SVHRosControlHWInterface.h

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//
// © Copyright 2022 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2022 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// This file is part of the Schunk SVH Driver.
//
// The Schunk SVH Driver is free software: you can redistribute it and/or
// modify it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or (at your
// option) any later version.
//
// The Schunk SVH Driver is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with
// the Schunk SVH Driver. If not, see <https://www.gnu.org/licenses/>.
//
 
//----------------------------------------------------------------------
//----------------------------------------------------------------------
 
#ifndef SCHUNK_SVH_HARDWARE_INTERFACE_H_
#define SCHUNK_SVH_HARDWARE_INTERFACE_H_
 
// Driver Specific things
#include "SVHWrapper.h"
 
#include <controller_manager/controller_manager.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <joint_limits_interface/joint_limits.h>
#include <memory>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
 
class SVHRosControlHWInterface : public hardware_interface::RobotHW
{
public:
  SVHRosControlHWInterface();
  ~SVHRosControlHWInterface();
 
  virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh);
  //   virtual void init();
 
  virtual void read(const ros::Time& time, const ros::Duration& period);
 
  virtual void write(const ros::Time& time, const ros::Duration& period);
 
  bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                     const std::list<hardware_interface::ControllerInfo>& stop_list);
  void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                const std::list<hardware_interface::ControllerInfo>& stop_list);
 
 
  bool isEnabled() const;
  bool isFault() { return m_is_fault; }
  //   sensor_msgs::JointState getJointMessage();
 
protected:
  ros::NodeHandle m_node_handle;
  std::shared_ptr<SVHWrapper> m_svh;
 
  // Interfaces
  hardware_interface::JointStateInterface m_joint_state_interface;
  hardware_interface::PositionJointInterface m_position_joint_interface;
 
  size_t m_num_joints;
 
  std::vector<uint8_t> m_node_ids;
  std::vector<std::string> m_channel_names; // Combines prefix with channel_description
  std::vector<double> m_joint_positions;
  std::vector<double> m_joint_velocity;
  std::vector<double> m_joint_effort;
  std::vector<double> m_joint_position_commands;
 
  bool m_is_fault;
 
  joint_limits_interface::JointLimits m_joint_limits;
  joint_limits_interface::SoftJointLimits
    m_joint_soft_limits; // only available through URDF, currently not used.
 
private:
  bool m_hardware_ready;
};
 
 
#endif /*SCHUNK_SVH_HARDWARE_INTERFACE_H_*/