()) {
            if self.collision_handler.pose_collision_free(&positions) {
                self.arm_controller
                    .move_joints_timed(joints, duration)
                    .await?;
                self.last_pose = target;
            } else {
                self.arm_controller
                    .set_color(lss_driver::LedColor::Yellow)
                    .await?;
            }
        } else {
            self.arm_controller
                .set_color(lss_driver::LedColor::Red)
                .await?;
        }
        Ok(())
    }

    pub async fn move_to_blocking(&mut self, target: EndEffectorPose) -> Result<()> {
        let duration = estimate_time(
            &self.last_pose,
            &target,
            self.translation_speed,
            self.rotational_speed,
        );
        if let Ok((positions, joints)) = self.arm_controller.calculate_full_poses(target.clone()) {
            if self.collision_handler.pose_collision_free(&positions) {
                self.arm_controller
                    .set_color(lss_driver::LedColor::Cyan)
                    .await?;
                self.arm_controller
                    .move_joints_timed(joints, duration)
                    .await?;
                self.last_pose = target;
                sleep(duration).await;
                self.arm_controller
                    .set_color(lss_driver::LedColor::Magenta)
                    .await?;
            } else {
                self.arm_controller
                    .set_color(lss_driver::LedColor::Yellow)
                    .await?;
            }
        } else {
            self.arm_controller
                .set_color(lss_driver::LedColor::Red)
                .await?;
        }
        Ok(())
    }

    pub async fn apply_settings(&mut self) -> Result<()> {
        self.arm_controller
            .setup_motors(ArmControlSettings::included_trajectory())
            .await?;
        Ok(())
    }

    pub async fn home(&mut self) -> Result<()> {
        let lifted_home = JointPositions::new(0.0, -80.0, 82.0, 15.0);
        self.arm_controller
            .move_joints_timed(lifted_home, Duration::from_millis(900))
            .await?;
        sleep(Duration::from_millis(900)).await;
        let relaxed_arm_settings = ArmControlSettings {
            shoulder: Some(ServoControlSettings {
                angular_holding_stiffness: Some(-40),
                angular_stiffness: Some(-40),
                ..Default::default()
            }),
            elbow: Some(ServoControlSettings {
                angular_holding_stiffness: Some(-40),
                angular_stiffness: Some(-40),
                ..Default::default()
            }),
            wrist: Some(ServoControlSettings {
                angular_holding_stiffness: Some(-40),
                angular_stiffness: Some(-40),
                ..Default::default()
            }),
            ..Default::default()
        };
        self.arm_controller
            .setup_motors(relaxed_arm_settings)
            .await?;
        self.arm_controller
            .set_color(lss_driver::LedColor::Red)
            .await?;
        sleep(Duration::from_secs(4)).await;
        self.arm_controller
            .set_color(lss_driver::LedColor::Off)
            .await?;
        self.arm_controller.limp().await?;
        Ok(())
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use approx::assert_relative_eq;

    #[test]
    fn pick_longer_time_translation() {
        let start = EndEffectorPose::new(na::Vector3::new(0.0, 0.0, 0.0), 0.0);
        let target = EndEffectorPose::new(na::Vector3::new(10.0, 0.0, 0.0), 2.0);
        let duration = estimate_time(&start, &target, 1.0, 1.0);
        assert_relative_eq!(duration.as_secs_f32(), 10.0);
    }

    #[test]
    fn pick_longer_time_rotation() {
        let start = EndEffectorPose::new(na::Vector3::new(0.0, 0.0, 0.0), 0.0);
        let target = EndEffectorPose::new(na::Vector3::new(10.0, 0.0, 0.0), 20.0);
        let duration = estimate_time(&start, &target, 1.0, 1.0);
        assert_relative_eq!(duration.as_secs_f32(), 20.0);
    }
}