Control::Controller Class Reference

#include <controller.h>

Inheritance diagram for Control::Controller:

Collaboration diagram for Control::Controller:

Public Member Functions
	Controller ()
	Standalone Class for Controlling a UR3e. Typically reads data from .mipi files for plaback on a piano. Exposes various services for control.
	~Controller ()
	Standard Destructor for Controller Class.

Private Member Functions
General Methods
Methods used throughout the class for various purposes
void	sendTwistMsg (double x, double y, double z, double angular_x=0.0, double angular_y=0.0, double angular_z=0.0)
	A convenience method that neatly packs up a twist messge and publishes it to the UR_Driver.
void	sendJointJog (double shoulder_lift, double elbow, double wrist_1, double wrist_2, double wrist_3, double shoulder_pan)
	A wrapper for sending joint jog commands for direct joint velocity control.
void	sendJointJog (std::vector< double > vel)
	A secondary wrapper for the sending Joint Jog commands that takes a vector instead of individual velocities.
void	sendVector (const vector3 &vec)
	The public method for sending translational End Effector vector commands to the UR3e.
void	sendStop ()
	A simple helper method for immediately sending stop to the UR3e.
int	activeTrackDebug (vector3 target, bool x=false, bool y=false, bool z=false)
	A method for enabling "activeTrack" mode, allowing for live visual servoing following a topic.
Startup & Shutdown Sequence
Functions related to the startup and shutdown sequence of the controller
void	startup ()
	The startup sequence that moves the robot into the starting position for playing.
Subscriber Callbacks
All Subscriber callbacks that the Controller Class uses
void	debug_target_callback (const geometry_msgs::msg::Point::SharedPtr msg)
	Callback function for catching the debug subscriber, used to activate activeTrack.
void	key_positions_callback (const geometry_msgs::msg::PoseArray::SharedPtr msg)
	Subscriber Callback that obtains the key positions from the.
void	joint_state_callback (const sensor_msgs::msg::JointState::SharedPtr msg)
	Subscriber Callback that obtains the joint state of the robot.
Service Callbacks
All Service callbacks that the Controller Class uses
void	load_callback (const std::shared_ptr< jamc::srv::Load::Request > request, std::shared_ptr< jamc::srv::Load::Response > response)
	Callback function for the Load Service, used to load .mipi files and select which instrument channel.
void	time_scale_callback (const std::shared_ptr< jamc::srv::TimeScale::Request > request, std::shared_ptr< jamc::srv::TimeScale::Response > response)
	Callback function for the TimeScale Service, used to set the time scaling factor for playback.
void	play_pause_callback (const std::shared_ptr< jamc::srv::Func::Request > request, std::shared_ptr< jamc::srv::Func::Response > response)
	Callback function for the Play/Pause Service, used to toggle playback of the current track.
void	play_direction_callback (const std::shared_ptr< jamc::srv::Func::Request > request, std::shared_ptr< jamc::srv::Func::Response > response)
	Callback function for the Play Direction Service, used to toggle the direction of playback.
void	debug_service_callback (const std::shared_ptr< jamc::srv::Func::Request > request, std::shared_ptr< jamc::srv::Func::Response > response)
	Callback function for the debug service, used to test anything.
Control Loop
Functions related to the control loop of the controller
void	control_loop ()
	The main control loop that runs when the control node starts.
double	calculate_z (double xy)
	A helper method for calculating the target Z velocity (Scaled to meet a target height based on the X&Y magnitued)
std::optional< vector3 >	calculate_velocity (int note)
	Velocity calculation for control loop. If the note is not visible, will travel in the parallel to the keyboard to find it.
std::optional< vector3 >	play_note (double duration, double time)
	Plays a single note or presses a button, streams Z velocity for a hardcoded duration to push down on whatever the EE is above.

Private Attributes
Variables & Helpers
Variables used by the class
long	CONTROL_TIME
Clock::time_point	LAST_CONTROL_TIME_POINT
STATE	state_
MidiProcessor	connor
std::mutex	key_positions_mutex_
geometry_msgs::msg::PoseArray	key_positions_
std::mutex	song_mutex_
std::vector< int >	song_
std::vector< double >	note_timings_
std::vector< double >	note_durations_
bool	play_ = false
double	time_scale_ = 1.0
bool	direction_ = true
int	current_note_index_ = 0
bool	song_loaded_ = false
std::mutex	joint_mutex_
std::vector< double >	latest_joint_state_
rclcpp::TimerBase::SharedPtr	control_timer_
rclcpp::TimerBase::SharedPtr	startup_timer_
bool	startup_complete_ = false
Publishers
All Publishers that the Controller Class uses
rclcpp::Publisher< geometry_msgs::msg::TwistStamped >::SharedPtr	twist_pub_
rclcpp::Publisher< control_msgs::msg::JointJog >::SharedPtr	joint_traj_streaming_pub_
Subscribers
All Subscribers that the Controller Class uses
rclcpp::Subscription< geometry_msgs::msg::Point >::SharedPtr	debug_target_sub_
rclcpp::Subscription< geometry_msgs::msg::PoseArray >::SharedPtr	key_positions_sub_
rclcpp::Subscription< sensor_msgs::msg::JointState >::SharedPtr	joint_state_sub_
Services
Services that the Controller Class provides
rclcpp::Service< jamc::srv::Load >::SharedPtr	load_service_
rclcpp::Service< jamc::srv::TimeScale >::SharedPtr	time_service_
rclcpp::Service< jamc::srv::Func >::SharedPtr	play_pause_service_
rclcpp::Service< jamc::srv::Func >::SharedPtr	play_direction_service_
rclcpp::Service< jamc::srv::Func >::SharedPtr	debug_service_

