ros2_control - humble
system.hpp
1 // Copyright 2020 - 2021 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,
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12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef HARDWARE_INTERFACE__SYSTEM_HPP_
16 #define HARDWARE_INTERFACE__SYSTEM_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/visibility_control.h"
27 #include "rclcpp/duration.hpp"
28 #include "rclcpp/time.hpp"
29 #include "rclcpp_lifecycle/state.hpp"
30 
31 namespace hardware_interface
32 {
33 class SystemInterface;
34 
35 class System final
36 {
37 public:
38  System() = default;
39 
40  HARDWARE_INTERFACE_PUBLIC
41  explicit System(std::unique_ptr<SystemInterface> impl);
42 
43  System(System && other) = default;
44 
45  ~System() = default;
46 
47  HARDWARE_INTERFACE_PUBLIC
48  const rclcpp_lifecycle::State & initialize(const HardwareInfo & system_info);
49 
50  HARDWARE_INTERFACE_PUBLIC
51  const rclcpp_lifecycle::State & configure();
52 
53  HARDWARE_INTERFACE_PUBLIC
54  const rclcpp_lifecycle::State & cleanup();
55 
56  HARDWARE_INTERFACE_PUBLIC
57  const rclcpp_lifecycle::State & shutdown();
58 
59  HARDWARE_INTERFACE_PUBLIC
60  const rclcpp_lifecycle::State & activate();
61 
62  HARDWARE_INTERFACE_PUBLIC
63  const rclcpp_lifecycle::State & deactivate();
64 
65  HARDWARE_INTERFACE_PUBLIC
66  const rclcpp_lifecycle::State & error();
67 
68  HARDWARE_INTERFACE_PUBLIC
69  std::vector<StateInterface> export_state_interfaces();
70 
71  HARDWARE_INTERFACE_PUBLIC
72  std::vector<CommandInterface> export_command_interfaces();
73 
74  HARDWARE_INTERFACE_PUBLIC
75  return_type prepare_command_mode_switch(
76  const std::vector<std::string> & start_interfaces,
77  const std::vector<std::string> & stop_interfaces);
78 
79  HARDWARE_INTERFACE_PUBLIC
80  return_type perform_command_mode_switch(
81  const std::vector<std::string> & start_interfaces,
82  const std::vector<std::string> & stop_interfaces);
83 
84  HARDWARE_INTERFACE_PUBLIC
85  std::string get_name() const;
86 
87  HARDWARE_INTERFACE_PUBLIC
88  const rclcpp_lifecycle::State & get_state() const;
89 
90  HARDWARE_INTERFACE_PUBLIC
91  return_type read(const rclcpp::Time & time, const rclcpp::Duration & period);
92 
93  HARDWARE_INTERFACE_PUBLIC
94  return_type write(const rclcpp::Time & time, const rclcpp::Duration & period);
95 
96 private:
97  std::unique_ptr<SystemInterface> impl_;
98 };
99 
100 } // namespace hardware_interface
101 #endif // HARDWARE_INTERFACE__SYSTEM_HPP_
Definition: system.hpp:36
Definition: actuator.hpp:31
This structure stores information about hardware defined in a robot's URDF.
Definition: hardware_info.hpp:106