actuator_interface.hpp

// Copyright 2020 - 2021 ros2_control Development Team
//
// 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__ACTUATOR_INTERFACE_HPP_
#define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
 
#include <fmt/compile.h>
 
#include <limits>
#include <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
 
#include "hardware_interface/component_parser.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/introspection.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/lifecycle_state_names.hpp"
#include "hardware_interface/types/trigger_type.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/async_function_handler.hpp"
 
namespace hardware_interface
{
 
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
 
class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
{
public:
  ActuatorInterface()
  : lifecycle_state_(
      rclcpp_lifecycle::State(
        lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
    actuator_logger_(rclcpp::get_logger("actuator_interface"))
  {
  }
 
 
  ActuatorInterface(const ActuatorInterface & other) = delete;
 
  ActuatorInterface(ActuatorInterface && other) = delete;
 
  virtual ~ActuatorInterface() = default;
 
 
  CallbackReturn init(
    const HardwareInfo & hardware_info, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)
  {
    actuator_clock_ = clock;
    actuator_logger_ = logger.get_child("hardware_component.actuator." + hardware_info.name);
    info_ = hardware_info;
    if (info_.is_async)
    {
      RCLCPP_INFO_STREAM(
        get_logger(), "Starting async handler with scheduler priority: " << info_.thread_priority);
      async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
      async_handler_->init(
        [this](const rclcpp::Time & time, const rclcpp::Duration & period)
        {
          const auto read_start_time = std::chrono::steady_clock::now();
          const auto ret_read = read(time, period);
          const auto read_end_time = std::chrono::steady_clock::now();
          read_return_info_.store(ret_read, std::memory_order_release);
          read_execution_time_.store(
            std::chrono::duration_cast<std::chrono::nanoseconds>(read_end_time - read_start_time),
            std::memory_order_release);
          if (ret_read != return_type::OK)
          {
            return ret_read;
          }
          const auto write_start_time = std::chrono::steady_clock::now();
          const auto ret_write = write(time, period);
          const auto write_end_time = std::chrono::steady_clock::now();
          write_return_info_.store(ret_write, std::memory_order_release);
          write_execution_time_.store(
            std::chrono::duration_cast<std::chrono::nanoseconds>(write_end_time - write_start_time),
            std::memory_order_release);
          return ret_write;
        },
        info_.thread_priority);
      async_handler_->start_thread();
    }
    return on_init(hardware_info);
  };
 
 
  virtual CallbackReturn on_init(const HardwareInfo & hardware_info)
  {
    info_ = hardware_info;
    parse_state_interface_descriptions(info_.joints, joint_state_interfaces_);
    parse_command_interface_descriptions(info_.joints, joint_command_interfaces_);
    return CallbackReturn::SUCCESS;
  };
 
 
  [[deprecated(
    "Replaced by vector<StateInterface::ConstSharedPtr> on_export_state_interfaces() method. "
    "Exporting is "
    "handled "
    "by the Framework.")]] virtual std::vector<StateInterface>
  export_state_interfaces()
  {
    // return empty vector by default. For backward compatibility we try calling
    // export_state_interfaces() and only when empty vector is returned call
    // on_export_state_interfaces()
    return {};
  }
 
  virtual std::vector<hardware_interface::InterfaceDescription>
  export_unlisted_state_interface_descriptions()
  {
    // return empty vector by default.
    return {};
  }
 
  virtual std::vector<StateInterface::ConstSharedPtr> on_export_state_interfaces()
  {
    // import the unlisted interfaces
    std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
      export_unlisted_state_interface_descriptions();
 
    std::vector<StateInterface::ConstSharedPtr> state_interfaces;
    state_interfaces.reserve(
      unlisted_interface_descriptions.size() + joint_state_interfaces_.size());
 
    // add InterfaceDescriptions and create the StateInterfaces from the descriptions and add to
    // maps.
    for (const auto & description : unlisted_interface_descriptions)
    {
      auto name = description.get_name();
      unlisted_state_interfaces_.insert(std::make_pair(name, description));
      auto state_interface = std::make_shared<StateInterface>(description);
      actuator_states_.insert(std::make_pair(name, state_interface));
      unlisted_states_.push_back(state_interface);
      state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
    }
 
    for (const auto & [name, descr] : joint_state_interfaces_)
    {
      auto state_interface = std::make_shared<StateInterface>(descr);
      actuator_states_.insert(std::make_pair(name, state_interface));
      joint_states_.push_back(state_interface);
      state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
    }
    return state_interfaces;
  }
 
