Public Member Functions
	ResourceStorage (rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)

	ResourceStorage (rclcpp::Clock::SharedPtr clock_interface, rclcpp::Logger logger)

template<class HardwareT , class HardwareInterfaceT >
bool	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)

void	insert_command_interface (const CommandInterface::SharedPtr command_interface)

void	insert_command_interface (CommandInterface &&command_interface)

template<class HardwareT >
void	import_command_interfaces (HardwareT &hardware)

void	import_joint_limiters (const std::vector< HardwareInfo > &hardware_infos)

template<typename T >
void	update_joint_limiters_data (const std::string &joint_name, const std::map< std::string, T > &interface_map, joint_limits::JointControlInterfacesData &data, bool is_command_itf=false)

template<typename T >
void	update_joint_limiters_commands (const joint_limits::JointControlInterfacesData &limited_command, std::map< std::string, T > &interface_map)

void	update_joint_limiters_data (joint_limits::JointInterfacesCommandLimiterData &data)

bool	enforce_command_limits (const std::string &joint_name, const rclcpp::Duration &period)
	enforce the command limits for a specific joint

std::string	add_state_interface (StateInterface::ConstSharedPtr interface)

std::vector< std::string >	add_state_interfaces (std::vector< StateInterface::ConstSharedPtr > &interfaces)
	Adds exported state interfaces into internal storage.

void	remove_state_interfaces (const std::vector< std::string > &interface_names)
	Removes state interfaces from internal storage.

std::vector< std::string >	add_command_interfaces (std::vector< CommandInterface > &interfaces)
	Adds exported command interfaces into internal storage.

std::vector< std::string >	add_command_interfaces (const std::vector< CommandInterface::SharedPtr > &interfaces)

void	bind_command_limiter_to_interface (CommandInterface::SharedPtr interface)
	Binds the command limiter enforcement to the command interfaces.

void	remove_command_interfaces (const std::vector< std::string > &interface_names)
	Removes command interfaces from internal storage.

bool	load_and_initialize_actuator (const HardwareInfo &hardware_info)

bool	load_and_initialize_sensor (const HardwareInfo &hardware_info)

bool	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)

void	clear ()

return_type	update_hardware_component_group_state (const std::string &group_name, const return_type &value)

const rclcpp::Logger &	get_logger () const
	Gets the logger for the resource storage.

rclcpp::Clock::SharedPtr	get_clock () const
	Gets the clock for the resource storage.

Public Attributes
pluginlib::ClassLoader< ActuatorInterface >	actuator_loader_

pluginlib::ClassLoader< SensorInterface >	sensor_loader_

pluginlib::ClassLoader< SystemInterface >	system_loader_

rclcpp::Clock::SharedPtr	rm_clock_

rclcpp::Logger	rm_logger_

std::vector< Actuator >	actuators_

std::vector< Sensor >	sensors_

std::vector< System >	systems_

std::unordered_map< std::string, HardwareComponentInfo >	hardware_info_map_

std::unordered_map< std::string, hardware_interface::return_type >	hw_group_state_

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_exported_state_interfaces_map_
	Mapping between controllers and list of interfaces they are using.

std::unordered_map< std::string, std::vector< std::string > >	controllers_reference_interfaces_map_

std::map< std::string, StateInterface::ConstSharedPtr >	state_interface_map_
	Storage of all available state interfaces.

std::map< std::string, CommandInterface::SharedPtr >	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, joint_limits::JointInterfacesCommandLimiterData >	limiters_data_

std::unordered_map< std::string, std::unordered_map< std::string, std::unique_ptr< joint_limits::JointLimiterInterface< joint_limits::JointControlInterfacesData > > > >	joint_limiters_interface_

std::string	robot_description_

std::function< void()>	on_component_state_switch_callback_ = nullptr
	The callback to be called when a component state is switched.

unsigned int	cm_update_rate_ = 100

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.

◆ add_state_interfaces()

std::vector< std::string > hardware_interface::ResourceStorage::add_state_interfaces ( std::vector< StateInterface::ConstSharedPtr > & interfaces )

inline

Adds exported state interfaces into internal storage.

Adds state interfaces to the internal storage. State interfaces exported from hardware or chainable controllers are moved to the map with name-interface pairs and available list's size is increased to reserve storage when interface change theirs status in real-time control loop.

Parameters

[interfaces] list of state 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.

◆ bind_command_limiter_to_interface()

void hardware_interface::ResourceStorage::bind_command_limiter_to_interface ( CommandInterface::SharedPtr interface )

inline

Binds the command limiter enforcement to the command interfaces.

Binds the enforcement of the command limits to the command interfaces. The enforcement is triggered by the command interfaces when the command is set. If the interface prefix is a joint name, then the limit enforcement callback is added to the command interface.

Parameters

[interface] command interface to bind the enforcement.

◆ enforce_command_limits()

bool hardware_interface::ResourceStorage::enforce_command_limits	(	const std::string &	joint_name,
		const rclcpp::Duration &	period
	)

inline

enforce the command limits for a specific joint

Parameters

joint_name	name of the joint to enforce the command limits
period	time period of the command

Returns: true if the command interfaces are out of limits and the limits are enforced; false if the command interfaces values are within limits

◆ get_clock()

rclcpp::Clock::SharedPtr hardware_interface::ResourceStorage::get_clock ( ) const

inline

Gets the clock for the resource storage.

Returns: clock of the resource storage

◆ get_logger()

const rclcpp::Logger & hardware_interface::ResourceStorage::get_logger ( ) const

inline

Gets the logger for the resource storage.

Returns: logger of the resource storage

◆ 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.

◆ remove_state_interfaces()

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

inline

Removes state interfaces from internal storage.

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

Parameters

[interface_names] list of state interface names to remove from storage.

◆ update_hardware_component_group_state()

return_type hardware_interface::ResourceStorage::update_hardware_component_group_state	(	const std::string &	group_name,
		const return_type &	value
	)

inline

Returns the return type of the hardware component group state, if the return type is other than OK, then updates the return type of the group to the respective one

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

ros2_control/hardware_interface/src/resource_manager.cpp

Public Member Functions

Public Attributes

Member Function Documentation

◆ add_command_interfaces()

◆ add_state_interfaces()

◆ bind_command_limiter_to_interface()

◆ enforce_command_limits()

◆ get_clock()

◆ get_logger()

◆ remove_command_interfaces()

◆ remove_state_interfaces()

◆ update_hardware_component_group_state()