.. _program_listing_file_include_mock_components_generic_system.hpp:

Program Listing for File generic_system.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_mock_components_generic_system.hpp>` (``include/mock_components/generic_system.hpp``)

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

.. code-block:: cpp

   // Copyright (c) 2021 PickNik, 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.
   //
   // Author: Jafar Abdi, Denis Stogl
   
   #ifndef MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_
   #define MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_
   
   #include <string>
   #include <vector>
   
   #include "hardware_interface/handle.hpp"
   #include "hardware_interface/hardware_info.hpp"
   #include "hardware_interface/system_interface.hpp"
   #include "hardware_interface/types/hardware_interface_return_values.hpp"
   #include "hardware_interface/types/hardware_interface_type_values.hpp"
   
   using hardware_interface::return_type;
   
   namespace mock_components
   {
   using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   
   static constexpr size_t POSITION_INTERFACE_INDEX = 0;
   static constexpr size_t VELOCITY_INTERFACE_INDEX = 1;
   static constexpr size_t ACCELERATION_INTERFACE_INDEX = 2;
   
   class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::SystemInterface
   {
   public:
     CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
   
     std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
   
     std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
   
     return_type prepare_command_mode_switch(
       const std::vector<std::string> & start_interfaces,
       const std::vector<std::string> & stop_interfaces) override;
   
     return_type perform_command_mode_switch(
       const std::vector<std::string> & start_interfaces,
       const std::vector<std::string> & stop_interfaces) override;
   
     return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
   
     return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
     {
       return return_type::OK;
     }
   
   protected:
   
     const std::vector<std::string> standard_interfaces_ = {
       hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
       hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT};
   
     std::vector<std::vector<double>> joint_commands_;
     std::vector<std::vector<double>> joint_states_;
   
     std::vector<std::string> other_interfaces_;
     std::vector<std::vector<double>> other_commands_;
     std::vector<std::vector<double>> other_states_;
   
     std::vector<std::string> sensor_interfaces_;
     std::vector<std::vector<double>> sensor_mock_commands_;
     std::vector<std::vector<double>> sensor_states_;
   
     std::vector<std::string> gpio_interfaces_;
     std::vector<std::vector<double>> gpio_mock_commands_;
     std::vector<std::vector<double>> gpio_commands_;
     std::vector<std::vector<double>> gpio_states_;
   
   private:
     template <typename HandleType>
     bool get_interface(
       const std::string & name, const std::vector<std::string> & interface_list,
       const std::string & interface_name, const size_t vector_index,
       std::vector<std::vector<double>> & values, std::vector<HandleType> & interfaces);
   
     void initialize_storage_vectors(
       std::vector<std::vector<double>> & commands, std::vector<std::vector<double>> & states,
       const std::vector<std::string> & interfaces,
       const std::vector<hardware_interface::ComponentInfo> & component_infos);
   
     template <typename InterfaceType>
     bool populate_interfaces(
       const std::vector<hardware_interface::ComponentInfo> & components,
       std::vector<std::string> & interfaces, std::vector<std::vector<double>> & storage,
       std::vector<InterfaceType> & target_interfaces, bool using_state_interfaces);
   
     bool use_mock_gpio_command_interfaces_;
     bool use_mock_sensor_command_interfaces_;
   
     double position_state_following_offset_;
     std::string custom_interface_with_following_offset_;
     size_t index_custom_interface_with_following_offset_;
   
     bool calculate_dynamics_;
     std::vector<size_t> joint_control_mode_;
   
     bool command_propagation_disabled_;
   };
   
   typedef GenericSystem GenericRobot;
   
   }  // namespace mock_components
   
   #endif  // MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_