ros2_control - rolling
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chainable_controller_interface.hpp
1// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
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,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#ifndef CONTROLLER_INTERFACE__CHAINABLE_CONTROLLER_INTERFACE_HPP_
16#define CONTROLLER_INTERFACE__CHAINABLE_CONTROLLER_INTERFACE_HPP_
17
18#include <memory>
19#include <string>
20#include <unordered_map>
21#include <vector>
22
23#include "controller_interface/controller_interface_base.hpp"
24#include "hardware_interface/handle.hpp"
25
26namespace controller_interface
27{
30
37{
38public:
40
41 virtual ~ChainableControllerInterface() = default;
42
52 return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) final;
53
54 bool is_chainable() const final;
55
56 std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;
57
58 std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;
59
60 bool set_chained_mode(bool chained_mode) final;
61
62 bool is_in_chained_mode() const final;
63
64protected:
67
74 virtual std::vector<hardware_interface::StateInterface> on_export_state_interfaces();
75
78
85 virtual std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces();
86
88
99 virtual bool on_set_chained_mode(bool chained_mode);
100
102
109 const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
110
112
122 virtual return_type update_and_write_commands(
123 const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
124
126 std::vector<std::string> exported_state_interface_names_;
127 std::vector<hardware_interface::StateInterface::SharedPtr> ordered_exported_state_interfaces_;
128 std::unordered_map<std::string, hardware_interface::StateInterface::SharedPtr>
129 exported_state_interfaces_;
130 // BEGIN (Handle export change): for backward compatibility
131 std::vector<double> state_interfaces_values_;
132 // END
133
135 std::vector<std::string> exported_reference_interface_names_;
136 // BEGIN (Handle export change): for backward compatibility
137 std::vector<double> reference_interfaces_;
138 // END
139 std::vector<hardware_interface::CommandInterface::SharedPtr>
140 ordered_exported_reference_interfaces_;
141 std::unordered_map<std::string, hardware_interface::CommandInterface::SharedPtr>
142 exported_reference_interfaces_;
143
144private:
146 bool in_chained_mode_ = false;
147};
148
149} // namespace controller_interface
150
151#endif // CONTROLLER_INTERFACE__CHAINABLE_CONTROLLER_INTERFACE_HPP_
Definition chainable_controller_interface.hpp:37
virtual return_type update_and_write_commands(const rclcpp::Time &time, const rclcpp::Duration &period)=0
Execute calculations of the controller and update command interfaces.
virtual return_type update_reference_from_subscribers(const rclcpp::Time &time, const rclcpp::Duration &period)=0
Update reference from input topics when not in chained mode.
virtual std::vector< hardware_interface::CommandInterface > on_export_reference_interfaces()
Definition chainable_controller_interface.cpp:237
std::vector< std::string > exported_reference_interface_names_
Storage of values for reference interfaces.
Definition chainable_controller_interface.hpp:135
virtual bool on_set_chained_mode(bool chained_mode)
Virtual method that each chainable controller should implement to switch chained mode.
Definition chainable_controller_interface.cpp:221
bool is_in_chained_mode() const final
Get information if a controller is currently in chained mode.
Definition chainable_controller_interface.cpp:219
return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) final
Definition chainable_controller_interface.cpp:29
virtual std::vector< hardware_interface::StateInterface > on_export_state_interfaces()
Definition chainable_controller_interface.cpp:224
std::vector< std::string > exported_state_interface_names_
Storage of values for state interfaces.
Definition chainable_controller_interface.hpp:126
bool set_chained_mode(bool chained_mode) final
Definition chainable_controller_interface.cpp:193
bool is_chainable() const final
Get information if a controller is chainable.
Definition chainable_controller_interface.cpp:27
std::vector< hardware_interface::CommandInterface::SharedPtr > export_reference_interfaces() final
Definition chainable_controller_interface.cpp:113
std::vector< hardware_interface::StateInterface::ConstSharedPtr > export_state_interfaces() final
Definition chainable_controller_interface.cpp:49
Definition controller_interface_base.hpp:98