combined_robot_hw.h

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// Copyright (C) 2015, Shadow Robot Company Ltd.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of Shadow Robot Company Ltd. nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
#pragma once
 
 
#include <list>
#include <map>
#include <typeinfo>
#include <hardware_interface/internal/demangle_symbol.h>
#include <hardware_interface/internal/interface_manager.h>
#include <hardware_interface/hardware_interface.h>
#include <hardware_interface/robot_hw.h>
#include <pluginlib/class_loader.hpp>
#include <ros/console.h>
#include <ros/node_handle.h>
 
namespace combined_robot_hw
{
 
class CombinedRobotHW : public hardware_interface::RobotHW
{
public:
 
  bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) override;
 
 
  bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                     const std::list<hardware_interface::ControllerInfo>& stop_list) override;
 
  void doSwitch(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;
 
protected:
  ros::NodeHandle root_nh_;
  ros::NodeHandle robot_hw_nh_;
  pluginlib::ClassLoader<hardware_interface::RobotHW> robot_hw_loader_ = {"hardware_interface", "hardware_interface::RobotHW"};
  std::vector<hardware_interface::RobotHWSharedPtr> robot_hw_list_;
 
  virtual bool loadRobotHW(const std::string& name);
 
  void filterControllerList(const std::list<hardware_interface::ControllerInfo>& list,
                            std::list<hardware_interface::ControllerInfo>& filtered_list,
                            hardware_interface::RobotHWSharedPtr robot_hw);
};
 
}