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Remove debug condition around sending joint data. #359

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Remove debug condition around sending joint data. #359

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145 changes: 69 additions & 76 deletions dynamixel_workbench_controllers/src/dynamixel_workbench_controllers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -359,96 +359,89 @@ void DynamixelController::readCallback(const ros::TimerEvent&)

id_array[id_cnt++] = (uint8_t)dxl.second;
}
#ifndef DEBUG
if (is_moving_ == false)
if (dxl_wb_->getProtocolVersion() == 2.0f)
{
#endif
if (dxl_wb_->getProtocolVersion() == 2.0f)
result = dxl_wb_->syncRead(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
dynamixel_.size(),
&log);
if (result == false)
{
result = dxl_wb_->syncRead(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
dynamixel_.size(),
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}
ROS_ERROR("%s", log);
}

result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Current"]->address,
control_items_["Present_Current"]->data_length,
get_current,
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}
result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Current"]->address,
control_items_["Present_Current"]->data_length,
get_current,
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}

result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Velocity"]->address,
control_items_["Present_Velocity"]->data_length,
get_velocity,
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}
result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Velocity"]->address,
control_items_["Present_Velocity"]->data_length,
get_velocity,
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}

result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Position"]->address,
control_items_["Present_Position"]->data_length,
get_position,
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}
result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Position"]->address,
control_items_["Present_Position"]->data_length,
get_position,
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}

for(uint8_t index = 0; index < id_cnt; index++)
{
dynamixel_state[index].present_current = get_current[index];
dynamixel_state[index].present_velocity = get_velocity[index];
dynamixel_state[index].present_position = get_position[index];
for(uint8_t index = 0; index < id_cnt; index++)
{
dynamixel_state[index].present_current = get_current[index];
dynamixel_state[index].present_velocity = get_velocity[index];
dynamixel_state[index].present_position = get_position[index];

dynamixel_state_list_.dynamixel_state.push_back(dynamixel_state[index]);
}
dynamixel_state_list_.dynamixel_state.push_back(dynamixel_state[index]);
}
else if(dxl_wb_->getProtocolVersion() == 1.0f)
}
else if(dxl_wb_->getProtocolVersion() == 1.0f)
{
uint16_t length_of_data = control_items_["Present_Position"]->data_length +
control_items_["Present_Velocity"]->data_length +
control_items_["Present_Current"]->data_length;
uint32_t get_all_data[length_of_data];
uint8_t dxl_cnt = 0;
for (auto const& dxl:dynamixel_)
{
uint16_t length_of_data = control_items_["Present_Position"]->data_length +
control_items_["Present_Velocity"]->data_length +
control_items_["Present_Current"]->data_length;
uint32_t get_all_data[length_of_data];
uint8_t dxl_cnt = 0;
for (auto const& dxl:dynamixel_)
result = dxl_wb_->readRegister((uint8_t)dxl.second,
control_items_["Present_Position"]->address,
length_of_data,
get_all_data,
&log);
if (result == false)
{
result = dxl_wb_->readRegister((uint8_t)dxl.second,
control_items_["Present_Position"]->address,
length_of_data,
get_all_data,
&log);
if (result == false)
{
ROS_ERROR("%s", log);
}
ROS_ERROR("%s", log);
}

dynamixel_state[dxl_cnt].present_current = DXL_MAKEWORD(get_all_data[4], get_all_data[5]);
dynamixel_state[dxl_cnt].present_velocity = DXL_MAKEWORD(get_all_data[2], get_all_data[3]);
dynamixel_state[dxl_cnt].present_position = DXL_MAKEWORD(get_all_data[0], get_all_data[1]);
dynamixel_state[dxl_cnt].present_current = DXL_MAKEWORD(get_all_data[4], get_all_data[5]);
dynamixel_state[dxl_cnt].present_velocity = DXL_MAKEWORD(get_all_data[2], get_all_data[3]);
dynamixel_state[dxl_cnt].present_position = DXL_MAKEWORD(get_all_data[0], get_all_data[1]);

dynamixel_state_list_.dynamixel_state.push_back(dynamixel_state[dxl_cnt]);
dxl_cnt++;
}
dynamixel_state_list_.dynamixel_state.push_back(dynamixel_state[dxl_cnt]);
dxl_cnt++;
}
#ifndef DEBUG
}
#endif

#ifdef DEBUG
ROS_WARN("[readCallback] diff_secs : %f", ros::Time::now().toSec() - priv_read_secs);
Expand Down