Inheritance diagram for hardware_interface::SystemInterface:

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Collaboration diagram for hardware_interface::SystemInterface:

Public Member Functions
	SystemInterface (const SystemInterface &other)=delete
	SystemInterface copy constructor is actively deleted. More...

	SystemInterface (SystemInterface &&other)=default

CallbackReturn	init (const HardwareInfo &hardware_info, rclcpp::Logger logger, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)

virtual CallbackReturn	on_init (const HardwareInfo &)
	Initialization of the hardware interface from data parsed from the robot's URDF. More...

virtual std::vector< StateInterface >	export_state_interfaces ()=0
	Exports all state interfaces for this hardware interface. More...

virtual std::vector< CommandInterface >	export_command_interfaces ()=0
	Exports all command interfaces for this hardware interface. More...

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch. More...

virtual return_type	perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)

virtual return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period)=0
	Read the current state values from the actuator. More...

virtual return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period)=0
	Write the current command values to the actuator. More...

virtual std::string	get_name () const
	Get name of the actuator hardware. More...

virtual std::string	get_group_name () const
	Get name of the actuator hardware group to which it belongs to. More...

const rclcpp_lifecycle::State &	get_state () const
	Get life-cycle state of the actuator hardware. More...

void	set_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware. More...

Protected Member Functions
rclcpp::Logger	get_logger () const
	Get the logger of the SystemInterface. More...

rclcpp::Clock::SharedPtr	get_clock () const
	Get the clock of the SystemInterface. More...

Protected Attributes
HardwareInfo	info_

rclcpp_lifecycle::State	lifecycle_state_

Constructor & Destructor Documentation

◆ SystemInterface()

hardware_interface::SystemInterface::SystemInterface ( const SystemInterface & other )

delete

SystemInterface copy constructor is actively deleted.

Hardware interfaces are having a unique ownership and thus can't be copied in order to avoid failed or simultaneous access to hardware.

Member Function Documentation

◆ export_command_interfaces()

virtual std::vector<CommandInterface> hardware_interface::SystemInterface::export_command_interfaces ( )

pure virtual

Exports all command interfaces for this hardware interface.

The command interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of command interfaces

◆ export_state_interfaces()

virtual std::vector<StateInterface> hardware_interface::SystemInterface::export_state_interfaces ( )

pure virtual

Exports all state interfaces for this hardware interface.

The state interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

◆ get_clock()

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

inlineprotected

Get the clock of the SystemInterface.

Returns: clock of the SystemInterface.

◆ get_group_name()

virtual std::string hardware_interface::SystemInterface::get_group_name ( ) const

inlinevirtual

Get name of the actuator hardware group to which it belongs to.

Returns: group name.

◆ get_logger()

rclcpp::Logger hardware_interface::SystemInterface::get_logger ( ) const

inlineprotected

Get the logger of the SystemInterface.

Returns: logger of the SystemInterface.

◆ get_name()

virtual std::string hardware_interface::SystemInterface::get_name ( ) const

inlinevirtual

Get name of the actuator hardware.

Returns: name.

◆ get_state()

const rclcpp_lifecycle::State& hardware_interface::SystemInterface::get_state ( ) const

inline

Get life-cycle state of the actuator hardware.

Returns: state.

◆ init()

CallbackReturn hardware_interface::SystemInterface::init	(	const HardwareInfo &	hardware_info,
		rclcpp::Logger	logger,
		rclcpp::node_interfaces::NodeClockInterface::SharedPtr	clock_interface
	)

inline

Initialization of the hardware interface from data parsed from the robot's URDF and also the clock and logger interfaces.

Parameters

[in]	hardware_info	structure with data from URDF.
[in]	clock_interface	pointer to the clock interface.
[in]	logger_interface	pointer to the logger interface.

Returns: CallbackReturn::SUCCESS if required data are provided and can be parsed.; CallbackReturn::ERROR if any error happens or data are missing.

◆ on_init()

virtual CallbackReturn hardware_interface::SystemInterface::on_init ( const HardwareInfo & )

inlinevirtual

Initialization of the hardware interface from data parsed from the robot's URDF.

Parameters

[in] hardware_info structure with data from URDF.

Returns: CallbackReturn::SUCCESS if required data are provided and can be parsed.; CallbackReturn::ERROR if any error happens or data are missing.

◆ perform_command_mode_switch()

virtual return_type hardware_interface::SystemInterface::perform_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

inlinevirtual

Perform the mode-switching for the new command interface combination.

Note: This is part of the realtime update loop, and should be fast.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfaces stopping.

Returns: return_type::OK if the new command interface combination can be switched to, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented in mock_components::GenericSystem, gz_ros2_control::GazeboSimSystem, and gazebo_ros2_control::GazeboSystem.

◆ prepare_command_mode_switch()

virtual return_type hardware_interface::SystemInterface::prepare_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

inlinevirtual

Prepare for a new command interface switch.

Prepare for any mode-switching required by the new command interface combination.

Note: This is a non-realtime evaluation of whether a set of command interface claims are possible, and call to start preparing data structures for the upcoming switch that will occur.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfaces stopping.

Returns: return_type::OK if the new command interface combination can be prepared, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented in ros2_control_demo_example_3::RRBotSystemMultiInterfaceHardware, and mock_components::GenericSystem.

◆ read()

virtual return_type hardware_interface::SystemInterface::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

pure virtual

Read the current state values from the actuator.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

◆ set_state()

void hardware_interface::SystemInterface::set_state ( const rclcpp_lifecycle::State & new_state )

inline

Set life-cycle state of the actuator hardware.

Returns: state.

◆ write()

virtual return_type hardware_interface::SystemInterface::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

pure virtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

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

ros2_control/hardware_interface/include/hardware_interface/system_interface.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ SystemInterface()

Member Function Documentation

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ get_clock()

◆ get_group_name()

◆ get_logger()

◆ get_name()

◆ get_state()

◆ init()

◆ on_init()

◆ perform_command_mode_switch()

◆ prepare_command_mode_switch()

◆ read()

◆ set_state()

◆ write()