Constructor & Destructor Documentation

Controller()

Control::Controller::Controller

(

)

Standalone Class for Controlling a UR3e. Typically reads data from .mipi files for plaback on a piano. Exposes various services for control.

This class contains the following ROS2 I/O

• Services
  • '-/MIPI/load' (jamc/srv/Load): Takes a string which should be the filepath to a .mipi file to be loaded, and an integer that is the index of the instrument to play
  • '-/MIPI/time_scale' (jamc/srv/TimeScale): Take a float between 0 and 1 used to scale the speed of playback
  • '-/MIPI/play_pause' (jamc/srv/Func): Takes an empty, this is a trigger service used to play and pause the playback
  • '-/MIPI/direction' (jamc/srv/Func): Takes an empty, this is a trigger service used to toggle the direction of playback

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~Controller()

Control::Controller::~Controller

(

)

Standard Destructor for Controller Class.

Member Function Documentation

activeTrackDebug()

int Control::Controller::activeTrackDebug ( vector3  target, bool  x = false, bool  y = false, bool  z = false  )

private

A method for enabling "activeTrack" mode, allowing for live visual servoing following a topic.

Parameters

target	A vector3 struct that is the target
x	A bool to enable motion in the X plane
y	A bool to enable motion in the Y plane
z	A bool to enable motion in the Z plane

calculate_velocity()

std::optional< vector3 > Control::Controller::calculate_velocity ( int  note )

private

Velocity calculation for control loop. If the note is not visible, will travel in the parallel to the keyboard to find it.

Parameters

note	The MIDI note value for the current note being played

calculate_z()

double Control::Controller::calculate_z ( double  xy )

private

A helper method for calculating the target Z velocity (Scaled to meet a target height based on the X&Y magnitued)

Parameters

xy	The magnitude of the vector in the x and y direction

control_loop()

void Control::Controller::control_loop ( )

private

The main control loop that runs when the control node starts.

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debug_service_callback()

void Control::Controller::debug_service_callback ( const std::shared_ptr< jamc::srv::Func::Request >  request, std::shared_ptr< jamc::srv::Func::Response >  response  )

private

Callback function for the debug service, used to test anything.

Parameters

request	The request from the service call, empty for this trigger service
response	The response for the service call, containing a message

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debug_target_callback()

void Control::Controller::debug_target_callback ( const geometry_msgs::msg::Point::SharedPtr  msg )

private

Callback function for catching the debug subscriber, used to activate activeTrack.

Parameters

msg	Input from the topic subscription

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joint_state_callback()

void Control::Controller::joint_state_callback ( const sensor_msgs::msg::JointState::SharedPtr  msg )

private

Subscriber Callback that obtains the joint state of the robot.

Parameters

msg	JointState object that contains the robots joint state

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key_positions_callback()

void Control::Controller::key_positions_callback ( const geometry_msgs::msg::PoseArray::SharedPtr  msg )

private

Subscriber Callback that obtains the key positions from the.

Parameters

msg	PoseArray containing the positions of the keys

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load_callback()

void Control::Controller::load_callback ( const std::shared_ptr< jamc::srv::Load::Request >  request, std::shared_ptr< jamc::srv::Load::Response >  response  )

private

Callback function for the Load Service, used to load .mipi files and select which instrument channel.

Parameters

request	The request from the service call, containing the filepath and instrument index
response	The response for the service call, containing a message

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play_direction_callback()

void Control::Controller::play_direction_callback ( const std::shared_ptr< jamc::srv::Func::Request >  request, std::shared_ptr< jamc::srv::Func::Response >  response  )

private

Callback function for the Play Direction Service, used to toggle the direction of playback.

Parameters

request	The request from the service call, empty for this trigger service
response	The response for the service call, containing a message

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play_note()

std::optional< vector3 > Control::Controller::play_note ( double  duration, double  time  )

private

Plays a single note or presses a button, streams Z velocity for a hardcoded duration to push down on whatever the EE is above.

Parameters

duration	The time to hold the note for
time	The current time into the note

play_pause_callback()

void Control::Controller::play_pause_callback ( const std::shared_ptr< jamc::srv::Func::Request >  request, std::shared_ptr< jamc::srv::Func::Response >  response  )

private

Callback function for the Play/Pause Service, used to toggle playback of the current track.

