hardware_interface::ResourceStorage Class Reference

Public Member Functions
	ResourceStorage (unsigned int update_rate=100, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface=nullptr)
template<class HardwareT , class HardwareInterfaceT >
void	load_hardware (const HardwareInfo &hardware_info, pluginlib::ClassLoader< HardwareInterfaceT > &loader, std::vector< HardwareT > &container)
template<class HardwareT >
bool	initialize_hardware (const HardwareInfo &hardware_info, HardwareT &hardware)
template<class HardwareT >
bool	configure_hardware (HardwareT &hardware)
void	remove_all_hardware_interfaces_from_available_list (const std::string &hardware_name)
template<class HardwareT >
bool	cleanup_hardware (HardwareT &hardware)
template<class HardwareT >
bool	shutdown_hardware (HardwareT &hardware)
template<class HardwareT >
bool	activate_hardware (HardwareT &hardware)
template<class HardwareT >
bool	deactivate_hardware (HardwareT &hardware)
template<class HardwareT >
bool	set_component_state (HardwareT &hardware, const rclcpp_lifecycle::State &target_state)
template<class HardwareT >
void	import_state_interfaces (HardwareT &hardware)
template<class HardwareT >
void	import_command_interfaces (HardwareT &hardware)
std::vector< std::string >	add_command_interfaces (std::vector< CommandInterface > &interfaces)
	Adds exported command interfaces into internal storage.
void	remove_command_interfaces (const std::vector< std::string > &interface_names)
	Removes command interfaces from internal storage.
void	check_for_duplicates (const HardwareInfo &hardware_info)
void	load_and_initialize_actuator (const HardwareInfo &hardware_info)
void	load_and_initialize_sensor (const HardwareInfo &hardware_info)
void	load_and_initialize_system (const HardwareInfo &hardware_info)
void	initialize_actuator (std::unique_ptr< ActuatorInterface > actuator, const HardwareInfo &hardware_info)
void	initialize_sensor (std::unique_ptr< SensorInterface > sensor, const HardwareInfo &hardware_info)
void	initialize_system (std::unique_ptr< SystemInterface > system, const HardwareInfo &hardware_info)

Public Attributes
pluginlib::ClassLoader< ActuatorInterface >	actuator_loader_
pluginlib::ClassLoader< SensorInterface >	sensor_loader_
pluginlib::ClassLoader< SystemInterface >	system_loader_
std::vector< Actuator >	actuators_
std::vector< Sensor >	sensors_
std::vector< System >	systems_
std::vector< Actuator >	async_actuators_
std::vector< Sensor >	async_sensors_
std::vector< System >	async_systems_
std::unordered_map< std::string, HardwareComponentInfo >	hardware_info_map_
std::unordered_map< std::string, std::vector< std::string > >	hardware_used_by_controllers_
	Mapping between hardware and controllers that are using it (accessing data from it)
std::unordered_map< std::string, std::vector< std::string > >	controllers_reference_interfaces_map_
	Mapping between controllers and list of reference interfaces they are using.
std::map< std::string, StateInterface >	state_interface_map_
	Storage of all available state interfaces.
std::map< std::string, CommandInterface >	command_interface_map_
	Storage of all available command interfaces.
std::vector< std::string >	available_state_interfaces_
	Vectors with interfaces available to controllers (depending on hardware component state)
std::vector< std::string >	available_command_interfaces_
std::unordered_map< std::string, bool >	claimed_command_interface_map_
	List of all claimed command interfaces.
std::unordered_map< std::string, AsyncComponentThread >	async_component_threads_
	List of async components by type.
unsigned int	cm_update_rate_
rclcpp::node_interfaces::NodeClockInterface::SharedPtr	clock_interface_

Member Function Documentation

add_command_interfaces()

std::vector< std::string > hardware_interface::ResourceStorage::add_command_interfaces ( std::vector< CommandInterface > &  interfaces )

inline

Adds exported command interfaces into internal storage.

Add command interfaces to the internal storage. Command interfaces exported from hardware or chainable controllers are moved to the map with name-interface pairs, the interface names are added to the claimed map and available list's size is increased to reserve storage when interface change theirs status in real-time control loop.

Parameters

[interfaces]

list of command interface to add into storage.

Returns

list of interface names that are added into internal storage. The output is used to avoid additional iterations to cache interface names, e.g., for initializing info structures.

remove_command_interfaces()

void hardware_interface::ResourceStorage::remove_command_interfaces ( const std::vector< std::string > &  interface_names )

inline

Removes command interfaces from internal storage.

Command interface are removed from the maps with theirs storage and their claimed status.

Parameters

[interface_names]

list of command interface names to remove from storage.

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The documentation for this class was generated from the following file:

• ros2_control/hardware_interface/src/resource_manager.cpp