Base class for handling hardware resources. More...

#include <hardware_resource_manager.h>

Inheritance diagram for hardware_interface::HardwareResourceManager< ResourceHandle, ClaimPolicy >:

Public Types
typedef ResourceHandle	ResourceHandleType

Public Types inherited from hardware_interface::ResourceManager< ResourceHandle >
typedef ResourceManager< ResourceHandle >	resource_manager_type

Public Member Functions
Non Real-Time Safe Functions
ResourceHandle	getHandle (const std::string &name)
	Get a resource handle by name. More...

Public Member Functions inherited from hardware_interface::HardwareInterface
virtual	~HardwareInterface ()=default

virtual void	claim (std::string resource)
	Claim a resource by name. More...

void	clearClaims ()
	Clear the resources this interface is claiming. More...

std::set< std::string >	getClaims () const
	Get the list of resources this interface is currently claiming. More...

Public Member Functions inherited from hardware_interface::ResourceManager< ResourceHandle >
std::vector< std::string >	getNames () const

void	registerHandle (const ResourceHandle &handle)
	Register a new resource. If the resource name already exists, the previously stored resource value will be replaced with val. More...

ResourceHandle	getHandle (const std::string &name)
	Get a resource handle by name. More...

Public Member Functions inherited from hardware_interface::ResourceManagerBase
virtual	~ResourceManagerBase ()=default

Additional Inherited Members
Static Public Member Functions inherited from hardware_interface::ResourceManager< ResourceHandle >
static void	concatManagers (std::vector< resource_manager_type > &managers, resource_manager_type result)
	Combine a list of interfaces into one. More...

Protected Types inherited from hardware_interface::ResourceManager< ResourceHandle >
typedef std::map< std::string, ResourceHandle >	ResourceMap

Protected Attributes inherited from hardware_interface::ResourceManager< ResourceHandle >
ResourceMap	resource_map_

Detailed Description

template<class ResourceHandle, class ClaimPolicy = DontClaimResources>
class hardware_interface::HardwareResourceManager< ResourceHandle, ClaimPolicy >

Base class for handling hardware resources.

Hardware resources are encapsulated inside handle instances, and this class allows to register and get them by name. It is also possible to specify through the ClaimPolicy template parameter whether getting a handle claims the corresponding resource or not, like in the following example

// If unspecified, the resource manager will not claim resources
{
  HardwareResourceManager<JointStateHandle> m;
  // Populate m
  m.getHandle("handle_name"); // DOES NOT claim the "handle_name" resource
}
// Explicitly set ClaimPolicy to DontClaimResources
{
  HardwareResourceManager<JointStateHandle, DontClaimResources> m;
  // Populate m
  m.getHandle("handle_name"); // DOES NOT claim the "handle_name" resource
}
// Explicitly set ClaimPolicy to ClaimResources
{
  HardwareResourceManager<JointHandle, ClaimResources> m;
  // Populate m
  m.getHandle("handle_name"); // DOES claim the "handle_name" resource
}

Template Parameters

ResourceHandle	Resource handle type. The only requisite on the type is that it implements a `std::string getName()` method.
ClaimPolicy	Specifies the resource claiming policy for resource handling

Definition at line 79 of file hardware_resource_manager.h.

Member Typedef Documentation

◆ ResourceHandleType

template<class ResourceHandle, class ClaimPolicy = DontClaimResources>

typedef ResourceHandle hardware_interface::HardwareResourceManager< ResourceHandle, ClaimPolicy >::ResourceHandleType

Definition at line 82 of file hardware_resource_manager.h.

Member Function Documentation

◆ getHandle()

template<class ResourceHandle, class ClaimPolicy = DontClaimResources>

ResourceHandle hardware_interface::HardwareResourceManager< ResourceHandle, ClaimPolicy >::getHandle ( const std::string & name )

inline

Get a resource handle by name.

Note: If the ClaimPolicy template parameter is set to ClaimResources, calling this method will internally claim the resource. If set to DontClaimResources, calling this method will not claim the resource.

Parameters

name	Resource name.

Returns: Resource associated to name. If the resource name is not found, an exception is thrown.

Definition at line 96 of file hardware_resource_manager.h.

The documentation for this class was generated from the following file:

hardware_resource_manager.h

Public Types

Public Member Functions