ros2_control - foxy
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sensor.hpp
1// Copyright 2020 ros2_control Development Team
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#ifndef HARDWARE_INTERFACE__SENSOR_HPP_
16#define HARDWARE_INTERFACE__SENSOR_HPP_
17
18#include <memory>
19#include <string>
20#include <utility>
21#include <vector>
22
23#include "hardware_interface/handle.hpp"
24#include "hardware_interface/hardware_info.hpp"
25#include "hardware_interface/types/hardware_interface_return_values.hpp"
26#include "hardware_interface/types/hardware_interface_status_values.hpp"
27#include "hardware_interface/visibility_control.h"
28
29namespace hardware_interface
30{
31class SensorInterface;
32
33class Sensor final
34{
35public:
36 Sensor() = default;
37
38 HARDWARE_INTERFACE_PUBLIC
39 explicit Sensor(std::unique_ptr<SensorInterface> impl);
40
41 Sensor(Sensor && other) = default;
42
43 ~Sensor() = default;
44
45 HARDWARE_INTERFACE_PUBLIC
46 return_type configure(const HardwareInfo & sensor_info);
47
48 HARDWARE_INTERFACE_PUBLIC
49 std::vector<StateInterface> export_state_interfaces();
50
51 HARDWARE_INTERFACE_PUBLIC
52 return_type start();
53
54 HARDWARE_INTERFACE_PUBLIC
55 return_type stop();
56
57 HARDWARE_INTERFACE_PUBLIC
58 std::string get_name() const;
59
60 HARDWARE_INTERFACE_PUBLIC
61 status get_status() const;
62
63 HARDWARE_INTERFACE_PUBLIC
64 return_type read();
65
66private:
67 std::unique_ptr<SensorInterface> impl_;
68};
69
70} // namespace hardware_interface
71#endif // HARDWARE_INTERFACE__SENSOR_HPP_
Definition sensor.hpp:34
This structure stores information about hardware defined in a robot's URDF.
Definition hardware_info.hpp:103