.. _program_listing_file_include_hardware_interface_resource_manager.hpp:

Program Listing for File resource_manager.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_hardware_interface_resource_manager.hpp>` (``include/hardware_interface/resource_manager.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef HARDWARE_INTERFACE__RESOURCE_MANAGER_HPP_
   #define HARDWARE_INTERFACE__RESOURCE_MANAGER_HPP_
   
   #include <memory>
   #include <string>
   #include <unordered_map>
   #include <vector>
   
   #include "hardware_interface/actuator.hpp"
   #include "hardware_interface/hardware_component_info.hpp"
   #include "hardware_interface/hardware_info.hpp"
   #include "hardware_interface/loaned_command_interface.hpp"
   #include "hardware_interface/loaned_state_interface.hpp"
   #include "hardware_interface/sensor.hpp"
   #include "hardware_interface/system.hpp"
   #include "hardware_interface/types/hardware_interface_return_values.hpp"
   #include "hardware_interface/types/lifecycle_state_names.hpp"
   #include "lifecycle_msgs/msg/state.hpp"
   #include "rclcpp/duration.hpp"
   #include "rclcpp/node.hpp"
   #include "rclcpp/time.hpp"
   
   namespace hardware_interface
   {
   class ResourceStorage;
   class ControllerManager;
   
   struct HardwareReadWriteStatus
   {
     bool ok;
     std::vector<std::string> failed_hardware_names;
   };
   
   class HARDWARE_INTERFACE_PUBLIC ResourceManager
   {
   public:
     ResourceManager(
       unsigned int update_rate = 100,
       rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface = nullptr);
   
   
     explicit ResourceManager(
       const std::string & urdf, bool validate_interfaces = true, bool activate_all = false,
       unsigned int update_rate = 100,
       rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface = nullptr);
   
     ResourceManager(const ResourceManager &) = delete;
   
     ~ResourceManager();
   
   
     void load_urdf(
       const std::string & urdf, bool validate_interfaces = true,
       bool load_and_initialize_components = true);
   
     bool is_urdf_already_loaded() const;
   
   
     LoanedStateInterface claim_state_interface(const std::string & key);
   
   
     std::vector<std::string> state_interface_keys() const;
   
   
     std::vector<std::string> available_state_interfaces() const;
   
   
     bool state_interface_is_available(const std::string & name) const;
   
   
     void import_controller_reference_interfaces(
       const std::string & controller_name, std::vector<CommandInterface> & interfaces);
   
   
     std::vector<std::string> get_controller_reference_interface_names(
       const std::string & controller_name);
   
   
     void make_controller_reference_interfaces_available(const std::string & controller_name);
   
   
     void make_controller_reference_interfaces_unavailable(const std::string & controller_name);
   
   
     void remove_controller_reference_interfaces(const std::string & controller_name);
   
   
     void cache_controller_to_hardware(
       const std::string & controller_name, const std::vector<std::string> & interfaces);
   
   
     std::vector<std::string> get_cached_controllers_to_hardware(const std::string & hardware_name);
   
   
     bool command_interface_is_claimed(const std::string & key) const;
   
   
     LoanedCommandInterface claim_command_interface(const std::string & key);
   
   
     std::vector<std::string> command_interface_keys() const;
   
   
     std::vector<std::string> available_command_interfaces() const;
   
   
     bool command_interface_is_available(const std::string & interface) const;
   
   
     size_t actuator_components_size() const;
   
   
     size_t sensor_components_size() const;
   
   
     size_t system_components_size() const;
   
   
     void import_component(
       std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info);
   
   
     void import_component(
       std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info);
   
   
     void import_component(
       std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info);
   
   
     std::unordered_map<std::string, HardwareComponentInfo> get_components_status();
   
   
     bool prepare_command_mode_switch(
       const std::vector<std::string> & start_interfaces,
       const std::vector<std::string> & stop_interfaces);
   
   
     bool perform_command_mode_switch(
       const std::vector<std::string> & start_interfaces,
       const std::vector<std::string> & stop_interfaces);
   
   
     return_type set_component_state(
       const std::string & component_name, rclcpp_lifecycle::State & target_state);
   
   
     void shutdown_async_components();
   
   
     HardwareReadWriteStatus read(const rclcpp::Time & time, const rclcpp::Duration & period);
   
   
     HardwareReadWriteStatus write(const rclcpp::Time & time, const rclcpp::Duration & period);
   
   
     bool command_interface_exists(const std::string & key) const;
   
   
     bool state_interface_exists(const std::string & key) const;
   
   private:
     void validate_storage(const std::vector<hardware_interface::HardwareInfo> & hardware_info) const;
   
     void release_command_interface(const std::string & key);
   
     std::unordered_map<std::string, bool> claimed_command_interface_map_;
   
     mutable std::recursive_mutex resource_interfaces_lock_;
     mutable std::recursive_mutex claimed_command_interfaces_lock_;
     mutable std::recursive_mutex resources_lock_;
   
     std::unique_ptr<ResourceStorage> resource_storage_;
   
     // Structure to store read and write status so it is not initialized in the real-time loop
     HardwareReadWriteStatus read_write_status;
   
     bool is_urdf_loaded__ = false;
   };
   
   }  // namespace hardware_interface
   #endif  // HARDWARE_INTERFACE__RESOURCE_MANAGER_HPP_