industrial_robot_status_interface.h

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#ifndef INDUSTRIAL_ROBOT_STATUS_INTERFACE_INDUSTRIAL_ROBOT_STATUS_INTERFACE_H_
#define INDUSTRIAL_ROBOT_STATUS_INTERFACE_INDUSTRIAL_ROBOT_STATUS_INTERFACE_H_
 
#include <hardware_interface/internal/hardware_resource_manager.h>
 
#include <string>
 
 
namespace industrial_robot_status_interface
{
 
// following enums mirror ROS-Industrial's simple_message enums
// TODO: should we just re-use those?
 
enum class TriState : int8_t
{
  UNKNOWN = -1,
  FALSE   =  0,
  TRUE    =  1,
};
 
enum class RobotMode : int8_t
{
  UNKNOWN = -1,
  MANUAL  =  1,
  AUTO    =  2,
};
 
typedef std::int32_t ErrorCode;
 
struct RobotStatus
{
  RobotMode mode;
  TriState  e_stopped;
  TriState  drives_powered;
  TriState  motion_possible;
  TriState  in_motion;
  TriState  in_error;
  ErrorCode error_code;
};
 
 
class IndustrialRobotStatusHandle
{
 public:
  IndustrialRobotStatusHandle() = delete;
 
  IndustrialRobotStatusHandle(const std::string& name, RobotStatus& robot_status)
      : name_(name), robot_status_(&robot_status) {}
 
  const std::string& getName() const noexcept { return name_; }
 
  const RobotStatus& getRobotStatus() const noexcept { return *robot_status_; }
 
 private:
  std::string name_;
  const RobotStatus* robot_status_;
};
 
 
class IndustrialRobotStatusInterface : public hardware_interface::HardwareResourceManager<IndustrialRobotStatusHandle> {};
 
 
}  // namespace industrial_robot_status_interface
 
 
#endif // INDUSTRIAL_ROBOT_STATUS_INTERFACE_INDUSTRIAL_ROBOT_STATUS_INTERFACE_H_