mock_components::GenericSystem Class Reference

Inheritance diagram for mock_components::GenericSystem:

Collaboration diagram for mock_components::GenericSystem:

Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareInfo &info) override
	Initialization of the hardware interface from data parsed from the robot's URDF. More...
std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface. More...
std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface. More...
return_type	prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override
	Prepare for a new command interface switch. More...
return_type	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override
return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the actuator. More...
return_type	write (const rclcpp::Time &, const rclcpp::Duration &) override
	Write the current command values to the actuator. More...
Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SystemInterface copy constructor is actively deleted. More...
	SystemInterface (SystemInterface &&other)=default
virtual std::string	get_name () const
	Get name of the actuator hardware. 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 Attributes
const std::vector< std::string >	standard_interfaces_
	Use standard interfaces for joints because they are relevant for dynamic behavior. More...
std::vector< std::vector< double > >	joint_commands_
	The size of this vector is (standard_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	joint_states_
std::vector< std::string >	other_interfaces_
std::vector< std::vector< double > >	other_commands_
	The size of this vector is (other_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	other_states_
std::vector< std::string >	sensor_interfaces_
std::vector< std::vector< double > >	sensor_mock_commands_
	The size of this vector is (sensor_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	sensor_states_
std::vector< std::string >	gpio_interfaces_
std::vector< std::vector< double > >	gpio_mock_commands_
	The size of this vector is (gpio_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	gpio_commands_
std::vector< std::vector< double > >	gpio_states_
Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_
rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

export_command_interfaces()

std::vector< hardware_interface::CommandInterface > mock_components::GenericSystem::export_command_interfaces ( )

overridevirtual

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

Implements hardware_interface::SystemInterface.

export_state_interfaces()

std::vector< hardware_interface::StateInterface > mock_components::GenericSystem::export_state_interfaces ( )

overridevirtual

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

Implements hardware_interface::SystemInterface.

on_init()

CallbackReturn mock_components::GenericSystem::on_init ( const hardware_interface::HardwareInfo &  hardware_info )

overridevirtual

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.

Reimplemented from hardware_interface::SystemInterface.

perform_command_mode_switch()

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

overridevirtual

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 interfacs 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 from hardware_interface::SystemInterface.

prepare_command_mode_switch()

return_type mock_components::GenericSystem::prepare_command_mode_switch ( const std::vector< std::string > &  , const std::vector< std::string > &    )

overridevirtual

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 interfacs 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 from hardware_interface::SystemInterface.

read()

return_type mock_components::GenericSystem::read ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

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.

Implements hardware_interface::SystemInterface.

write()

return_type mock_components::GenericSystem::write ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

inlineoverridevirtual

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.

Implements hardware_interface::SystemInterface.

Member Data Documentation

standard_interfaces_

const std::vector<std::string> mock_components::GenericSystem::standard_interfaces_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT}

Use standard interfaces for joints because they are relevant for dynamic behavior.

By splitting the standard interfaces from other type, the users are able to inherit this class and simply create small "simulation" with desired dynamic behavior. The advantage over using Gazebo is that enables "quick & dirty" tests of robot's URDF and controllers.

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

• ros2_control/hardware_interface/include/mock_components/generic_system.hpp
• ros2_control/hardware_interface/src/mock_components/generic_system.cpp