Program Listing for File Ros2Control.hpp

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// Copyright 1996-2023 Cyberbotics Ltd.
//
// 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 ROS2_CONTROL_HPP
#define ROS2_CONTROL_HPP

#include <memory>
#include <string>
#include <thread>
#include <vector>

#include "controller_manager/controller_manager.hpp"
#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 "rclcpp/macros.hpp"
#include "webots_ros2_control/Ros2ControlSystemInterface.hpp"
#include "webots_ros2_driver/PluginInterface.hpp"
#include "webots_ros2_driver/WebotsNode.hpp"

namespace webots_ros2_control {
  class Ros2Control : public webots_ros2_driver::PluginInterface {
  public:
    Ros2Control();
    void step() override;
    void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override;

  private:
    webots_ros2_driver::WebotsNode *mNode;
    std::shared_ptr<pluginlib::ClassLoader<Ros2ControlSystemInterface>> mHardwareLoader;
    std::shared_ptr<controller_manager::ControllerManager> mControllerManager;
    int mControlPeriodMs;
    int mLastControlUpdateMs;

    std::thread mThreadExecutor;
    rclcpp::executors::MultiThreadedExecutor::SharedPtr mExecutor;
  };
}  // namespace webots_ros2_control

#endif