resource_manager.hpp

// Copyright 2020 Open Source Robotics Foundation, 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.
 
#ifndef HARDWARE_INTERFACE__RESOURCE_MANAGER_HPP_
#define HARDWARE_INTERFACE__RESOURCE_MANAGER_HPP_
 
#include <memory>
#include <mutex>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/loaned_command_interface.hpp"
#include "hardware_interface/loaned_state_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
 
namespace hardware_interface
{
class ActuatorInterface;
class SensorInterface;
class SystemInterface;
class ResourceStorage;
 
class HARDWARE_INTERFACE_PUBLIC ResourceManager
{
public:
  ResourceManager();
 
 
  explicit ResourceManager(const std::string & urdf, bool validate_interfaces = true);
 
  ResourceManager(const ResourceManager &) = delete;
 
  ~ResourceManager();
 
 
  void load_urdf(const std::string & urdf, bool validate_interfaces = true);
 
 
  LoanedStateInterface claim_state_interface(const std::string & key);
 
 
  std::vector<std::string> state_interface_keys() const;
 
 
  bool state_interface_exists(const std::string & key) const;
 
 
  bool command_interface_is_claimed(const std::string & key) const;
 
 
  LoanedCommandInterface claim_command_interface(const std::string & key);
 
 
  std::vector<std::string> command_interface_keys() const;
 
 
  bool command_interface_exists(const std::string & key) const;
 
 
  size_t actuator_components_size() const;
 
 
  void import_component(std::unique_ptr<ActuatorInterface> actuator);
 
 
  size_t sensor_components_size() const;
 
 
  void import_component(std::unique_ptr<SensorInterface> sensor);
 
 
  size_t system_components_size() const;
 
 
  void import_component(std::unique_ptr<SystemInterface> system);
 
 
  void import_component(
    std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info);
 
 
  void import_component(
    std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info);
 
 
  void import_component(
    std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info);
 
 
  std::unordered_map<std::string, rclcpp_lifecycle::State> get_components_states();
 
 
  bool prepare_command_mode_switch(
    const std::vector<std::string> & start_interfaces,
    const std::vector<std::string> & stop_interfaces);
 
 
  bool perform_command_mode_switch(
    const std::vector<std::string> & start_interfaces,
    const std::vector<std::string> & stop_interfaces);
 
  void start_components();
 
  void stop_components();
 
  void read();
 
  void write();
 
private:
  void validate_storage(const std::vector<hardware_interface::HardwareInfo> & hardware_info) const;
 
  void release_command_interface(const std::string & key);
 
  std::unordered_map<std::string, bool> claimed_command_interface_map_;
 
  mutable std::recursive_mutex resource_lock_;
  std::unique_ptr<ResourceStorage> resource_storage_;
};
 
}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__RESOURCE_MANAGER_HPP_