Refactor to use fr3 and panda

.github/actions-rs/grcov.yml

@@ -0,0 +1,8 @@
+# grcov . -s . --binary-path ./target/debug/ -t html --branch --ignore-not-existing -o ./target/debug/coverage/
+source-dir: .
+binary-path: ./target/debug/
+output-type: lcov
+branch: true
+ignore-not-existing: true
+llvm: true
+output-path: ./lcov.info

.github/workflows/rust.yml

@@ -22,5 +22,35 @@ jobs:
       run: cargo fmt -- --check
     - name: Clippy
       run: cargo clippy --all-features -- -D warnings
-    - name: Run tests
-      run: cargo test --all-features --verbose -- --test-threads=1
+    - uses: actions-rs/toolchain@v1
+      with:
+        toolchain: nightly
+        override: true
+    - uses: actions-rs/cargo@v1
+      with:
+        command: clean
+    - uses: actions-rs/cargo@v1
+      with:
+        command: test
+        args: --all-features --no-fail-fast --verbose -- --test-threads=1
+      env:
+        CARGO_INCREMENTAL: '0'
+        RUSTFLAGS: '-Zprofile -Ccodegen-units=1 -Cinline-threshold=0 -Clink-dead-code -Coverflow-checks=off -Cpanic=abort -Zpanic_abort_tests -Cinstrument-coverage -Copt-level=0'
+        RUSTDOCFLAGS: '-Zprofile -Ccodegen-units=1 -Cinline-threshold=0 -Clink-dead-code -Coverflow-checks=off -Cpanic=abort -Zpanic_abort_tests -Cinstrument-coverage -Copt-level=0'
+    - uses: actions-rs/[email protected]
+      with:
+        args: >
+          -t lcov
+          --llvm
+          --ignore-not-existing
+          --ignore "/*"
+          -o ./target/lcov.info
+          ./target/debug/
+    - name: Codecov
+      uses: codecov/codecov-action@v3
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+      with:
+        verbose: true
+        fail_ci_if_error: true
+        files: lcov.info

CHANGELOG.md

@@ -0,0 +1,53 @@
+# Changelog
+
+## [0.10.0] - Unreleased
+
+This version supports Panda and Franka Research 3 robots.
+
+Requires Franka Research 3 system version >= 5.2.0
+
+Requires Panda system version >= 4.2.1
+
+### Added
+
+- Support for FR3 was added
+- Most methods are now generic over the robot type, so they can work with FR3 and Panda robots
+- Downloading of the robot model for other architectures
+- New `RateLimiter` trait that is implemented by the `Panda` and `Fr3` structs
+- The rate limiter for FR3 is using position based velocity limits
+- Code coverage reports
+
+### Changed
+
+- The Robot struct became a trait that is implemented by the `Panda` and `Fr3` structs
+- The Model struct became a trait that is implemented by the `RobotModel` struct
+- Examples now default to FR3 unless `--panda` is passed as argument
+- Rate limiter is disabled by default for FR3
+- FR3 does not have get_virtual_wall and set_filters methods
+- Updated `nalgebra` to version 0.32
+- Updated `clap` to version 4
+
+### Fixed
+
+- Badges in README
+
+## [0.9.0] - 2022-04-01
+
+Requires Panda system version >= 4.2.1
+
+### Added
+
+- Add `O_ddP_O` base acceleration to robot state, hardcoded to `{0, 0, -9.81}`
+- New `BaseAccelerationInitializationTimeout`, `BaseAccelerationInvalidReading`
+  `CartesianSplineViolation` and
+  `JointViaPlanLimitViolation` reflexes
+
+### Changed
+
+- `Model::gravity_from_state` uses `O_ddP_O` from the robot state
+
+## [0.8.2-alpha-2] - 2021-06-18
+
+Requires Panda system version >= 4.0.0
+
+Initial release

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "libfranka-rs"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["Marco Boneberger <[email protected]>"]
 edition = "2018"
 license = "EUPL-1.2"
@@ -79,11 +79,11 @@ nix = "0.20.0"
 mio = { version = "0.7", features = ["os-poll", "tcp", "udp"] }
 num-derive = "0.3"
 num-traits = "0.2"
-nalgebra = "0.23"
+nalgebra = "0.32"
 thiserror = "1.0"
 libloading = "0.7.0"
 
 [dev-dependencies]
-clap = { version = "3.1.7", features = ["derive"] }
+clap = { version = "4", features = ["derive"] }
 mockall = "0.9.1"
 float_extras = "0.1.6"

