Program Listing for File system_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__SYSTEM_INTERFACE_HPP_
#define HARDWARE_INTERFACE__SYSTEM_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/logging.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 SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
{
public:
  SystemInterface()
  : lifecycle_state_(rclcpp_lifecycle::State(
      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
    system_logger_(rclcpp::get_logger("system_interface"))
  {
  }


  SystemInterface(const SystemInterface & other) = delete;

  SystemInterface(SystemInterface && other) = default;

  virtual ~SystemInterface() = default;


  CallbackReturn init(
    const HardwareInfo & hardware_info, rclcpp::Logger logger,
    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
  {
    clock_interface_ = clock_interface;
    system_logger_ = logger.get_child("hardware_component.system." + 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 system_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 system_logger_;
};

}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_