AP_Gripper: a general gripper frontend

libraries/AP_Gripper/AP_Gripper.cpp

@@ -0,0 +1,81 @@
+#include "AP_Gripper.h"
+
+#include "AP_Gripper_Servo.h"
+
+extern const AP_HAL::HAL& hal;
+
+#define GRIPPER_GRAB_PWM_DEFAULT        1900
+#define GRIPPER_RELEASE_PWM_DEFAULT     1100
+
+const AP_Param::GroupInfo AP_Gripper::var_info[] = {
+    // @Param: ENABLE
+    // @DisplayName: Gripper Enable/Disable
+    // @Description: Gripper enable/disable
+    // @User: Standard
+    // @Values: 0:Disabled, 1:Enabled
+    AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Gripper, _enabled, 0, AP_PARAM_FLAG_ENABLE),
+
+    // @Param: TYPE
+    // @DisplayName: Gripper Type
+    // @Description: Gripper enable/disable
+    // @User: Standard
+    // @Values: 0:None,1:Servo,2:EPM
+    AP_GROUPINFO("TYPE", 1, AP_Gripper, config.type, 0),
+
+    // @Param: GRAB
+    // @DisplayName: Gripper Grab PWM
+    // @Description: PWM value sent to Gripper to initiate grabbing the cargo
+    // @User: Advanced
+    // @Range: 1000 2000
+    AP_GROUPINFO("GRAB",    2, AP_Gripper, config.grab_pwm, GRIPPER_GRAB_PWM_DEFAULT),
+
+    // @Param: RELEASE
+    // @DisplayName: Gripper Release PWM
+    // @Description: PWM value sent to Gripper to release the cargo
+    // @User: Advanced
+    // @Range: 1000 2000
+    AP_GROUPINFO("RELEASE", 3, AP_Gripper, config.release_pwm, GRIPPER_RELEASE_PWM_DEFAULT),
+
+    AP_GROUPEND
+};
+
+AP_Gripper::AP_Gripper()
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
+void AP_Gripper::init()
+{
+    // return immediately if not enabled
+    if (!_enabled.get()) {
+        return;
+    }
+
+    switch(config.type.get()) {
+    case 0:
+        break;
+    case 1:
+        backend = new AP_Gripper_Servo(config);
+        break;
+    default:
+        break;
+    }
+    if (backend != nullptr) {
+        backend->init();
+    }
+}
+
+// update - should be called at at least 10hz
+#define PASS_TO_BACKEND(function_name) \
+    void AP_Gripper::function_name()   \
+    {                                  \
+        if (backend != nullptr) {      \
+            backend->function_name();  \
+        }                              \
+    }
+
+PASS_TO_BACKEND(grab)
+PASS_TO_BACKEND(release)
+PASS_TO_BACKEND(update)
+
+#undef PASS_TO_BACKEND

libraries/AP_Gripper/AP_Gripper.h

@@ -0,0 +1,52 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <AP_Param/AP_Param.h>
+
+class AP_Gripper_Backend;
+
+class AP_Gripper {
+public:
+    AP_Gripper();
+
+    // initialise the gripper
+    void init();
+
+    // grab - move the servo to the grab position
+    void grab();
+
+    // release - move the servo output to the release position
+    void release();
+
+    // update - should be called at at least 10hz
+    void update();
+
+    static const struct AP_Param::GroupInfo        var_info[];
+
+    // parameters
+    AP_Int8     _enabled;               // grabber enable/disable
+
+    struct Backend_Config {
+        AP_Int8     type;                  // grabber type (e.g. EPM or servo)
+        AP_Int16    grab_pwm;              // PWM value sent to Gripper to initiate grabbing the cargo
+        AP_Int16    release_pwm;           // PWM value sent to Gripper to release the cargo
+    } config;
+
+private:
+
+    AP_Gripper_Backend *backend;
+};

libraries/AP_Gripper/AP_Gripper_Backend.cpp

@@ -0,0 +1,14 @@
+#include "AP_Gripper_Backend.h"
+
+extern const AP_HAL::HAL& hal;
+
+void AP_Gripper_Backend::init()
+{
+    init_gripper();
+}
+
+// update - should be called at at least 10hz
+void AP_Gripper_Backend::update()
+{
+    update_gripper();
+}

libraries/AP_Gripper/AP_Gripper_Backend.h

@@ -0,0 +1,46 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <AP_Gripper/AP_Gripper.h>
+
+class AP_Gripper_Backend {
+public:
+    AP_Gripper_Backend(struct AP_Gripper::Backend_Config &_config) :
+        config(_config) { }
+
+    // initialise the gripper backend
+    void init();
+
+    // update - should be called at at least 10hz
+    void update();
+
+    // grab - move the servo to the grab position
+    virtual void grab() = 0;
+
+    // release - move the servo output to the release position
+    virtual void release() = 0;
+
+    // type-specific intiailisations:
+    virtual void init_gripper() = 0;
+
+    // type-specific periodic updates:
+    virtual void update_gripper() { };
+
+protected:
+
+    struct AP_Gripper::Backend_Config &config;
+};

libraries/AP_Gripper/AP_Gripper_Servo.cpp

@@ -0,0 +1,24 @@
+#include <AP_Gripper/AP_Gripper_Servo.h>
+
+extern const AP_HAL::HAL& hal;
+
+void AP_Gripper_Servo::init_gripper()
+{
+    // move the servo to the release position
+    RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.release_pwm);
+}
+
+void AP_Gripper_Servo::grab()
+{
+    // move the servo to the release position
+    RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.grab_pwm);
+}
+
+void AP_Gripper_Servo::release()
+{
+    // move the servo to the release position
+    RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.release_pwm);
+}
+
+    // type-specific periodic updates:
+void AP_Gripper_Servo::update_gripper() { };

libraries/AP_Gripper/AP_Gripper_Servo.h

@@ -0,0 +1,40 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <AP_Gripper/AP_Gripper_Backend.h>
+#include <RC_Channel/RC_Channel.h>
+
+class AP_Gripper_Servo : public AP_Gripper_Backend {
+public:
+
+    AP_Gripper_Servo(struct AP_Gripper::Backend_Config &_config) :
+        AP_Gripper_Backend(_config) { }
+
+    // grab - move the servo to the grab position
+    void grab() override;
+
+    // release - move the servo output to the release position
+    void release() override;
+
+protected:
+
+    // type-specific intiailisations:
+    void init_gripper() override;
+
+    // type-specific periodic updates:
+    void update_gripper() override;
+};