Program Listing for File hardware_interface.hpp
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// Copyright (c) 2022 PickNik, Inc.
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// modification, are permitted provided that the following conditions are met:
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// documentation and/or other materials provided with the distribution.
//
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// 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"
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#pragma once
#include <atomic>
#include <limits>
#include <memory>
#include <string>
#include <vector>
#include <robotiq_driver/visibility_control.hpp>
#include <robotiq_driver/driver.hpp>
#include <robotiq_driver/driver_factory.hpp>
#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/macros.hpp>
#include <rclcpp/rclcpp.hpp>
namespace robotiq_driver
{
class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterface
{
public:
RCLCPP_SHARED_PTR_DEFINITIONS(RobotiqGripperHardwareInterface)
ROBOTIQ_DRIVER_PUBLIC
RobotiqGripperHardwareInterface();
ROBOTIQ_DRIVER_PUBLIC
~RobotiqGripperHardwareInterface();
explicit RobotiqGripperHardwareInterface(std::unique_ptr<DriverFactory> driver_factory);
ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
ROBOTIQ_DRIVER_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
ROBOTIQ_DRIVER_PUBLIC
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
ROBOTIQ_DRIVER_PUBLIC
hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
ROBOTIQ_DRIVER_PUBLIC
hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
protected:
// Interface to send binary data to the hardware using the serial port.
std::unique_ptr<Driver> driver_;
// Factory to create the driver during the initialization step.
std::unique_ptr<DriverFactory> driver_factory_;
// We use a thread to read/write to the driver so that we dont block the hardware_interface read/write.
std::thread communication_thread_;
std::atomic<bool> communication_thread_is_running_;
void background_task();
double gripper_closed_pos_ = 0.0;
static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN();
double gripper_position_ = 0.0;
double gripper_velocity_ = 0.0;
double gripper_position_command_ = 0.0;
std::atomic<uint8_t> write_command_;
std::atomic<uint8_t> write_force_;
std::atomic<uint8_t> write_speed_;
std::atomic<uint8_t> gripper_current_state_;
double reactivate_gripper_cmd_ = 0.0;
std::atomic<bool> reactivate_gripper_async_cmd_;
double reactivate_gripper_response_ = 0.0;
double gripper_force_ = 0.0;
double gripper_speed_ = 0.0;
std::atomic<std::optional<bool>> reactivate_gripper_async_response_;
};
} // namespace robotiq_driver