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//! Unofficial device driver for [Dyn Pick, Wacoh-tech force-torque sensor](https://wacoh-tech.com/en/products/dynpick/). //! # Examples //! ```no_run //! use dynpick_force_torque_sensor::DynpickSensorBuilder; //! //! let mut sensor = DynpickSensorBuilder::open("/dev/ttyUSB0") //! .and_then(|b| b.set_sensitivity_by_builtin_data()) //! .and_then(|b| b.build()) //! .unwrap(); //! //! sensor.zeroed_next().unwrap(); // Calibration //! //! let wrench = sensor.update().unwrap(); //! println!("Force: {}, Torque: {}", wrench.force, wrench.torque); //! ``` //! //! # Dependency under Linux environment //! `libudev-dev` is required under Linux environment. Please install it by //! `sudo apt install libudev-dev` //! //! # Setup //! It may be required to customize udev rules. //! //! [This shell script](https://github.com/Amelia10007/dynpick-force-torque-sensor-rs/blob/master/examples/setup_udev_rule.sh) can be useful for customize (see the file in detail). //! //! # Note //! I tested this crate only by WDF-6M200-3 sensor because I have no other dynpick sensor. #![warn(missing_docs)] use easy_ext::ext; use itertools::Itertools; pub use pair_macro::Triplet; pub use serialport; use serialport::{DataBits, FlowControl, Parity, SerialPort, StopBits}; use std::borrow::Cow; use std::fmt::{self, Display, Formatter}; use std::marker::PhantomData; use std::str::FromStr; use std::time::Duration; /// Marker type for builder. pub struct Ready; /// Marker type for builder. pub struct SensitivityNotSetYet; /// Builder of a connection to a dynpick sensor. /// # Examples /// ```no_run /// use dynpick_force_torque_sensor::DynpickSensorBuilder; /// /// let sensor = DynpickSensorBuilder::open("/dev/ttyUSB0") /// .and_then(|b| b.set_sensitivity_by_builtin_data()) /// .and_then(|b| b.build()) /// .unwrap(); /// ``` pub struct DynpickSensorBuilder<C> { /// Serial port device. port: Box<dyn SerialPort>, /// The sensitivity of the connected sensor. sensitivity: Sensitivity, /// 👻 _calibrated: PhantomData<fn() -> C>, } impl DynpickSensorBuilder<SensitivityNotSetYet> { /// Connects to the dynpick force torque sensor. /// # Params /// 1. `path` The sensor's path. /// /// # Returns /// `Ok(builder)` if successfully connected, `Err(reason)` if failed. /// Before you use the sensor, you need to calibrate the sensor by calling [`Self::set_sensitivity_by_builtin_data`] or [`Self::set_sensitivity_manually`]. /// /// # Examples /// See the example [here](`DynpickSensorBuilder`). pub fn open<'a>( path: impl Into<Cow<'a, str>>, ) -> Result<DynpickSensorBuilder<SensitivityNotSetYet>, Error> { // These settings were determined according to the hardware configuration. let port = serialport::new(path, 921600) .data_bits(DataBits::Eight) .flow_control(FlowControl::None) .parity(Parity::None) .stop_bits(StopBits::One) .timeout(Duration::from_millis(1)) .open() .map_err(Error::SerialPort)?; let builder = Self { port, sensitivity: Sensitivity { digital_per_newton: Triplet::default(), digital_per_newtonmeter: Triplet::default(), }, _calibrated: PhantomData, }; Ok(builder) } /// Set the [`Sensitivity`] of the connected sensor by using the specified sensitivity. /// # Examples /// ```no_run /// use dynpick_force_torque_sensor::{DynpickSensorBuilder, Sensitivity, Triplet}; /// /// let sensitivity = { /// let force = Triplet::new(24.9, 24.6, 24.5); /// let torque = Triplet::new(1664.7, 1639.7, 1638.0); /// Sensitivity::new(force, torque) /// }; /// /// let sensor = DynpickSensorBuilder::open("/dev/ttyUSB0") /// .map(|b| b.set_sensitivity_manually(sensitivity)) /// .and_then(|b| b.build()) /// .unwrap(); /// ``` pub fn set_sensitivity_manually(self, sensitivity: Sensitivity) -> DynpickSensorBuilder<Ready> { DynpickSensorBuilder { port: self.port, sensitivity, _calibrated: PhantomData, } } /// Set the [`Sensitivity`] of the connected sensor, reading its sensitivity from it. /// Some sensors may not support this functionality (`Err(_)` will be returned under this situation). /// # Examples /// See