Program Listing for File semantic_component_interface.hpp
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// Copyright (c) 2021, 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 SEMANTIC_COMPONENTS__SEMANTIC_COMPONENT_INTERFACE_HPP_
#define SEMANTIC_COMPONENTS__SEMANTIC_COMPONENT_INTERFACE_HPP_
#include <string>
#include <vector>
#include "controller_interface/helpers.hpp"
#include "hardware_interface/loaned_state_interface.hpp"
namespace semantic_components
{
template <typename MessageReturnType>
class SemanticComponentInterface
{
public:
explicit SemanticComponentInterface(const std::string & name, size_t size = 0)
{
name_ = name;
interface_names_.reserve(size);
state_interfaces_.reserve(size);
}
~SemanticComponentInterface() = default;
bool assign_loaned_state_interfaces(
std::vector<hardware_interface::LoanedStateInterface> & state_interfaces)
{
return controller_interface::get_ordered_interfaces(
state_interfaces, interface_names_, "", state_interfaces_);
}
void release_interfaces() { state_interfaces_.clear(); }
virtual std::vector<std::string> get_state_interface_names()
{
if (interface_names_.empty())
{
for (auto i = 0u; i < interface_names_.capacity(); ++i)
{
interface_names_.emplace_back(name_ + "/" + std::to_string(i + 1));
}
}
return interface_names_;
}
bool get_values(std::vector<double> & values) const
{
// check we have sufficient memory
if (values.capacity() != state_interfaces_.size())
{
return false;
}
// insert all the values
for (size_t i = 0; i < state_interfaces_.size(); ++i)
{
values.emplace_back(state_interfaces_[i].get().get_value());
}
return true;
}
bool get_values_as_message(MessageReturnType & /* message */) { return false; }
protected:
std::string name_;
std::vector<std::string> interface_names_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface>> state_interfaces_;
};
} // namespace semantic_components
#endif // SEMANTIC_COMPONENTS__SEMANTIC_COMPONENT_INTERFACE_HPP_