README.md

@@ -1,11 +1,13 @@
-[![crates.io](https://img.shields.io/crates/v/libfranka-rs.svg)](https://crates.io/crates/libfranka-rs)
-![GitHub Workflow Status](https://img.shields.io/github/workflow/status/marcbone/libfranka-rs/Rust)
-[![crates.io](https://img.shields.io/crates/l/libfranka-rs.svg)](https://crates.io/crates/libfranka-rs)
-[![crates.io](https://img.shields.io/crates/d/libfranka-rs.svg)](https://crates.io/crates/libfranka-rs)
-[![docs.rs](https://docs.rs/libfranka-rs/badge.svg)](https://docs.rs/libfranka-rs)
+[![Crates.io](https://img.shields.io/crates/v/libfranka-rs?style=flat-square)](https://crates.io/crates/libfranka-rs)
+[![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/marcbone/libfranka-rs/rust.yml?style=flat-square)](https://github.com/marcbone/libfranka-rs/actions)
+[![Crates.io](https://img.shields.io/crates/l/libfranka-rs?style=flat-square)](https://github.com/marcbone/libfranka-rs/blob/master/LICENSE)
+[![Crates.io](https://img.shields.io/crates/d/libfranka-rs?style=flat-square)](https://crates.io/crates/libfranka-rs)
+[![docs.rs](https://img.shields.io/docsrs/libfranka-rs?style=flat-square)](https://docs.rs/libfranka-rs)
+[![Codecov](https://img.shields.io/codecov/c/github/marcbone/libfranka-rs?style=flat-square)](https://codecov.io/gh/marcbone/libfranka-rs)
+
 # libfranka-rs
 libfranka-rs is an **unofficial** port of [libfranka](https://github.com/frankaemika/libfranka) written in Rust.
-This library can interact with research versions of Franka Emika Robots.
+This library can interact with research versions of Franka Emika Robots (Panda and FR3).
 The library aims to provide researchers the possibility to experiment with Rust within a real-time robotics
 application.
 
@@ -15,6 +17,7 @@ THE ROBOT!**
 ## Features
  * Real-time control of the robot
  * A libfranka-like API
+ * Generic over Panda and FR3
  * Usage with Preempt_RT or stock Linux kernel
  * Usage of the gripper
  * Usage of the robot model
@@ -24,28 +27,54 @@ THE ROBOT!**
  * Direct Conversions from [nalgebra](https://nalgebra.org/) (Eigen3 equivalent) types into libfranka control types (JointPositions, CartesianPose, ...)
  * Proper error handling with Result types
 
-TODO:
- * Usage of the Model for anything else but Linux x86_64
-
 Not supported:
  * Windows (macOS could maybe work, but I have not tested it)
  * Vacuum Grippers (we do not have those, so I cannot test them)
 
