Program Listing for File hardware_info.hpp

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// Copyright 2020 ros2_control Development Team
//
// 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.

#ifndef HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
#define HARDWARE_INTERFACE__HARDWARE_INFO_HPP_

#include <string>
#include <unordered_map>
#include <vector>

#include "joint_limits/joint_limits.hpp"

namespace hardware_interface
{
struct InterfaceInfo
{
  std::string name;
  std::string min = "";
  std::string max = "";
  std::string initial_value = "";
  std::string data_type = "double";
  int size;
  bool enable_limits;
  std::unordered_map<std::string, std::string> parameters;
};

struct MimicJoint
{
  std::size_t joint_index;
  std::size_t mimicked_joint_index;
  double multiplier = 1.0;
  double offset = 0.0;
};

enum class MimicAttribute
{
  NOT_SET,
  TRUE,
  FALSE
};

struct ComponentInfo
{
  std::string name;
  std::string type;

  MimicAttribute is_mimic = MimicAttribute::NOT_SET;

  std::vector<InterfaceInfo> command_interfaces;
  std::vector<InterfaceInfo> state_interfaces;
  std::unordered_map<std::string, std::string> parameters;
};

struct JointInfo
{
  std::string name;
  std::vector<std::string> state_interfaces;
  std::vector<std::string> command_interfaces;
  std::string role;
  double mechanical_reduction = 1.0;
  double offset = 0.0;
};

struct ActuatorInfo
{
  std::string name;
  std::vector<std::string> state_interfaces;
  std::vector<std::string> command_interfaces;
  std::string role;
  double mechanical_reduction = 1.0;
  double offset = 0.0;
};

struct TransmissionInfo
{
  std::string name;
  std::string type;
  std::vector<JointInfo> joints;
  std::vector<ActuatorInfo> actuators;
  std::unordered_map<std::string, std::string> parameters;
};

class HandleDataType
{
public:
  enum Value : int8_t
  {
    UNKNOWN = -1,
    DOUBLE,
    BOOL
  };

  HandleDataType() = default;
  constexpr HandleDataType(Value value) : value_(value) {}  // NOLINT(runtime/explicit)
  explicit HandleDataType(const std::string & data_type)
  {
    if (data_type == "double")
    {
      value_ = DOUBLE;
    }
    else if (data_type == "bool")
    {
      value_ = BOOL;
    }
    else
    {
      value_ = UNKNOWN;
    }
  }

  operator Value() const { return value_; }

  explicit operator bool() const = delete;

  constexpr bool operator==(HandleDataType other) const { return value_ == other.value_; }
  constexpr bool operator!=(HandleDataType other) const { return value_ != other.value_; }

  constexpr bool operator==(Value other) const { return value_ == other; }
  constexpr bool operator!=(Value other) const { return value_ != other; }

  std::string to_string() const
  {
    switch (value_)
    {
      case DOUBLE:
        return "double";
      case BOOL:
        return "bool";
      default:
        return "unknown";
    }
  }

  HandleDataType from_string(const std::string & data_type) { return HandleDataType(data_type); }

private:
  Value value_ = UNKNOWN;
};

struct InterfaceDescription
{
  InterfaceDescription(const std::string & prefix_name_in, const InterfaceInfo & interface_info_in)
  : prefix_name(prefix_name_in),
    interface_info(interface_info_in),
    interface_name(prefix_name + "/" + interface_info.name)
  {
  }

  std::string prefix_name;

  InterfaceInfo interface_info;

  std::string interface_name;

  const std::string & get_prefix_name() const { return prefix_name; }

  const std::string & get_interface_name() const { return interface_info.name; }

  const std::string & get_name() const { return interface_name; }

  const std::string & get_data_type_string() const { return interface_info.data_type; }

  HandleDataType get_data_type() const { return HandleDataType(interface_info.data_type); }
};

struct HardwareInfo
{
  std::string name;
  std::string type;
  std::string group;
  unsigned int rw_rate;
  bool is_async;
  int thread_priority;
  std::string hardware_plugin_name;
  std::unordered_map<std::string, std::string> hardware_parameters;
  std::vector<ComponentInfo> joints;
  std::vector<MimicJoint> mimic_joints;
  std::vector<ComponentInfo> sensors;
  std::vector<ComponentInfo> gpios;
  std::vector<TransmissionInfo> transmissions;
  std::string original_xml;
  std::unordered_map<std::string, joint_limits::JointLimits> limits;

  std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits;
};

}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__HARDWARE_INFO_HPP_