qb_device_hardware_interface.h

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#ifndef QB_DEVICE_HARDWARE_INTERFACE_H
#define QB_DEVICE_HARDWARE_INTERFACE_H

// Standard libraries
#include <regex>

// ROS libraries
#include <ros/ros.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <joint_limits_interface/joint_limits.h>
#include <joint_limits_interface/joint_limits_urdf.h>
#include <joint_limits_interface/joint_limits_rosparam.h>
#include <joint_limits_interface/joint_limits_interface.h>
#include <transmission_interface/transmission_interface.h>
#include <urdf/model.h>

// internal libraries
#include <qb_device_hardware_interface/qb_device_hardware_resources.h>
#include <qb_device_hardware_interface/qb_device_joint_limits_interface.h>
#include <qb_device_hardware_interface/qb_device_joint_limits_resources.h>
#include <qb_device_hardware_interface/qb_device_transmission_resources.h>
#include <qb_device_msgs/qb_device_msgs.h>
#include <qb_device_srvs/qb_device_srvs.h>

namespace qb_device_hardware_interface {
class qbDeviceHW : public hardware_interface::RobotHW {
 public:
  qbDeviceHW(qb_device_transmission_interface::TransmissionPtr transmission, const std::vector<std::string> &actuators, const std::vector<std::string> &joints);

  ~qbDeviceHW() override;

  int getDeviceId() { return device_.id; }

  std::string getDeviceNamespace() { return device_.name; }

  virtual std::vector<std::string> getJoints() = 0;

  bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override;

  void read(const ros::Time &time, const ros::Duration &period) override;

  void write(const ros::Time &time, const ros::Duration &period) override;

 protected:
  ros::AsyncSpinner spinner_;
  ros::NodeHandle node_handle_;
  ros::Publisher state_publisher_;
  std::map<std::string, ros::ServiceClient> services_;
  qb_device_msgs::Info device_info_;
  qb_device_hardware_interface::qbDeviceResources device_;
  qb_device_hardware_interface::qbDeviceHWResources actuators_;
  qb_device_hardware_interface::qbDeviceHWResources joints_;
  qb_device_hardware_interface::qbDeviceHWInterfaces interfaces_;
  qb_device_joint_limits_interface::qbDeviceJointLimitsResources joint_limits_;
  qb_device_transmission_interface::qbDeviceTransmissionResources transmission_;
  urdf::Model urdf_model_;
  bool use_simulator_mode_;

  virtual int activateMotors();

  virtual int deactivateMotors();

  virtual std::string getInfo();

  virtual int getMeasurements(std::vector<double> &positions, std::vector<double> &currents, ros::Time &stamp);

  virtual int initializeDevice();

  virtual int setCommands(const std::vector<double> &commands);

 private:
  std::vector<std::string> addNamespacePrefix(const std::vector<std::string> &vector);

  void initializeServicesAndWait();

  void publish();

  void resetServicesAndWait(const bool &reinitialize_device = true);

  void waitForInitialization();

  void waitForServices();
};
typedef std::shared_ptr<qbDeviceHW> qbDeviceHWPtr;
}  // namespace qb_device_hardware_interface

#endif // QB_DEVICE_HARDWARE_INTERFACE_H