 ## Example
 A small example for controlling joint positions. You can find more in the examples folder.
-  ```rust
-use franka::{FrankaResult, JointPositions, MotionFinished, Robot, RobotState};
+```rust
+ use std::time::Duration;
+ use std::f64::consts::PI;
+ use franka::{JointPositions, MotionFinished, Robot, RobotState, Fr3, FrankaResult};
+ fn main() -> FrankaResult<()> {
+     let mut robot = Fr3::new("robotik-bs.de", None, None)?;
+     robot.set_default_behavior()?;
+     robot.set_collision_behavior([20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0], [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
+                                  [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0], [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
+                                  [20.0, 20.0, 20.0, 25.0, 25.0, 25.0], [20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
+                                  [20.0, 20.0, 20.0, 25.0, 25.0, 25.0], [20.0, 20.0, 20.0, 25.0, 25.0, 25.0])?;
+     let q_goal = [0., -PI / 4., 0., -3. * PI / 4., 0., PI / 2., PI / 4.];
+     robot.joint_motion(0.5, &q_goal)?;
+     let mut initial_position = JointPositions::new([0.0; 7]);
+     let mut time = 0.;
+     let callback = |state: &RobotState, time_step: &Duration| -> JointPositions {
+         time += time_step.as_secs_f64();
+         if time == 0. {
+             initial_position.q = state.q_d;
+         }
+         let mut out = JointPositions::new(initial_position.q);
+         let delta_angle = PI / 8. * (1. - f64::cos(PI / 2.5 * time));
+         out.q[3] += delta_angle;
+         out.q[4] += delta_angle;
+         out.q[6] += delta_angle;
+         if time >= 5.0 {
+             return out.motion_finished();
+         }
+         out
+     };
+     robot.control_joint_positions(callback, None, None, None) 
+ }
+```
+
+It is also possible to write the example above in a generic way, so it can be used for FR3 or Panda:
+```rust
+use franka::{Fr3, FrankaResult, JointPositions, MotionFinished, Panda, Robot, RobotState};
 use std::f64::consts::PI;
 use std::time::Duration;
-fn main() -> FrankaResult<()> {
-    let mut robot = Robot::new("robotik-bs.de", None, None)?;
-    robot.set_default_behavior()?;
-    println!("WARNING: This example will move the robot! Please make sure to have the user stop button at hand!");
-    println!("Press Enter to continue...");
-    std::io::stdin().read_line(&mut String::new()).unwrap();
 
-    // Set additional parameters always before the control loop, NEVER in the control loop!
-    // Set collision behavior.
+fn generate_motion<R: Robot>(robot: &mut R) -> FrankaResult<()> {
+    robot.set_default_behavior()?;
     robot.set_collision_behavior(
         [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
         [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
@@ -56,11 +85,9 @@ fn main() -> FrankaResult<()> {
         [20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
         [20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
     )?;
-
     let q_goal = [0., -PI / 4., 0., -3. * PI / 4., 0., PI / 2., PI / 4.];
     robot.joint_motion(0.5, &q_goal)?;
-    println!("Finished moving to initial joint configuration.");
-    let mut initial_position = JointPositions::new([0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
+    let mut initial_position = JointPositions::new([0.0; 7]);
     let mut time = 0.;
     let callback = |state: &RobotState, time_step: &Duration| -> JointPositions {
         time += time_step.as_secs_f64();
@@ -73,25 +100,33 @@ fn main() -> FrankaResult<()> {
         out.q[4] += delta_angle;
         out.q[6] += delta_angle;
         if time >= 5.0 {
-            println!("Finished motion, shutting down example");
             return out.motion_finished();
         }
         out
     };
     robot.control_joint_positions(callback, None, None, None)
 }
-  ```
+fn main() -> FrankaResult<()> {
+    let mut fr3 = Fr3::new("robotik-bs.de", None, None)?;
+    let mut panda = Panda::new("robotik-bs.de", None, None)?;
+    generate_motion(&mut fr3)?;
+    generate_motion(&mut panda)
+}
+```
+
+
 
 ## How to get started
-As it is a straight port, you may find the
+
+Since libfranka-rs is a port of libfranka, you may find the
 [Franka Control Interface Documentation](https://frankaemika.github.io/docs/index.html) helpful.
 
 ### With zero Rust knowledge
 If this is your first time using Rust, I recommend reading the [Rust Book](https://doc.rust-lang.org/stable/book/).
 
 If you have Rust installed and just want to play with the examples, you can also run:
 ```bash
-cargo install libfranka-rs --examples --version 0.9.0
+cargo install libfranka-rs --examples --version 0.10.0
 generate_joint_position_motion <ip_of_your_robot>
 ```
 
@@ -104,18 +139,15 @@ hoping that it makes your introduction into the Rust world as smooth as possible
 ### With zero libfranka knowledge
 The [Franka Control Interface Documentation](https://frankaemika.github.io/docs/index.html) also includes a setup guide.
 You can skip the installation of libfranka as you will be using libfranka-rs.
-Take a look at the [Documentation](https://docs.rs/libfranka-rs) and the examples folder. You should run the
-communication_test example to verify that your setup is correct.
+Take a look at the [Documentation](https://docs.rs/libfranka-rs) and the [examples](examples) folder. You should run the
+[communication_test](examples/communication_test.rs) example to verify that your setup is correct.
 
 ### How to use libfranka-rs
 If you want to use libfranka-rs in your project, you have to add
 ```text
-libfranka-rs = "0.9.0"
+libfranka-rs = "0.10.0"
 ```
 to your Cargo.toml file.
-libfranka-rs version numbers are structured as MAJOR.MINOR.PATCH. The Major and Minor versions match the original libfranka
-version numbers. That means for 0.8, your robot has to be at least on Firmware 4.0.0. Older firmware versions are not supported by
-libfranka-rs. You can find more information about system updates [here](https://frankaemika.github.io).
 
 ## Licence
 This library is copyrighted © 2021 Marco Boneberger