 
  [[deprecated(
    "Replaced by vector<CommandInterface::SharedPtr> on_export_command_interfaces() method. "
    "Exporting is "
    "handled "
    "by the Framework.")]] virtual std::vector<CommandInterface>
  export_command_interfaces()
  {
    // return empty vector by default. For backward compatibility we try calling
    // export_command_interfaces() and only when empty vector is returned call
    // on_export_command_interfaces()
    return {};
  }
 
  virtual std::vector<hardware_interface::InterfaceDescription>
  export_unlisted_command_interface_descriptions()
  {
    // return empty vector by default.
    return {};
  }
 
  virtual std::vector<CommandInterface::SharedPtr> on_export_command_interfaces()
  {
    // import the unlisted interfaces
    std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
      export_unlisted_command_interface_descriptions();
 
    std::vector<CommandInterface::SharedPtr> command_interfaces;
    command_interfaces.reserve(
      unlisted_interface_descriptions.size() + joint_command_interfaces_.size());
 
    // add InterfaceDescriptions and create the CommandInterfaces from the descriptions and add to
    // maps.
    for (const auto & description : unlisted_interface_descriptions)
    {
      auto name = description.get_name();
      unlisted_command_interfaces_.insert(std::make_pair(name, description));
      auto command_interface = std::make_shared<CommandInterface>(description);
      actuator_commands_.insert(std::make_pair(name, command_interface));
      unlisted_commands_.push_back(command_interface);
      command_interfaces.push_back(command_interface);
    }
 
    for (const auto & [name, descr] : joint_command_interfaces_)
    {
      auto command_interface = std::make_shared<CommandInterface>(descr);
      actuator_commands_.insert(std::make_pair(name, command_interface));
      joint_commands_.push_back(command_interface);
      command_interfaces.push_back(command_interface);
    }
 
    return command_interfaces;
  }
 
  virtual return_type prepare_command_mode_switch(
    const std::vector<std::string> & /*start_interfaces*/,
    const std::vector<std::string> & /*stop_interfaces*/)
  {
    return return_type::OK;
  }
 
  // Perform switching to the new command interface.
  virtual return_type perform_command_mode_switch(
    const std::vector<std::string> & /*start_interfaces*/,
    const std::vector<std::string> & /*stop_interfaces*/)
  {
    return return_type::OK;
  }
 
 
  HardwareComponentCycleStatus trigger_read(
    const rclcpp::Time & time, const rclcpp::Duration & period)
  {
    HardwareComponentCycleStatus status;
    status.result = return_type::ERROR;
    if (info_.is_async)
    {
      status.result = read_return_info_.load(std::memory_order_acquire);
      const auto read_exec_time = read_execution_time_.load(std::memory_order_acquire);
      if (read_exec_time.count() > 0)
      {
        status.execution_time = read_exec_time;
      }
      const auto result = async_handler_->trigger_async_callback(time, period);
      status.successful = result.first;
      if (!status.successful)
      {
        RCLCPP_WARN(
          get_logger(),
          "Trigger read/write called while the previous async trigger is still in progress for "
          "hardware interface : '%s'. Failed to trigger read/write cycle!",
          info_.name.c_str());
        status.result = return_type::OK;
        return status;
      }
    }
    else
    {
      const auto start_time = std::chrono::steady_clock::now();
      status.successful = true;
      status.result = read(time, period);
      status.execution_time = std::chrono::duration_cast<std::chrono::nanoseconds>(
        std::chrono::steady_clock::now() - start_time);
    }
    return status;
  }
 
 
  virtual return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
 
  HardwareComponentCycleStatus trigger_write(
    const rclcpp::Time & time, const rclcpp::Duration & period)
  {
    HardwareComponentCycleStatus status;
    status.result = return_type::ERROR;
    if (info_.is_async)
    {
      status.successful = true;
      const auto write_exec_time = write_execution_time_.load(std::memory_order_acquire);
      if (write_exec_time.count() > 0)
      {
        status.execution_time = write_exec_time;
      }
      status.result = write_return_info_.load(std::memory_order_acquire);
    }
    else
    {
      const auto start_time = std::chrono::steady_clock::now();
      status.successful = true;
      status.result = write(time, period);
      status.execution_time = std::chrono::duration_cast<std::chrono::nanoseconds>(
        std::chrono::steady_clock::now() - start_time);
    }
    return status;
  }
 
 
  virtual return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
 
  const std::string & get_name() const { return info_.name; }
 
 
  const std::string & get_group_name() const { return info_.group; }
 
 
  const rclcpp_lifecycle::State & get_lifecycle_state() const { return lifecycle_state_; }
 
 
  void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)
  {
    lifecycle_state_ = new_state;
  }
 
  template <typename T>
  void set_state(const std::string & interface_name, const T & value)
  {
    auto it = actuator_states_.find(interface_name);
    if (it == actuator_states_.end())
    {
      throw std::runtime_error(
        fmt::format(
          FMT_COMPILE(
            "State interface not found: {} in actuator hardware component: {}. "
            "This should not happen."),
          interface_name, info_.name));
    }
    auto & handle = it->second;
    std::unique_lock<std::shared_mutex> lock(handle->get_mutex());
    std::ignore = handle->set_value(lock, value);
  }
 
