Program Listing for File controller_loader.h

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/*
 * Copyright (c) 2020, Michael Ferguson
 * Copyright (c) 2014, Fetch Robotics Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fetch Robotics Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_LOADER_H_
#define ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_LOADER_H_

#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "pluginlib/class_loader.hpp"
#include "robot_controllers_interface/controller.h"

namespace robot_controllers_interface
{

// Forward def
class ControllerManager;

class ControllerLoader
{
public:
  ControllerLoader();

  bool init(const std::string& name,
            std::shared_ptr<rclcpp::Node> node,
            std::shared_ptr<ControllerManager> manager);

  bool start();

  bool stop(bool force);

  bool reset();

  void update(const rclcpp::Time& time, const rclcpp::Duration& dt);

  bool isActive();

  ControllerPtr getController();

private:
  pluginlib::ClassLoader<robot_controllers_interface::Controller> plugin_loader_;
  ControllerPtr controller_;
  bool active_;
};

using ControllerLoaderPtr = std::shared_ptr<ControllerLoader>;

}  // namespace robot_controllers_interface

#endif  // ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_LOADER_H_