.. _program_listing_file__tmp_ws_src_schunk_svh_ros_driver_schunk_svh_driver_include_schunk_svh_driver_system_interface.hpp:

Program Listing for File system_interface.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_schunk_svh_ros_driver_schunk_svh_driver_include_schunk_svh_driver_system_interface.hpp>` (``/tmp/ws/src/schunk_svh_ros_driver/schunk_svh_driver/include/schunk_svh_driver/system_interface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //
   // © Copyright 2022 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
   // © Copyright 2022 FZI Forschungszentrum Informatik, Karlsruhe, Germany
   //
   // This file is part of the Schunk SVH Driver.
   //
   // The Schunk SVH Driver is free software: you can redistribute it and/or
   // modify it under the terms of the GNU General Public License as published by
   // the Free Software Foundation, either version 3 of the License, or (at your
   // option) any later version.
   //
   // The Schunk SVH Driver is distributed in the hope that it will be useful,
   // but WITHOUT ANY WARRANTY; without even the implied warranty of
   // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
   // Public License for more details.
   //
   // You should have received a copy of the GNU General Public License along with
   // the Schunk SVH Driver. If not, see <https://www.gnu.org/licenses/>.
   //
   
   //-----------------------------------------------------------------------------
   //-----------------------------------------------------------------------------
   
   #pragma once
   
   #include <map>
   #include <memory>
   #include <thread>
   
   #include "hardware_interface/handle.hpp"
   #include "hardware_interface/hardware_info.hpp"
   #include "hardware_interface/system_interface.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
   #include "rclcpp_lifecycle/state.hpp"
   #include "schunk_svh_library/control/SVHFingerManager.h"
   
   namespace schunk_svh_driver
   {
   // Additional hardware interfaces for the SVH:
   constexpr char HW_IF_CURRENT[] = "current";
   
   class SystemInterface : public hardware_interface::SystemInterface
   {
   public:
     using return_type = hardware_interface::return_type;
   
     RCLCPP_SHARED_PTR_DEFINITIONS(SystemInterface)
   
     CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
     CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
     CallbackReturn on_shutdown(const rclcpp_lifecycle::State & previous_state) override;
   
     std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
   
     std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
   
     return_type prepare_command_mode_switch(
       const std::vector<std::string> & start_interfaces,
       const std::vector<std::string> & stop_interfaces) override;
   
     return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
     return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;
   
   private:
     // Initialization of the SVH in a separate thread to meet ROS2-control's
     // timing requirements.
     void init();
     std::atomic<bool> m_initialized{false};
     std::thread m_init_thread;
   
     // Handle to the SVH driver library
     std::unique_ptr<driver_svh::SVHFingerManager> m_svh;
   
     // Command buffers for the controllers
     std::vector<double> m_position_commands;
   
     // State buffers for the controllers
     std::vector<double> m_positions;
     std::vector<double> m_velocities;
     std::vector<double> m_efforts;
     std::vector<double> m_currents;
   
     // Parameters
     std::string m_device_file;
   };
   
   }  // namespace schunk_svh_driver