Class KukaRSIHardwareInterfaceBase

Defined in File hardware_interface_rsi_base.hpp

Nested Relationships

Nested Types

Struct KukaRSIHardwareInterfaceBase::InitSequenceReport

Inheritance Relationships

Base Type

public hardware_interface::SystemInterface

Derived Types

public kuka_rsi_driver::KukaEkiRsiHardwareInterface (Class KukaEkiRsiHardwareInterface)
public kuka_rsi_driver::KukaMxaRsiHardwareInterface (Class KukaMxaRsiHardwareInterface)
public kuka_rsi_driver::KukaRSIHardwareInterface (Class KukaRSIHardwareInterface)

Class Documentation

class KukaRSIHardwareInterfaceBase : public hardware_interface::SystemInterface

Subclassed by kuka_rsi_driver::KukaEkiRsiHardwareInterface, kuka_rsi_driver::KukaMxaRsiHardwareInterface, kuka_rsi_driver::KukaRSIHardwareInterface

Public Functions

inline explicit KUKA_RSI_DRIVER_PUBLIC KukaRSIHardwareInterfaceBase(const std::string &logger_name)

virtual KUKA_RSI_DRIVER_PUBLIC ~KukaRSIHardwareInterfaceBase() = default

KUKA_RSI_DRIVER_PUBLIC CallbackReturn on_init (const hardware_interface::HardwareInfo &info) override

KUKA_RSI_DRIVER_PUBLIC std::vector< hardware_interface::StateInterface > export_state_interfaces () override

KUKA_RSI_DRIVER_PUBLIC std::vector< hardware_interface::CommandInterface > export_command_interfaces () override

KUKA_RSI_DRIVER_PUBLIC CallbackReturn on_cleanup (const rclcpp_lifecycle::State &) override

KUKA_RSI_DRIVER_PUBLIC return_type read (const rclcpp::Time &, const rclcpp::Duration &) override

KUKA_RSI_DRIVER_PUBLIC return_type write (const rclcpp::Time &, const rclcpp::Duration &) override

KUKA_RSI_DRIVER_PUBLIC void set_server_event (kuka_drivers_core::HardwareEvent)

KUKA_RSI_DRIVER_PUBLIC void initialize_command_interfaces (kuka_drivers_core::ControlMode control_mode, RsiCycleTime cycle_time)

Protected Functions

KUKA_RSI_DRIVER_LOCAL bool SetupRobot (kuka::external::control::kss::Configuration &config, std::unique_ptr< kuka::external::control::EventHandler > event_handler, std::unique_ptr< kuka::external::control::kss::IEventHandlerExtension > extension)

virtual KUKA_RSI_DRIVER_LOCAL void Read (const int64_t request_timeout)

KUKA_RSI_DRIVER_LOCAL void Write ()

KUKA_RSI_DRIVER_LOCAL bool CheckJointInterfaces (const hardware_interface::ComponentInfo &joint) const

KUKA_RSI_DRIVER_LOCAL void CopyGPIOStatesToCommands ()

virtual KUKA_RSI_DRIVER_LOCAL void CreateRobotInstance (const kuka::external::control::kss::Configuration &)=0

KUKA_RSI_DRIVER_LOCAL kuka::external::control::kss::GPIOConfiguration ParseGPIOConfig (const hardware_interface::InterfaceInfo &info)

CallbackReturn extended_activation(const rclcpp_lifecycle::State&)

CallbackReturn extended_deactivation(const rclcpp_lifecycle::State&)

kuka::external::control::Status ChangeCycleTime()

Protected Attributes

const rclcpp::Logger logger_

std::unique_ptr<kuka::external::control::kss::rsi::Robot> robot_ptr_

std::vector<double> hw_states_

std::vector<double> hw_gpio_states_

std::vector<double> hw_commands_

std::vector<double> hw_gpio_commands_

double server_state_

kuka_drivers_core::HardwareEvent last_event_ = kuka_drivers_core::HardwareEvent::HARDWARE_EVENT_UNSPECIFIED 

std::mutex event_mutex_

std::vector<int> gpio_states_to_commands_map_

bool is_active_

bool msg_received_

StatusManager status_manager_

double hw_control_mode_command_

double cycle_time_command_

kuka_drivers_core::ControlMode prev_control_mode_ = kuka_drivers_core::ControlMode::CONTROL_MODE_UNSPECIFIED 

RsiCycleTime prev_cycle_time_ = RsiCycleTime::RSI_12MS

Protected Static Attributes

static constexpr std::chrono::milliseconds IDLE_SLEEP_DURATION = {2}

static constexpr std::chrono::milliseconds INIT_WAIT_DURATION = {100}

static constexpr std::chrono::seconds DRIVES_POWERED_TIMEOUT = {3}

static constexpr std::chrono::milliseconds DRIVES_POWERED_CHECK_INTERVAL = {100}

static constexpr int64_t READ_TIMEOUT_MS = 1'000

struct InitSequenceReport

Public Members

bool sequence_complete = false

bool ok = false

std::string reason = ""