Program Listing for File robot_system.hpp

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// Copyright (c) 2023, Fraunhofer IPA
// Copyright (c) 2022, StoglRobotics
// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef CANOPEN_ROS2_CONTROL__ROBOT_SYSTEM_HPP_
#define CANOPEN_ROS2_CONTROL__ROBOT_SYSTEM_HPP_

#include "canopen_402_driver/cia402_driver.hpp"
#include "canopen_core/configuration_manager.hpp"
#include "canopen_core/device_container.hpp"
#include "canopen_ros2_control/cia402_data.hpp"
#include "canopen_ros2_control/visibility_control.h"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "rclcpp/executors.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/state.hpp"
namespace canopen_ros2_control
{
class RobotSystem : public hardware_interface::SystemInterface
{
public:
  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  RobotSystem() : hardware_interface::SystemInterface() {}
  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  ~RobotSystem() = default;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::CallbackReturn on_init(
    const hardware_interface::HardwareInfo & info) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & previous_state) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::CallbackReturn on_cleanup(
    const rclcpp_lifecycle::State & previous_state) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::CallbackReturn on_shutdown(
    const rclcpp_lifecycle::State & previous_state) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & previous_state) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::CallbackReturn on_deactivate(
    const rclcpp_lifecycle::State & previous_state) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::return_type read(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::return_type write(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;

  CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
  hardware_interface::return_type perform_command_mode_switch(
    const std::vector<std::string> & start_interfaces,
    const std::vector<std::string> & stop_interfaces) override;

protected:
  std::shared_ptr<ros2_canopen::DeviceContainer> device_container_;
  std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_;
  std::vector<Cia402Data> robot_motor_data_;
  std::string bus_config_;
  std::string master_config_;
  std::string master_bin_;
  std::string can_interface_;
  std::unique_ptr<std::thread> spin_thread_;
  std::unique_ptr<std::thread> init_thread_;
  rclcpp::Logger robot_system_logger = rclcpp::get_logger("robot_system");

private:
  void spin();
  void clean();

  void initDeviceContainer();
};
}  // namespace canopen_ros2_control

#endif