.. _program_listing_file__tmp_ws_src_turtlebot3_manipulation_turtlebot3_manipulation_hardware_include_turtlebot3_manipulation_hardware_turtlebot3_manipulation_system.hpp:

Program Listing for File turtlebot3_manipulation_system.hpp
===========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_manipulation_turtlebot3_manipulation_hardware_include_turtlebot3_manipulation_hardware_turtlebot3_manipulation_system.hpp>` (``/tmp/ws/src/turtlebot3_manipulation/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp``)

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

.. code-block:: cpp

   // Copyright 2022 ROBOTIS CO., LTD.
   //
   // 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.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_MANIPULATION_HARDWARE__TURTLEBOT3_MANIPULATION_SYSTEM_HPP_
   #define TURTLEBOT3_MANIPULATION_HARDWARE__TURTLEBOT3_MANIPULATION_SYSTEM_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #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/clock.hpp"
   #include "rclcpp/duration.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/time.hpp"
   #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
   #include "rclcpp_lifecycle/state.hpp"
   
   #include "turtlebot3_manipulation_hardware/opencr.hpp"
   #include "turtlebot3_manipulation_hardware/visibility_control.h"
   
   namespace robotis
   {
   namespace turtlebot3_manipulation_hardware
   {
   class TurtleBot3ManipulationSystemHardware
     : public hardware_interface::SystemInterface
   {
   public:
     RCLCPP_SHARED_PTR_DEFINITIONS(TurtleBot3ManipulationSystemHardware);
   
     TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
     hardware_interface::CallbackReturn on_init(
       const hardware_interface::HardwareInfo & info) override;
   
     TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
     std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
   
     TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
     std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
   
     TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
     hardware_interface::CallbackReturn on_activate(
       const rclcpp_lifecycle::State & previous_state) override;
   
     TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
     hardware_interface::CallbackReturn on_deactivate(
       const rclcpp_lifecycle::State & previous_state) override;
   
     TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
     hardware_interface::return_type read(
       const rclcpp::Time & time, const rclcpp::Duration & period) override;
   
     TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
     hardware_interface::return_type write(
       const rclcpp::Time & time, const rclcpp::Duration & period) override;
   
   private:
     uint8_t id_;
     std::string usb_port_;
     uint32_t baud_rate_;
     uint8_t heartbeat_;
   
     std::array<int32_t, 4> joints_acceleration_;
     std::array<int32_t, 4> joints_velocity_;
   
     int32_t gripper_acceleration_;
     int32_t gripper_velocity_;
   
     std::unique_ptr<OpenCR> opencr_;
   
     std::vector<double> dxl_wheel_commands_;
     std::vector<double> dxl_joint_commands_;
     std::vector<double> dxl_gripper_commands_;
   
     std::vector<double> dxl_positions_;
     std::vector<double> dxl_velocities_;
   
     std::vector<double> opencr_sensor_states_;
   };
   }  // namespace turtlebot3_manipulation_hardware
   }  // namespace robotis
   #endif  // TURTLEBOT3_MANIPULATION_HARDWARE__TURTLEBOT3_MANIPULATION_SYSTEM_HPP_