#include <combined_robot_hw.h>

Inheritance diagram for combined_robot_hw::CombinedRobotHW:

Public Member Functions
void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) override

bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	The init function is called to initialize the RobotHW from a non-realtime thread. More...

bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) override

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

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

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual SwitchState	switchResult () const

virtual SwitchState	switchResult (const ControllerInfo &) const

virtual	~RobotHW ()=default

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Protected Member Functions
void	filterControllerList (const std::list< hardware_interface::ControllerInfo > &list, std::list< hardware_interface::ControllerInfo > &filtered_list, hardware_interface::RobotHWSharedPtr robot_hw)
	Filters the start and stop lists so that they only contain the controllers and resources that correspond to the robot_hw interface manager. More...

virtual bool	loadRobotHW (const std::string &name)

Protected Attributes
std::vector< hardware_interface::RobotHWSharedPtr >	robot_hw_list_

pluginlib::ClassLoader< hardware_interface::RobotHW >	robot_hw_loader_ = {"hardware_interface", "hardware_interface::RobotHW"}

ros::NodeHandle	robot_hw_nh_

ros::NodeHandle	root_nh_

Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase * >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState { SwitchState::DONE, SwitchState::ONGOING, SwitchState::ERROR }

Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Detailed Description

CombinedRobotHW.

This class provides a way to combine RobotHW objects.

Definition at line 52 of file combined_robot_hw.h.

Member Function Documentation

◆ doSwitch()

void combined_robot_hw::CombinedRobotHW::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

overridevirtual

Perform (in realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in prepareSwitch() beforehand.

Reimplemented from hardware_interface::RobotHW.

Definition at line 75 of file combined_robot_hw.cpp.

◆ filterControllerList()

void combined_robot_hw::CombinedRobotHW::filterControllerList	(	const std::list< hardware_interface::ControllerInfo > &	list,
		std::list< hardware_interface::ControllerInfo > &	filtered_list,
		hardware_interface::RobotHWSharedPtr	robot_hw
	)

protected

Filters the start and stop lists so that they only contain the controllers and resources that correspond to the robot_hw interface manager.

Definition at line 198 of file combined_robot_hw.cpp.

◆ init()

bool combined_robot_hw::CombinedRobotHW::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

overridevirtual

The init function is called to initialize the RobotHW from a non-realtime thread.

Parameters

root_nh	A NodeHandle in the root of the caller namespace.
robot_hw_nh	A NodeHandle in the namespace from which the RobotHW should read its configuration.

Returns: True if initialization was successful

Reimplemented from hardware_interface::RobotHW.

Definition at line 33 of file combined_robot_hw.cpp.

◆ loadRobotHW()

bool combined_robot_hw::CombinedRobotHW::loadRobotHW ( const std::string & name )

protectedvirtual

Definition at line 92 of file combined_robot_hw.cpp.

◆ prepareSwitch()

bool combined_robot_hw::CombinedRobotHW::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

overridevirtual

Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches and prepare the switching. Start and stop list are disjoint. This handles the check and preparation, the actual switch is commited in doSwitch()

Reimplemented from hardware_interface::RobotHW.

Definition at line 56 of file combined_robot_hw.cpp.

◆ read()

void combined_robot_hw::CombinedRobotHW::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Reads data from the robot HW

Parameters

time	The current time
period	The time passed since the last call to read

Reimplemented from hardware_interface::RobotHW.

Definition at line 179 of file combined_robot_hw.cpp.

◆ write()

void combined_robot_hw::CombinedRobotHW::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Writes data to the robot HW

Parameters

time	The current time
period	The time passed since the last call to write

Reimplemented from hardware_interface::RobotHW.

Definition at line 189 of file combined_robot_hw.cpp.

Member Data Documentation

◆ robot_hw_list_

std::vector<hardware_interface::RobotHWSharedPtr> combined_robot_hw::CombinedRobotHW::robot_hw_list_

protected

Definition at line 104 of file combined_robot_hw.h.

◆ robot_hw_loader_

pluginlib::ClassLoader<hardware_interface::RobotHW> combined_robot_hw::CombinedRobotHW::robot_hw_loader_ = {"hardware_interface", "hardware_interface::RobotHW"}

protected

Definition at line 103 of file combined_robot_hw.h.

◆ robot_hw_nh_

ros::NodeHandle combined_robot_hw::CombinedRobotHW::robot_hw_nh_

protected

Definition at line 102 of file combined_robot_hw.h.

◆ root_nh_

ros::NodeHandle combined_robot_hw::CombinedRobotHW::root_nh_

protected

Definition at line 101 of file combined_robot_hw.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ doSwitch()

◆ filterControllerList()

◆ init()

◆ loadRobotHW()

◆ prepareSwitch()

◆ read()

◆ write()

Member Data Documentation

◆ robot_hw_list_

◆ robot_hw_loader_

◆ robot_hw_nh_

◆ root_nh_