handle.hpp

// Copyright 2020 PAL Robotics S.L.
//
// 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__HANDLE_HPP_
#define HARDWARE_INTERFACE__HANDLE_HPP_
 
#include <string>
#include <utility>
 
#include "hardware_interface/macros.hpp"
#include "hardware_interface/visibility_control.h"
 
namespace hardware_interface
{
class ReadOnlyHandle
{
public:
  ReadOnlyHandle(
    const std::string & prefix_name, const std::string & interface_name,
    double * value_ptr = nullptr)
  : prefix_name_(prefix_name), interface_name_(interface_name), value_ptr_(value_ptr)
  {
  }
 
  explicit ReadOnlyHandle(const std::string & interface_name)
  : interface_name_(interface_name), value_ptr_(nullptr)
  {
  }
 
  explicit ReadOnlyHandle(const char * interface_name)
  : interface_name_(interface_name), value_ptr_(nullptr)
  {
  }
 
  ReadOnlyHandle(const ReadOnlyHandle & other) = default;
 
  ReadOnlyHandle(ReadOnlyHandle && other) = default;
 
  ReadOnlyHandle & operator=(const ReadOnlyHandle & other) = default;
 
  ReadOnlyHandle & operator=(ReadOnlyHandle && other) = default;
 
  virtual ~ReadOnlyHandle() = default;
 
  inline operator bool() const { return value_ptr_ != nullptr; }
 
  const std::string get_name() const { return prefix_name_ + "/" + interface_name_; }
 
  const std::string & get_interface_name() const { return interface_name_; }
 
  [[deprecated(
    "Replaced by get_name method, which is semantically more correct")]] const std::string
  get_full_name() const
  {
    return get_name();
  }
 
  const std::string & get_prefix_name() const { return prefix_name_; }
 
  double get_value() const
  {
    THROW_ON_NULLPTR(value_ptr_);
    return *value_ptr_;
  }
 
protected:
  std::string prefix_name_;
  std::string interface_name_;
  double * value_ptr_;
};
 
class ReadWriteHandle : public ReadOnlyHandle
{
public:
  ReadWriteHandle(
    const std::string & prefix_name, const std::string & interface_name,
    double * value_ptr = nullptr)
  : ReadOnlyHandle(prefix_name, interface_name, value_ptr)
  {
  }
 
  explicit ReadWriteHandle(const std::string & interface_name) : ReadOnlyHandle(interface_name) {}
 
  explicit ReadWriteHandle(const char * interface_name) : ReadOnlyHandle(interface_name) {}
 
  ReadWriteHandle(const ReadWriteHandle & other) = default;
 
  ReadWriteHandle(ReadWriteHandle && other) = default;
 
  ReadWriteHandle & operator=(const ReadWriteHandle & other) = default;
 
  ReadWriteHandle & operator=(ReadWriteHandle && other) = default;
 
  virtual ~ReadWriteHandle() = default;
 
  void set_value(double value)
  {
    THROW_ON_NULLPTR(this->value_ptr_);
    *this->value_ptr_ = value;
  }
};
 
class StateInterface : public ReadOnlyHandle
{
public:
  StateInterface(const StateInterface & other) = default;
 
  StateInterface(StateInterface && other) = default;
 
  using ReadOnlyHandle::ReadOnlyHandle;
};
 
class CommandInterface : public ReadWriteHandle
{
public:
 
  CommandInterface(const CommandInterface & other) = delete;
 
  CommandInterface(CommandInterface && other) = default;
 
  using ReadWriteHandle::ReadWriteHandle;
};
 
}  // namespace hardware_interface
 
#endif  // HARDWARE_INTERFACE__HANDLE_HPP_