Parameters

request	The request from the service call, empty for this trigger service
response	The response for the service call, containing a message

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sendJointJog() [1/2]

void Control::Controller::sendJointJog ( double  shoulder_lift, double  elbow, double  wrist_1, double  wrist_2, double  wrist_3, double  shoulder_pan  )

private

A wrapper for sending joint jog commands for direct joint velocity control.

Parameters

shoulder_lift	Velocity for the shoulder lift joint
elbow	Velocity for the elbow joint
wrist_1	Velocity for the wrist 1 joint
wrist_2	Velocity for the wrist 2 joint
wrist_3	Velocity for the wrist 3 joint
shoulder_pan	Velocity for the shoulder pan joint

sendJointJog() [2/2]

void Control::Controller::sendJointJog ( std::vector< double >  vel )

private

A secondary wrapper for the sending Joint Jog commands that takes a vector instead of individual velocities.

Parameters

vel	A vector of doubles containing the joint velocities

sendStop()

void Control::Controller::sendStop ( )

private

A simple helper method for immediately sending stop to the UR3e.

sendTwistMsg()

void Control::Controller::sendTwistMsg ( double  x, double  y, double  z, double  angular_x = 0.0, double  angular_y = 0.0, double  angular_z = 0.0  )

private

A convenience method that neatly packs up a twist messge and publishes it to the UR_Driver.

Parameters

x	A double for translational velocity of the End Effector in the X axis
y	A double for translational velocity of the End Effector in the Y axis
z	A double for translational velocity of the End Effector in the Z axis
angular_x	A double for rotational velocity of the End Effector in the X axis (Optional, Defaults to 0.0)
angular_y	A double for rotational velocity of the End Effector in the Y axis (Optional, Defaults to 0.0)
angular_z	A double for rotational velocity of the End Effector in the Z axis (Optional, Defaults to 0.0)

sendVector()

void Control::Controller::sendVector ( const vector3 &  vec )

private

The public method for sending translational End Effector vector commands to the UR3e.

Parameters

vec	Takes a vector3 struct (included in this class, or declared using {x, y, z})

startup()

void Control::Controller::startup ( )

private

The startup sequence that moves the robot into the starting position for playing.

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time_scale_callback()

void Control::Controller::time_scale_callback ( const std::shared_ptr< jamc::srv::TimeScale::Request >  request, std::shared_ptr< jamc::srv::TimeScale::Response >  response  )

private

Callback function for the TimeScale Service, used to set the time scaling factor for playback.

Parameters

request	The request from the service call, containing the time scale factor
response	The response for the service call, containing a message

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Member Data Documentation

connor

MidiProcessor Control::Controller::connor

private

CONTROL_TIME

long Control::Controller::CONTROL_TIME

private

control_timer_

rclcpp::TimerBase::SharedPtr Control::Controller::control_timer_

private

current_note_index_

int Control::Controller::current_note_index_ = 0

private

debug_service_

rclcpp::Service<jamc::srv::Func>::SharedPtr Control::Controller::debug_service_

private

debug_target_sub_

rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr Control::Controller::debug_target_sub_

private

direction_

bool Control::Controller::direction_ = true

private

joint_mutex_

std::mutex Control::Controller::joint_mutex_

private

joint_state_sub_

rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr Control::Controller::joint_state_sub_

private

joint_traj_streaming_pub_

rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr Control::Controller::joint_traj_streaming_pub_

private

key_positions_

geometry_msgs::msg::PoseArray Control::Controller::key_positions_

private

key_positions_mutex_

std::mutex Control::Controller::key_positions_mutex_

private

key_positions_sub_

rclcpp::Subscription<geometry_msgs::msg::PoseArray>::SharedPtr Control::Controller::key_positions_sub_

private

LAST_CONTROL_TIME_POINT

Clock::time_point Control::Controller::LAST_CONTROL_TIME_POINT

private

latest_joint_state_

std::vector<double> Control::Controller::latest_joint_state_

private

load_service_

rclcpp::Service<jamc::srv::Load>::SharedPtr Control::Controller::load_service_

private

note_durations_

std::vector<double> Control::Controller::note_durations_

private

note_timings_

std::vector<double> Control::Controller::note_timings_

private

play_

bool Control::Controller::play_ = false

private

play_direction_service_

rclcpp::Service<jamc::srv::Func>::SharedPtr Control::Controller::play_direction_service_

private

play_pause_service_

rclcpp::Service<jamc::srv::Func>::SharedPtr Control::Controller::play_pause_service_

private

song_

std::vector<int> Control::Controller::song_

private

song_loaded_

bool Control::Controller::song_loaded_ = false

private

song_mutex_

std::mutex Control::Controller::song_mutex_

private

startup_complete_

bool Control::Controller::startup_complete_ = false

private

startup_timer_

rclcpp::TimerBase::SharedPtr Control::Controller::startup_timer_

private

state_

STATE Control::Controller::state_

private

time_scale_

double Control::Controller::time_scale_ = 1.0

private

time_service_

rclcpp::Service<jamc::srv::TimeScale>::SharedPtr Control::Controller::time_service_

private

twist_pub_

rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr Control::Controller::twist_pub_

private

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The documentation for this class was generated from the following files:

• include/control/controller.h
• src/control/controller.cpp