Program Listing for File crane_plus_hardware.hpp

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// Copyright 2021 RT Corporation
//
// 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 CRANE_PLUS_CONTROL__CRANE_PLUS_HARDWARE_HPP_
#define CRANE_PLUS_CONTROL__CRANE_PLUS_HARDWARE_HPP_

#include <memory>
#include <string>
#include <vector>

#include "crane_plus_control/crane_plus_driver.hpp"
#include "crane_plus_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 "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/state.hpp"

using hardware_interface::return_type;
using hardware_interface::CallbackReturn;

namespace crane_plus_control
{
class CranePlusHardware : public
  hardware_interface::SystemInterface
{
public:
  RCLCPP_SHARED_PTR_DEFINITIONS(CranePlusHardware)

  CRANE_PLUS_CONTROL_PUBLIC
  ~CranePlusHardware();

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

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

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

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

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

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

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

private:
  bool communication_timeout();

  std::shared_ptr<CranePlusDriver> driver_;
  double timeout_seconds_;
  bool read_velocities_;
  bool read_loads_;
  bool read_voltages_;
  bool read_temperatures_;

  std::vector<double> hw_position_commands_;
  std::vector<double> hw_position_states_;
  std::vector<double> hw_velocity_states_;
  std::vector<double> hw_load_states_;
  std::vector<double> hw_voltage_states_;
  std::vector<double> hw_temperature_states_;

  rclcpp::Clock steady_clock_;
  rclcpp::Time prev_comm_timestamp_;
  bool timeout_has_printed_;
};
}  // namespace crane_plus_control

#endif  // CRANE_PLUS_CONTROL__CRANE_PLUS_HARDWARE_HPP_