  template <typename T = double>
  T get_state(const std::string & interface_name) const
  {
    auto it = actuator_states_.find(interface_name);
    if (it == actuator_states_.end())
    {
      throw std::runtime_error(
        fmt::format(
          FMT_COMPILE(
            "State interface not found: {} in actuator hardware component: {}. "
            "This should not happen."),
          interface_name, info_.name));
    }
    auto & handle = it->second;
    std::shared_lock<std::shared_mutex> lock(handle->get_mutex());
    const auto opt_value = handle->get_optional<T>(lock);
    if (!opt_value)
    {
      throw std::runtime_error(
        fmt::format(
          FMT_COMPILE("Failed to get state value from interface: {}. This should not happen."),
          interface_name));
    }
    return opt_value.value();
  }
 
  void set_command(const std::string & interface_name, const double & value)
  {
    auto it = actuator_commands_.find(interface_name);
    if (it == actuator_commands_.end())
    {
      throw std::runtime_error(
        fmt::format(
          FMT_COMPILE(
            "Command interface not found: {} in actuator hardware component: {}. "
            "This should not happen."),
          interface_name, info_.name));
    }
    auto & handle = it->second;
    std::unique_lock<std::shared_mutex> lock(handle->get_mutex());
    std::ignore = handle->set_value(lock, value);
  }
 
  template <typename T = double>
  T get_command(const std::string & interface_name) const
  {
    auto it = actuator_commands_.find(interface_name);
    if (it == actuator_commands_.end())
    {
      throw std::runtime_error(
        fmt::format(
          FMT_COMPILE(
            "Command interface not found: {} in actuator hardware component: {}. "
            "This should not happen."),
          interface_name, info_.name));
    }
    auto & handle = it->second;
    std::shared_lock<std::shared_mutex> lock(handle->get_mutex());
    const auto opt_value = handle->get_optional<double>(lock);
    if (!opt_value)
    {
      throw std::runtime_error(
        fmt::format(
          FMT_COMPILE("Failed to get command value from interface: {}. This should not happen."),
          interface_name));
    }
    return opt_value.value();
  }
 
 
  rclcpp::Logger get_logger() const { return actuator_logger_; }
 
 
  rclcpp::Clock::SharedPtr get_clock() const { return actuator_clock_; }
 
 
  const HardwareInfo & get_hardware_info() const { return info_; }
 
 
  void prepare_for_activation()
  {
    read_return_info_.store(return_type::OK, std::memory_order_release);
    read_execution_time_.store(std::chrono::nanoseconds::zero(), std::memory_order_release);
    write_return_info_.store(return_type::OK, std::memory_order_release);
    write_execution_time_.store(std::chrono::nanoseconds::zero(), std::memory_order_release);
  }
 
 
  void enable_introspection(bool enable)
  {
    if (enable)
    {
      stats_registrations_.enableAll();
    }
    else
    {
      stats_registrations_.disableAll();
    }
  }
 
protected:
  HardwareInfo info_;
  // interface names to InterfaceDescription
  std::unordered_map<std::string, InterfaceDescription> joint_state_interfaces_;
  std::unordered_map<std::string, InterfaceDescription> joint_command_interfaces_;
 
  std::unordered_map<std::string, InterfaceDescription> unlisted_state_interfaces_;
  std::unordered_map<std::string, InterfaceDescription> unlisted_command_interfaces_;
 
  // Exported Command- and StateInterfaces in order they are listed in the hardware description.
  std::vector<StateInterface::SharedPtr> joint_states_;
  std::vector<CommandInterface::SharedPtr> joint_commands_;
 
  std::vector<StateInterface::SharedPtr> unlisted_states_;
  std::vector<CommandInterface::SharedPtr> unlisted_commands_;
 
  rclcpp_lifecycle::State lifecycle_state_;
  std::unique_ptr<realtime_tools::AsyncFunctionHandler<return_type>> async_handler_;
 
private:
  rclcpp::Clock::SharedPtr actuator_clock_;
  rclcpp::Logger actuator_logger_;
  // interface names to Handle accessed through getters/setters
  std::unordered_map<std::string, StateInterface::SharedPtr> actuator_states_;
  std::unordered_map<std::string, CommandInterface::SharedPtr> actuator_commands_;
  std::atomic<return_type> read_return_info_ = return_type::OK;
  std::atomic<std::chrono::nanoseconds> read_execution_time_ = std::chrono::nanoseconds::zero();
  std::atomic<return_type> write_return_info_ = return_type::OK;
  std::atomic<std::chrono::nanoseconds> write_execution_time_ = std::chrono::nanoseconds::zero();
 
protected:
  pal_statistics::RegistrationsRAII stats_registrations_;
};
 
}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_