rrbot_system_multi_interface.hpp

// Copyright 2021 Department of Engineering Cybernetics, NTNU
//
// 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 ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_MULTI_INTERFACE_HPP_
#define ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_MULTI_INTERFACE_HPP_
 
#include <chrono>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
 
#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/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "ros2_control_demo_hardware/visibility_control.h"
 
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
namespace ros2_control_demo_hardware
{
class RRBotSystemMultiInterfaceHardware : public hardware_interface::SystemInterface
{
public:
  RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemMultiInterfaceHardware);
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  hardware_interface::return_type prepare_command_mode_switch(
    const std::vector<std::string> & start_interfaces,
    const std::vector<std::string> & stop_interfaces) override;
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  hardware_interface::return_type read() override;
 
  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
  hardware_interface::return_type write() override;
 
private:
  // Parameters for the RRBot simulation
  double hw_start_sec_;
  double hw_stop_sec_;
  double hw_slowdown_;
 
  // Store the commands for the simulated robot
  std::vector<double> hw_commands_positions_;
  std::vector<double> hw_commands_velocities_;
  std::vector<double> hw_commands_accelerations_;
  std::vector<double> hw_states_positions_;
  std::vector<double> hw_states_velocities_;
  std::vector<double> hw_states_accelerations_;
 
  // Store time between update loops
  rclcpp::Clock clock_;
  rclcpp::Time last_timestamp_;
  rclcpp::Time current_timestamp;  // Avoid initialization on each read
 
  // Enum defining at which control level we are
  // Dumb way of maintaining the command_interface type per joint.
  enum integration_level_t : std::uint8_t
  {
    UNDEFINED = 0,
    POSITION = 1,
    VELOCITY = 2,
    ACCELERATION = 3
  };
 
  // Active control mode for each actuator
  std::vector<integration_level_t> control_level_;
};
 
}  // namespace ros2_control_demo_hardware
#endif  // ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_MULTI_INTERFACE_HPP_