Program Listing for File actuator_interface.hpp
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// Copyright 2020 - 2021 ros2_control Development Team
//
// 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__ACTUATOR_INTERFACE_HPP_
#define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
#include <string>
#include <vector>
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.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/logger.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
namespace hardware_interface
{
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
{
public:
ActuatorInterface()
: lifecycle_state_(rclcpp_lifecycle::State(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
actuator_logger_(rclcpp::get_logger("actuator_interface"))
{
}
ActuatorInterface(const ActuatorInterface & other) = delete;
ActuatorInterface(ActuatorInterface && other) = default;
virtual ~ActuatorInterface() = default;
CallbackReturn init(
const HardwareInfo & hardware_info, rclcpp::Logger logger,
rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
{
clock_interface_ = clock_interface;
actuator_logger_ = logger.get_child("hardware_component.actuator." + hardware_info.name);
info_ = hardware_info;
return on_init(hardware_info);
};
virtual CallbackReturn on_init(const HardwareInfo & /*hardware_info*/)
{
return CallbackReturn::SUCCESS;
};
virtual std::vector<StateInterface> export_state_interfaces() = 0;
virtual std::vector<CommandInterface> export_command_interfaces() = 0;
virtual return_type prepare_command_mode_switch(
const std::vector<std::string> & /*start_interfaces*/,
const std::vector<std::string> & /*stop_interfaces*/)
{
return return_type::OK;
}
// Perform switching to the new command interface.
virtual return_type perform_command_mode_switch(
const std::vector<std::string> & /*start_interfaces*/,
const std::vector<std::string> & /*stop_interfaces*/)
{
return return_type::OK;
}
virtual return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
virtual return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
virtual std::string get_name() const { return info_.name; }
virtual std::string get_group_name() const { return info_.group; }
const rclcpp_lifecycle::State & get_lifecycle_state() const { return lifecycle_state_; }
void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)
{
lifecycle_state_ = new_state;
}
rclcpp::Logger get_logger() const { return actuator_logger_; }
rclcpp::Clock::SharedPtr get_clock() const { return clock_interface_->get_clock(); }
const HardwareInfo & get_hardware_info() const { return info_; }
protected:
HardwareInfo info_;
rclcpp_lifecycle::State lifecycle_state_;
private:
rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
rclcpp::Logger actuator_logger_;
};
} // namespace hardware_interface
#endif // HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_