the example [here](`DynpickSensorBuilder`) /// /// # Note /// This method has not been tested yet because my sensor (WDF-6M200-3) does not support this functionality. pub fn set_sensitivity_by_builtin_data(mut self) -> Result<DynpickSensorBuilder<Ready>, Error> { const SENSITIVITY_RESPONSE_LENGTH: usize = 46; // Send and wait. self.port.write_all(&['p' as u8]).map_err(Error::IO)?; std::thread::sleep(self.port.timeout()); let mut res = [0; SENSITIVITY_RESPONSE_LENGTH]; self.port.read_exact(&mut res).map_err(Error::IO)?; let res = std::str::from_utf8(&res).or(Err(Error::Utf8(res.to_vec())))?; let (fx, fy, fz, mx, my, mz) = res .split(',') .map(f64::from_str) .filter_map(Result::ok) .next_tuple() .ok_or(Error::ParseResponse(res.to_owned()))?; let force = Triplet::new(fx, fy, fz); let torque = Triplet::new(mx, my, mz); let sensitivity = Sensitivity::new(force, torque); Ok(self.set_sensitivity_manually(sensitivity)) } } impl DynpickSensorBuilder<Ready> { /// Consuming this builder, attempts to construct a sensor instance. pub fn build(self) -> Result<DynpickSensor, Error> { let mut sensor = DynpickSensor { port: self.port, last_wrench: Wrench::zeroed(), sensitivity: self.sensitivity, }; // First single data request. sensor.request_next_wrench()?; Ok(sensor) } } /// Dynpick 6-axis force-torque sensor. pub struct DynpickSensor { /// Serial port device. port: Box<dyn SerialPort>, /// The latest wrench acquired by `update`. last_wrench: Wrench, /// The sensitivity of the connected sensor. sensitivity: Sensitivity, } impl DynpickSensor { /// Returns the latest wrench that is stored in this instance without communicaing the sensor. /// /// Use [`Self::update`] instead to obtain a new wrench from the sensor. /// # Returns /// `Ok(sensor)` if successfully connected, `Err(reason)` if failed. pub fn last_wrench(&self) -> Wrench { self.last_wrench } /// Returns the sensitivity of this sensor. pub fn sensitivity(&self) -> Sensitivity { self.sensitivity } /// Communicating to the sensor, updates the latest wrench. /// # Returns /// `Ok(wrench)` if succeeds, `Err(reason)` if failed. pub fn update(&mut self) -> Result<Wrench, Error> { const WRENCH_RESPONSE_LENGTH: usize = 27; // Regardless of success or failure of receive and parse the messsage, request the next single data. // If we do not so, after updating failed once, updating will fail everytime due to no reception from the sensor. let mut res = [0; WRENCH_RESPONSE_LENGTH]; self.port .read_exact(&mut res) .map_err(Error::IO) .finalize(|| self.request_next_wrench())?; let res = std::str::from_utf8(&res) .or(Err(Error::Utf8(res.to_vec()))) .finalize(|| self.request_next_wrench())?; let (fx, fy, fz, mx, my, mz) = (0..6) .map(|i| 1 + i * 4) .map(|start| &res[start..start + 4]) .map(|src| i32::from_str_radix(src, 16)) .filter_map(Result::ok) .next_tuple() .ok_or(Error::ParseResponse(res.to_owned())) .finalize(|| self.request_next_wrench())?; let digital_force = Triplet::new(fx, fy, fz); let digital_torque = Triplet::new(mx, my, mz); let force = digital_force .map(|d| d - 8192) .map(|d| d as f64) .map_entrywise(self.sensitivity.digital_per_newton, |d, s| d / s); let torque = digital_torque .map(|d| d - 8192) .map(|d| d as f64) .map_entrywise(self.sensitivity.digital_per_newtonmeter, |d, s| d / s); self.last_wrench = Wrench::new(force, torque); // Send a request to obtain a new wrench. self.request_next_wrench()?; Ok(self.last_wrench) } /// If this method succeeds, the next wrench acquired by [`Self::update`] will be zeroed. /// This methos is useful for zero-point calibration. /// # Examples /// ```no_run /// use dynpick_force_torque_sensor::{DynpickSensorBuilder, Triplet}; /// /// let mut sensor = DynpickSensorBuilder::open("/dev/ttyUSB0") /// .and_then(|b| b.set_sensitivity_by_builtin_data()) /// .and_then(|b| b.build()) /// .unwrap(); /// /// sensor.zeroed_next().unwrap(); /// /// let wrench = sensor.update().unwrap(); /// /// assert_eq!(wrench.force, Triplet::new(0.0, 0.0, 0.0)); /// assert_eq!