robot_hw.h

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// Copyright (C) 2012, hiDOF INC.
//
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#ifndef HARDWARE_INTERFACE_ROBOT_HW_H
#define HARDWARE_INTERFACE_ROBOT_HW_H

#include <list>
#include <map>
#include <typeinfo>
#include <hardware_interface/internal/demangle_symbol.h>
#include <hardware_interface/internal/interface_manager.h>
#include <hardware_interface/hardware_interface.h>
#include <hardware_interface/controller_info.h>
#include <ros/console.h>

namespace hardware_interface
{

class RobotHW : public InterfaceManager
{
public:
  RobotHW()
  {

  }

  virtual bool checkForConflict(const std::list<ControllerInfo>& info) const
  {
    // Figure out which resources have multiple users
    typedef std::map<std::string, std::list<ControllerInfo> > ResourceMap;
    ResourceMap resource_map;
    for (std::list<ControllerInfo>::const_iterator info_it = info.begin(); info_it != info.end(); ++info_it)
      for (std::set<std::string>::const_iterator resource_it = info_it->resources.begin(); resource_it != info_it->resources.end(); ++resource_it)
        resource_map[*resource_it].push_back(*info_it);

    bool in_conflict = false;
    for (ResourceMap::iterator it = resource_map.begin(); it != resource_map.end(); ++it)
    {
      if (it->second.size() > 1)
      {
        std::string controller_list;
        for (std::list<ControllerInfo>::const_iterator controller_it = it->second.begin(); controller_it != it->second.end(); ++controller_it)
          controller_list += controller_it->name + ", ";
        ROS_WARN("Resource conflict on [%s].  Controllers = [%s]", it->first.c_str(), controller_list.c_str());
        in_conflict = true;
      }
    }

    return in_conflict;
  }
  virtual bool canSwitch(const std::list<ControllerInfo>& /*start_list*/,
                         const std::list<ControllerInfo>& /*stop_list*/) const { return true; }

  virtual bool prepareSwitch(const std::list<ControllerInfo>& start_list,
                             const std::list<ControllerInfo>& stop_list) { return canSwitch(start_list, stop_list); }

  virtual void doSwitch(const std::list<ControllerInfo>& /*start_list*/,
                        const std::list<ControllerInfo>& /*stop_list*/) {}
};

typedef boost::shared_ptr<RobotHW> RobotHWSharedPtr;

}

#endif