bidirectional_effort_joint_interface_provider.cpp

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// Copyright (C) 2017, Houston Mechatronics Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of Houston Mechatronics Inc. nor the names of its
//     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"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Pluginlib
#include <pluginlib/class_list_macros.hpp>

// ros_control
#include <transmission_interface/bidirectional_effort_joint_interface_provider.h>

namespace transmission_interface
{

bool BiDirectionalEffortJointInterfaceProvider::registerTransmission(TransmissionLoaderData &loader_data,
                                                                     TransmissionHandleData &handle_data)
{
  if(!EffortJointInterfaceProvider::registerTransmission(loader_data, handle_data))
  {
    return false;
  }

  if(!hasResource(handle_data.name, loader_data.inverse_transmission_interfaces.jnt_to_act_state))
  {
    if(!loader_data.robot_transmissions->get<JointToActuatorStateInterface>())
    {
      loader_data.robot_transmissions->registerInterface(&loader_data.inverse_transmission_interfaces.jnt_to_act_state);
    }

    JointToActuatorStateInterface &interface = *(loader_data.robot_transmissions->get<JointToActuatorStateInterface>());

    // Update transmission interface
    JointToActuatorStateHandle handle(handle_data.name, 
                                      handle_data.transmission.get(), 
                                      handle_data.act_state_data, 
                                      handle_data.jnt_state_data);
    interface.registerHandle(handle);
  }

  if(!loader_data.robot_transmissions->get<ActuatorToJointEffortInterface>())
  {
    loader_data.robot_transmissions->registerInterface(&loader_data.inverse_transmission_interfaces.act_to_jnt_eff_cmd);
  }

  ActuatorToJointEffortInterface &interface = *(loader_data.robot_transmissions->get<ActuatorToJointEffortInterface>());

  ActuatorToJointEffortHandle handle(handle_data.name, 
                                     handle_data.transmission.get(),
                                     handle_data.act_cmd_data, 
                                     handle_data.jnt_cmd_data);
  interface.registerHandle(handle);
  return true;
}

} // namespace

PLUGINLIB_EXPORT_CLASS(transmission_interface::BiDirectionalEffortJointInterfaceProvider, 
                       transmission_interface::RequisiteProvider);