(wrench.torque, Triplet::new(0.0, 0.0, 0.0)); /// ``` pub fn zeroed_next(&mut self) -> Result<(), Error> { self.port.write_all(&['O' as u8]).map_err(Error::IO) } /// Reads the product info from the sensor. /// # Returns /// `Ok(product_info)` if succeeds, `Err(reason)` if failed. pub fn receive_product_info(&mut self) -> Result<String, Error> { // Buffer may not be empty due to request_next_wrench() or its response. self.port .clear(serialport::ClearBuffer::All) .map_err(Error::SerialPort)?; // Send and wait. self.port.write_all(&['V' as u8]).map_err(Error::IO)?; std::thread::sleep(self.port.timeout()); // The response may be non-fixed size. let bytes = self.port.bytes_to_read().map_err(Error::SerialPort)?; let mut res = vec![0; bytes as usize]; let info = match self.port.read(&mut res) { Ok(_) => match std::str::from_utf8(&res) { Ok(str) => Ok(str.to_owned()), Err(_) => Err(Error::Utf8(res)), }, Err(e) => Err(Error::IO(e)), }; // Restart sensing wrenches. self.request_next_wrench()?; info } /// Returns the reference to the serial port for the sensor. pub fn inner_port(&self) -> &Box<dyn SerialPort> { &self.port } /// Request single wrench. fn request_next_wrench(&mut self) -> Result<(), Error> { self.port.write_all(&['R' as u8]).map_err(Error::IO) } } /// Represents an error occurred while communicating sensors. #[derive(Debug)] pub enum Error { /// Failed to manipulate the port for the sensor. SerialPort(serialport::Error), /// Failed to read or write data during communication. IO(std::io::Error), /// The received data cannot be interpleted with UTF-8. /// Inner value is the raw reception. Utf8(Vec<u8>), /// Received an unexpected format string. /// Inner value is the raw string. ParseResponse(String), } impl Display for Error { fn fmt(&self, f: &mut Formatter<'_>) -> fmt::Result { match self { Error::SerialPort(e) => write!(f, "SerialPort: {}", e), Error::IO(e) => write!(f, "IO: {}", e), Error::Utf8(v) => write!( f, "The response from the sensor is invalid for utf8. Raw response: {:X?}", v ), Error::ParseResponse(res) => write!( f, "Failed to parse the response from the sensor. The response: {}", res ), } } } impl std::error::Error for Error { fn source(&self) -> Option<&(dyn std::error::Error + 'static)> { match self { Error::SerialPort(e) => Some(e), Error::IO(e) => Some(e), _ => None, } } } /// A pair of force and torque. #[derive(Debug, Copy, Clone, PartialEq)] pub struct Wrench { /// 3-dimensional force in Newton. pub force: Triplet<f64>, /// 3-dimensional torque in NewtonMeter. pub torque: Triplet<f64>, } impl Wrench { /// Returns a new wrench. pub fn new(force: Triplet<f64>, torque: Triplet<f64>) -> Wrench { Self { force, torque } } /// Returns a new wrench, initializing it to 0 Newton and 0 NewtonMeter. pub fn zeroed() -> Wrench { Wrench::new(Triplet::default(), Triplet::default()) } } /// How much the digital value from the sensor increses per 1 Newton (for force) and per 1 NewtonMeter (for torque). #[derive(Debug, Clone, Copy, PartialEq)] pub struct Sensitivity { /// How much the digital value from the sensor increses per 1 Newton. digital_per_newton: Triplet<f64>, /// How much the digital value from the sensor increses per 1 NewtonMeter. digital_per_newtonmeter: Triplet<f64>, } impl Sensitivity { /// Initialize a new sensitivity of a sensor. /// # Params /// 1. `digital_per_newton` How much the digital value from the sensor increses per 1 Newton. /// 1. `digital_per_newtonmeter` How much the digital value from the sensor increses per 1 NewtonMeter. pub fn new( digital_per_newton: Triplet<f64>, digital_per_newtonmeter: Triplet<f64>, ) -> Sensitivity { Self { digital_per_newton, digital_per_newtonmeter, } } } // Helper trait #[ext] impl<T, E> Result<T, E> { /// # Returns /// `Ok(v)` without calling `f` if itself is `Ok(v)`. /// `Err(e1)` if itself if `Err(e1)` and `f` returns `Ok()`. /// `Err(e2)` if itself if `Err(e1)` and `f` returns `Err(e2)`. fn finalize<U, F>(self, f: F) -> Self where F: FnOnce() -> Result<U, E>, { match self { Ok(value) => Ok(value), Err(e1) => match f() { Ok(_) => Err(e1), Err(e2) => Err(e2), }, } } }