Program Listing for File forward_controllers_base.hpp

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// Copyright 2021 Stogl Robotics Consulting UG (haftungsbescrhänkt)
//
// 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 FORWARD_COMMAND_CONTROLLER__FORWARD_CONTROLLERS_BASE_HPP_
#define FORWARD_COMMAND_CONTROLLER__FORWARD_CONTROLLERS_BASE_HPP_

#include <memory>
#include <string>
#include <vector>

#include "controller_interface/controller_interface.hpp"
#include "forward_command_controller/visibility_control.h"
#include "rclcpp/subscription.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/realtime_buffer.h"
#include "std_msgs/msg/float64_multi_array.hpp"

namespace forward_command_controller
{
using CmdType = std_msgs::msg::Float64MultiArray;

class ForwardControllersBase : public controller_interface::ControllerInterface
{
public:
  FORWARD_COMMAND_CONTROLLER_PUBLIC
  ForwardControllersBase();

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  ~ForwardControllersBase() = default;

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  controller_interface::InterfaceConfiguration state_interface_configuration() const override;

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  controller_interface::CallbackReturn on_init() override;

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  controller_interface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & previous_state) override;

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  controller_interface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & previous_state) override;

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  controller_interface::CallbackReturn on_deactivate(
    const rclcpp_lifecycle::State & previous_state) override;

  FORWARD_COMMAND_CONTROLLER_PUBLIC
  controller_interface::return_type update(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;

protected:
  virtual void declare_parameters() = 0;

  virtual controller_interface::CallbackReturn read_parameters() = 0;

  std::vector<std::string> joint_names_;
  std::string interface_name_;

  std::vector<std::string> command_interface_types_;

  realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>> rt_command_ptr_;
  rclcpp::Subscription<CmdType>::SharedPtr joints_command_subscriber_;
};

}  // namespace forward_command_controller

#endif  // FORWARD_COMMAND_CONTROLLER__FORWARD_CONTROLLERS_BASE_HPP_