my_robot_hw_4.cpp

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// Copyright (C) 2015, Shadow Robot Company Ltd.
//
// 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 Shadow Robot Company Ltd. 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
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#include <combined_robot_hw_tests/my_robot_hw_4.h>
 
namespace combined_robot_hw_tests
{
 
bool MyRobotHW4::init(ros::NodeHandle& /*root_nh*/, ros::NodeHandle &/*robot_hw_nh*/)
{
  using namespace hardware_interface;
 
  force_[0] = 0.0;
  force_[1] = 0.1;
  force_[2] = 0.2;
  torque_[0] = 0.0;
  torque_[1] = 0.1;
  torque_[2] = 0.2;
  sensor_name_ = "ft_sensor_1";
  frame_id_ = "link_1";
 
  ft_sensor_interface_.registerHandle(ForceTorqueSensorHandle(sensor_name_, frame_id_, force_, torque_));
 
  registerInterface(&ft_sensor_interface_);
  registerInterface(&a_plain_hw_interface_);
 
  return true;
}
 
 
void MyRobotHW4::read(const ros::Time& /*time*/, const ros::Duration& /*period*/)
{
  force_[2] = 1.2;
}
 
void MyRobotHW4::write(const ros::Time& /*time*/, const ros::Duration& /*period*/)
{
}
 
bool MyRobotHW4::prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                               const std::list<hardware_interface::ControllerInfo>& stop_list)
{
  // To easily test a failure case, any controller that claims resources on MyRobotHW4 will fail
  if (!start_list.empty() || !stop_list.empty())
  {
    for (const auto& controller : start_list)
    {
      if (controller.claimed_resources.empty())
      {
        continue;
      }
      else
      {
        return false;
      }
    }
  }
  return true;
}
 
void MyRobotHW4::doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                          const std::list<hardware_interface::ControllerInfo>& stop_list)
{
  // To easily test a failure case, any controller that claims resources on MyRobotHW4 will fail
  if (!start_list.empty() || !stop_list.empty())
  {
    for (const auto& controller : start_list)
    {
      if (controller.claimed_resources.empty())
      {
        continue;
      }
      else
      {
        throw hardware_interface::HardwareInterfaceException("MyRobotHW4 can't switch controllers");
      }
    }
  }
}
 
}
 
PLUGINLIB_EXPORT_CLASS( combined_robot_hw_tests::MyRobotHW4, hardware_interface::RobotHW)