Program Listing for File canopen_system.hpp
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// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
//
// 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 CANOPEN_ROS2_CONTROL__CANOPEN_SYSTEM_HPP_
#define CANOPEN_ROS2_CONTROL__CANOPEN_SYSTEM_HPP_
#include <string>
#include <vector>
#include "canopen_core/device_container.hpp"
#include "canopen_proxy_driver/proxy_driver.hpp"
#include "canopen_ros2_control/visibility_control.h"
#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/executors.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/state.hpp"
namespace canopen_ros2_control
{
// needed auxiliary struct for ros2 control double registration
struct Ros2ControlCOData
{
ros2_canopen::COData original_data;
double index; // cast to uint16_t
double subindex; // cast to uint8_t
double data; // cast to uint32_t
};
struct RORos2ControlCOData : public Ros2ControlCOData
{
void set_data(ros2_canopen::COData d)
{
original_data = d;
index = static_cast<double>(original_data.index_);
subindex = static_cast<double>(original_data.subindex_);
data = static_cast<double>(original_data.data_);
}
};
struct WORos2ControlCoData : public Ros2ControlCOData
{
WORos2ControlCoData() : one_shot(std::numeric_limits<double>::quiet_NaN()) {}
// needed internally for write-only data
double one_shot;
bool write_command()
{
bool ret_val;
// store ret value
ret_val = !std::isnan(one_shot);
// reset the existing active command if one exists
one_shot = std::numeric_limits<double>::quiet_NaN();
return ret_val;
}
void prepare_data()
{
original_data.index_ = static_cast<uint16_t>(index);
original_data.subindex_ = static_cast<uint8_t>(subindex);
original_data.data_ = static_cast<uint32_t>(data);
}
};
struct Ros2ControlNmtState
{
Ros2ControlNmtState()
: reset_ons(std::numeric_limits<double>::quiet_NaN()),
reset_fbk(std::numeric_limits<double>::quiet_NaN()),
start_ons(std::numeric_limits<double>::quiet_NaN()),
start_fbk(std::numeric_limits<double>::quiet_NaN())
{
}
void set_state(canopen::NmtState s)
{
original_state = s;
state = static_cast<double>(s);
}
bool reset_command()
{
bool ret_val;
// store ret value
ret_val = !std::isnan(reset_ons);
// reset the existing active command if one exists
reset_ons = std::numeric_limits<double>::quiet_NaN();
return ret_val;
}
bool start_command()
{
bool ret_val;
// store ret value
ret_val = !std::isnan(start_ons);
// reset the existing active command if one exists
start_ons = std::numeric_limits<double>::quiet_NaN();
return ret_val;
}
canopen::NmtState original_state;
double state; // read-only
// basic commands
double reset_ons; // write-only
double reset_fbk;
double start_ons; // write-only
double start_fbk;
};
struct CanopenNodeData
{
Ros2ControlNmtState nmt_state; // read-write
RORos2ControlCOData rpdo_data; // read-only
WORos2ControlCoData tpdo_data; // write-only
WORos2ControlCoData rsdo; // write-only
WORos2ControlCoData wsdo; // write-only
};
class CanopenSystem : public hardware_interface::SystemInterface
{
public:
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
CanopenSystem();
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
~CanopenSystem();
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_init(
const hardware_interface::HardwareInfo & info) override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State & previous_state) override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_cleanup(
const rclcpp_lifecycle::State & previous_state) override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_shutdown(
const rclcpp_lifecycle::State & previous_state) override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State & previous_state) override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State & previous_state) override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::return_type read(
const rclcpp::Time & time, const rclcpp::Duration & period) override;
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::return_type write(
const rclcpp::Time & time, const rclcpp::Duration & period) override;
protected:
std::shared_ptr<ros2_canopen::DeviceContainer> device_container_;
std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_;
// can stuff
std::map<uint, CanopenNodeData> canopen_data_;
// threads
std::unique_ptr<std::thread> spin_thread_;
std::unique_ptr<std::thread> init_thread_;
void spin();
void clean();
private:
void initDeviceContainer();
};
} // namespace canopen_ros2_control
#endif // CANOPEN_ROS2_CONTROL__CANOPEN_SYSTEM_HPP_