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//! Unofficial device driver for [Leptrino force torque sensors](https://www.leptrino.co.jp/). //! //! Line up of Leptrino sensor is available [here](https://www.leptrino.co.jp/PDF/CFSHP.pdf). //! //! # Examples //! ```no_run //! use leptrino_force_torque_sensor::{LeptrinoSensor, Product}; //! //! let mut sensor = LeptrinoSensor::open(Product::Pfs055Ya251U6, "/dev/ttyUSB0").unwrap(); //! //! let wrench = sensor.update().unwrap(); //! println!("{:?}", wrench); //! ``` //! //! # 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 if you use usb-connected sensors. //! //! [This shell script](https://github.com/Amelia10007/leptrino-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 Pfs055Ya251U6 sensor because I have no other Leptrino sensor. #![warn(missing_docs)] mod parse; use itertools::Itertools; pub use pair_macro::Triplet; pub use parse::ParseError; pub use serialport; use serialport::{DataBits, FlowControl, Parity, SerialPort, StopBits}; use std::borrow::Cow; use std::convert::TryInto; use std::fmt::{self, Display, Formatter}; use std::time::Duration; /// Leptrino 6-axis force-torque sensor. /// # Examples /// ```no_run /// use leptrino_force_torque_sensor::{LeptrinoSensor, Product}; /// /// let mut sensor = LeptrinoSensor::open(Product::Pfs055Ya251U6, "/dev/ttyUSB0").unwrap(); /// /// let wrench = sensor.update().unwrap(); /// println!("{:?}", wrench); /// ``` pub struct LeptrinoSensor { /// Product kind of the connected sensor. product: Product, /// Serial port device. port: Box<dyn SerialPort>, /// The latest wrench acquired by `update`. last_raw_wrench: Wrench, /// The rated wrench acquired from the sensor. rated_wrench: Wrench, /// Offset used by latest_wrench() and zeroed(). offset: Wrench, } impl LeptrinoSensor { /// Connects to the Leptrino force torque sensor. /// # Params /// 1. `product` specify a sensor product. /// 1. `path` The sensor's path. /// /// # Returns /// `Ok(sensor)` if successfully connected, `Err(reason)` if failed. /// /// # Examples /// See the example [here](`LeptrinoSensor`). pub fn open<'a>( product: Product, path: impl Into<Cow<'a, str>>, ) -> Result<LeptrinoSensor, Error> { // These settings were determined according to the hardware configuration. let mut port = serialport::new(path, 9600) .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)?; // Obtain the rated wrench, parsing the response. send_command(&mut port, &[0x04, 0xFF, 0x2B, 0x00])?; std::thread::sleep(port.timeout()); let res = receive_message(&mut port)?; let (fx, fy, fz, mx, my, mz) = (0..6) .map(|i| 4 + i * 4) .filter_map(|start| res.get(start..start + 4)) .map(|res| f32::from_le_bytes(res.try_into().unwrap())) .map(|digital| digital as f64) .next_tuple() .ok_or(Error::ParseData)?; let force = Triplet::new(fx, fy, fz); let torque = Triplet::new(mx, my, mz); let rated_wrench = Wrench::new(force, torque); // let mut sensor = Self { product, port, last_raw_wrench: Wrench::zeroed(), rated_wrench, offset: Wrench::zeroed(), }; sensor.request_next_wrench()?; Ok(sensor) } /// 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 { let f = self .last_raw_wrench .force .map_entrywise(self.offset.force, |raw, o| raw - o); let t = self .last_raw_wrench .torque .map_entrywise(self.offset.torque, |raw, o| raw - o); Wrench::new(f, t) } /// 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> { let res = receive_message(&mut self.port); // Regardless of success or failure of receive_message(), 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. self.request_next_wrench()?; let res = match res { Ok(res) => res, Err(e) => { return Err(e); } }; let (fx, fy, fz, mx, my, mz) = (0..6) .map(|i| 4 + i * 2) .filter_map(|start| res.get(start..start + 2)) .map(|res| i16::from_le_bytes(res.try_into().unwrap())) .map(|digital| digital as f64) .next_tuple() .ok_or(Error::ParseData)?; let rated_binary = self.product.rated_binary(); let force = Triplet::new(fx, fy, fz) .map_entrywise(self.rated_wrench.force, |left, right| { left / rated_binary * right }); let torque = Triplet::new(mx, my, mz) .map_entrywise(self.rated_wrench.torque, |left, right| { left / rated_binary * right }); self.last_raw_wrench = Wrench::new(force, torque); Ok(self.last_wrench()) } /// Set the offset so that the current wrench is zeroed. /// This methos is useful for zero-point calibration. /// # Examples /// ```no_run /// use leptrino_force_torque_sensor::{LeptrinoSensor, Product, Triplet}; /// /// let mut sensor = LeptrinoSensor::open(Product::Pfs055Ya251U6, "/dev/ttyUSB0").unwrap(); /// /// sensor.update().unwrap(); /// sensor.zeroed(); /// let wrench = sensor.last_wrench(); /// /// 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(&mut self) { self.offset = self.last_raw_wrench; } /// 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<ProductInfo, Error> { self.communicate_pausing_wrench(|sensor| { send_command(&mut sensor.port, &[0x04, 0xFF, 0x2A, 0x00])?; std::thread::sleep(sensor.port.timeout()); let res = receive_message(&mut sensor.port)?; let parse = |bytes: Option<&[u8]>| { bytes .map(|bytes| bytes.to_vec()) .and_then(|bytes| String::from_utf8(bytes).ok()) .ok_or(Error::ParseData) }; let product_type = parse(res.get(4..20))?; let serial = parse(res.get(20..28))?; let firmware_version = parse(res.get(28..32))?; let output_rate = parse(res.get(32..38))?; let product_info = ProductInfo { product_type, serial, firmware_version, output_rate, }; Ok(product_info) }) } /// Gets the builtin filter's cutoff frequency in Hertz. /// # Returns /// `Ok(Some(hertz))` if the filter is enabled. /// `Ok(None)` if the filter is disabled. /// `Err(reason)` if an error occurred during communication to the sensor. pub fn receive_builtin_filter_cutoff_hertz(&mut self) -> Result<Option<u32>, Error> { self.communicate_pausing_wrench(|sensor| { send_command(&mut sensor.port, &[0x04, 0xFF, 0xB6, 0x00])?; std::thread::sleep(sensor.port.timeout()); let res = receive_message(&mut sensor.port)?; let raw = res.get(4).copied().ok_or(Error::ParseData)?; sensor.product.builtin_filter_cutoff_hertz(raw) }) } /// Enable or disable the builtin filter. /// /// The modified setting will be applied after rebooting the sensor. /// # Params /// 1. `cutoff_frequency` The cutoff frequency of the filter. /// Specify `Some(hertz)` if you want to enable the filter. /// Specity `None` if you want to disable the filter. /// /// # Examples /// ```no_run /// use leptrino_force_torque_sensor::{LeptrinoSensor, Product}; /// /// let mut sensor = LeptrinoSensor::open(Product::Pfs055Ya251U6, "/dev/ttyUSB0").unwrap(); /// /// // Disable the filter. /// sensor.set_builtin_filter_cutoff_hertz(None).unwrap(); /// ``` pub fn set_builtin_filter_cutoff_hertz( &mut self, cutoff_hertz: Option<u32>, ) -> Result<(), Error> { self.communicate_pausing_wrench(|sensor| { let raw = sensor.product.builtin_filter_raw(cutoff_hertz)?; let command = [0x08, 0xFF, 0xA6, 0x00, raw, 0x00, 0x00, 0x00]; send_command(&mut sensor.port, &command)?; std::thread::sleep(sensor.port.timeout()); Ok(()) }) } /// 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> { send_command(&mut self.port, &[0x04, 0xFF, 0x30, 0x00]) } /// Stops communicating wrench information, then starts the specified communication. /// Finally, regardless of success or failure of the communication succeeded or not, /// restarts communication of wrench information. fn communicate_pausing_wrench<T, F>(&mut self, mut f: F) -> Result<T, Error> where F: FnMut(&mut Self) -> Result<T, Error>, { let value = self .port .clear(serialport::ClearBuffer::All) .map_err(Error::SerialPort) .and_then(|_| f(self)); self.request_next_wrench()?; value } } /// Parses the specified command, then sends it. fn send_command(port: &mut Box<dyn SerialPort>, command: &[u8]) -> Result<(), Error> { let mut message = parse::parse_command(&command); port.write_all(&mut message).map_err(Error::IO) } /// Receives all available bytes from the port, then parses it. fn receive_message(port: &mut Box<dyn SerialPort>) -> Result<Vec<u8>, Error> { let count = port.bytes_to_read().map_err(Error::SerialPort)? as usize; let mut buf = vec![0; count as usize]; port.read_exact(&mut buf).map_err(Error::IO)?; parse::parse_reception(&buf).map_err(Error::ParseResponse) } /// Specify a product type of Leptrino force torque sensor. #[derive(Debug, Clone, Copy, PartialEq, Eq)] pub enum Product { /// PFS series, 250 N rated force, 6 Nm rated torque, 6-axis. Pfs055Ya251U6, } impl Product { /// Returns a raw output of the sensor under the rated force and torque. fn rated_binary(&self) -> f64 { match self { Product::Pfs055Ya251U6 => 10000.0, } } /// Converts from raw message from the sensor into filter's cutoff frequency. fn builtin_filter_cutoff_hertz(&self, raw_value: u8) -> Result<Option<u32>, Error> { match self { Product::Pfs055Ya251U6 => match raw_value { 0 => Ok(None), 1 => Ok(Some(10)), 2 => Ok(Some(100)), 3 => Ok(Some(200)), _ => Err(Error::ParseData), }, } } /// Converts from filter's cutoff frequency into raw message to the sensor. fn builtin_filter_raw(&self, cutoff_hertz: Option<u32>) -> Result<u8, Error> { match self { Product::Pfs055Ya251U6 => match cutoff_hertz { Some(10) => Ok(1), Some(100) => Ok(2), Some(200) => Ok(3), Some(_) => Err(Error::InvalidParameter), None => Ok(0), }, } } } /// Represents product information of a connected sensor. #[derive(Debug, Clone, PartialEq, Eq)] pub struct ProductInfo { /// Product type. pub product_type: String, /// Serial number of the sensor. pub serial: String, /// Firmware of the sensor. pub firmware_version: String, /// Output rate in Hertz. pub output_rate: String, } /// Represents an error occurred while communicating sensors. #[derive(Debug)] pub enum Error { /// Failed to open the port for the sensor. SerialPort(serialport::Error), /// Failed to read or write data during communication. IO(std::io::Error), /// Received an invalid format message from the sensor. ParseResponse(ParseError), /// The received message has an invalid data part. ParseData, /// An invalid parameter was specified via sensor API. InvalidParameter, } 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::ParseResponse(e) => write!(f, "Parse: {}", e), Error::ParseData => write!(f, "Failed to parse the response into data."), Error::InvalidParameter => write!(f, "An invalid parameter was specified."), } } } 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), Error::ParseResponse(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()) } }