Program Listing for File resource_manager.hpp
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// 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_