Program Listing for File hardware_interface.hpp

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// Copyright (c) 2022 PickNik, Inc.
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//      contributors may be used to endorse or promote products derived from
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#pragma once

#include <atomic>
#include <limits>
#include <memory>
#include <string>
#include <vector>

#include <robotiq_driver/visibility_control.hpp>

#include <robotiq_driver/driver.hpp>
#include <robotiq_driver/driver_factory.hpp>

#include <hardware_interface/handle.hpp>
#include <hardware_interface/hardware_info.hpp>
#include <hardware_interface/system_interface.hpp>
#include <hardware_interface/types/hardware_interface_return_values.hpp>

#include <rclcpp/macros.hpp>
#include <rclcpp/rclcpp.hpp>

namespace robotiq_driver
{
class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterface
{
public:
  RCLCPP_SHARED_PTR_DEFINITIONS(RobotiqGripperHardwareInterface)


  ROBOTIQ_DRIVER_PUBLIC
  RobotiqGripperHardwareInterface();

  ROBOTIQ_DRIVER_PUBLIC
  ~RobotiqGripperHardwareInterface();

  explicit RobotiqGripperHardwareInterface(std::unique_ptr<DriverFactory> driver_factory);

  ROBOTIQ_DRIVER_PUBLIC
  CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;

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

  ROBOTIQ_DRIVER_PUBLIC
  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

  ROBOTIQ_DRIVER_PUBLIC
  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

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

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

  ROBOTIQ_DRIVER_PUBLIC
  hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;

  ROBOTIQ_DRIVER_PUBLIC
  hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;

protected:
  // Interface to send binary data to the hardware using the serial port.
  std::unique_ptr<Driver> driver_;

  // Factory to create the driver during the initialization step.
  std::unique_ptr<DriverFactory> driver_factory_;

  // We use a thread to read/write to the driver so that we dont block the hardware_interface read/write.
  std::thread communication_thread_;
  std::atomic<bool> communication_thread_is_running_;
  void background_task();

  double gripper_closed_pos_;

  static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN();

  double gripper_position_;
  double gripper_velocity_;
  double gripper_position_command_;

  std::atomic<uint8_t> write_command_;
  std::atomic<uint8_t> write_force_;
  std::atomic<uint8_t> write_speed_;
  std::atomic<uint8_t> gripper_current_state_;

  double reactivate_gripper_cmd_;
  std::atomic<bool> reactivate_gripper_async_cmd_;
  double reactivate_gripper_response_;
  double gripper_force_;
  double gripper_speed_;
  std::atomic<std::optional<bool>> reactivate_gripper_async_response_;
};

}  // namespace robotiq_driver