generic_system.hpp

// Copyright (c) 2021 PickNik, Inc.
//
// 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.
//
// Author: Jafar Abdi, Denis Stogl
 
#ifndef FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
#define FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
 
#include <string>
#include <vector>
 
#include "hardware_interface/base_interface.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 "hardware_interface/types/hardware_interface_status_values.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
 
using hardware_interface::return_type;
 
namespace fake_components
{
class HARDWARE_INTERFACE_PUBLIC GenericSystem
: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
{
public:
  return_type configure(const hardware_interface::HardwareInfo & info) override;
 
  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
  return_type start() override
  {
    status_ = hardware_interface::status::STARTED;
    return return_type::OK;
  }
 
  return_type stop() override
  {
    status_ = hardware_interface::status::STOPPED;
    return return_type::OK;
  }
 
  return_type read() override;
 
  return_type write() override { return return_type::OK; }
 
protected:
 
  const std::vector<std::string> standard_interfaces_ = {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT};
 
  const size_t POSITION_INTERFACE_INDEX = 0;
 
  struct MimicJoint
  {
    std::size_t joint_index;
    std::size_t mimicked_joint_index;
    double multiplier = 1.0;
  };
  std::vector<MimicJoint> mimic_joints_;
 
  std::vector<std::vector<double>> joint_commands_;
  std::vector<std::vector<double>> joint_states_;
 
  std::vector<std::string> other_interfaces_;
  std::vector<std::vector<double>> other_commands_;
  std::vector<std::vector<double>> other_states_;
 
  std::vector<std::string> sensor_interfaces_;
  std::vector<std::vector<double>> sensor_fake_commands_;
  std::vector<std::vector<double>> sensor_states_;
 
private:
  template <typename HandleType>
  bool get_interface(
    const std::string & name, const std::vector<std::string> & interface_list,
    const std::string & interface_name, const size_t vector_index,
    std::vector<std::vector<double>> & values, std::vector<HandleType> & interfaces);
 
  void initialize_storage_vectors(
    std::vector<std::vector<double>> & commands, std::vector<std::vector<double>> & states,
    const std::vector<std::string> & interfaces);
 
  bool fake_sensor_command_interfaces_;
  double position_state_following_offset_;
  std::string custom_interface_with_following_offset_;
  size_t index_custom_interface_with_following_offset_;
};
 
typedef GenericSystem GenericRobot;
 
}  // namespace fake_components
 
#endif  // FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_