Inheritance diagram for mock_components::GenericSystem:

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Collaboration diagram for mock_components::GenericSystem:

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Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareComponentInterfaceParams &params) override
	Initialization of the hardware interface from data parsed from the robot's URDF.

hardware_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

hardware_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

std::vector< hardware_interface::InterfaceDescription >	export_unlisted_command_interface_descriptions () override

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.

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 hardware.

return_type	write (const rclcpp::Time &, const rclcpp::Duration &) override
	Write the current command values to the hardware.

Public Member Functions inherited from hardware_interface::HardwareComponentInterface
	HardwareComponentInterface (const HardwareComponentInterface &other)=delete
	HardwareComponentInterface copy constructor is actively deleted.

	HardwareComponentInterface (HardwareComponentInterface &&other)=delete

CallbackReturn	init (const hardware_interface::HardwareComponentParams &params)

virtual CallbackReturn	init_hardware_status_message (control_msgs::msg::HardwareStatus &)
	User-overridable method to configure the structure of the HardwareStatus message.

virtual return_type	update_hardware_status_message (control_msgs::msg::HardwareStatus &)
	User-overridable method to fill the hardware status message with real-time data.

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

virtual std::vector< hardware_interface::InterfaceDescription >	export_unlisted_state_interface_descriptions ()

virtual std::vector< StateInterface::ConstSharedPtr >	on_export_state_interfaces ()

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

virtual std::vector< CommandInterface::SharedPtr >	on_export_command_interfaces ()

HardwareComponentCycleStatus	trigger_read (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the read method synchronously or asynchronously depending on the HardwareInfo.

HardwareComponentCycleStatus	trigger_write (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the write method synchronously or asynchronously depending on the HardwareInfo.

const std::string &	get_name () const
	Get name of the hardware.

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

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

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

bool	has_state (const std::string &interface_name) const
	Does the state interface exist?

template<typename T >
void	set_state (const std::string &interface_name, const T &value)
	Set the value of a state interface.

template<typename T = double>
T	get_state (const std::string &interface_name) const
	Get the value from a state interface.

bool	has_command (const std::string &interface_name) const
	Does the command interface exist?

template<typename T >
void	set_command (const std::string &interface_name, const T &value)
	Set the value of a command interface.

template<typename T = double>
T	get_command (const std::string &interface_name) const
	Get the value from a command interface.

rclcpp::Logger	get_logger () const
	Get the logger of the HardwareComponentInterface.

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

rclcpp::Node::SharedPtr	get_node () const
	Get the default node of the HardwareComponentInterface.

const HardwareInfo &	get_hardware_info () const
	Get the hardware info of the HardwareComponentInterface.

void	pause_async_operations ()
	Pause any asynchronous operations.

void	prepare_for_activation ()
	Prepare for the activation of the hardware.

void	enable_introspection (bool enable)
	Enable or disable introspection of the hardware.

Protected Attributes
const std::vector< std::string >	standard_interfaces_
	Use standard interfaces for joints because they are relevant for dynamic behavior.

std::vector< std::string >	skip_interfaces_

Protected Attributes inherited from hardware_interface::HardwareComponentInterface
HardwareInfo	info_

std::unordered_map< std::string, InterfaceDescription >	joint_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	joint_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	sensor_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_command_interfaces_

rclcpp_lifecycle::State	lifecycle_state_

std::unique_ptr< realtime_tools::AsyncFunctionHandler< return_type > >	async_handler_

std::vector< StateInterface::SharedPtr >	joint_states_

std::vector< CommandInterface::SharedPtr >	joint_commands_

std::vector< StateInterface::SharedPtr >	sensor_states_

std::vector< StateInterface::SharedPtr >	gpio_states_

std::vector< CommandInterface::SharedPtr >	gpio_commands_

std::vector< StateInterface::SharedPtr >	unlisted_states_

std::vector< CommandInterface::SharedPtr >	unlisted_commands_

pal_statistics::RegistrationsRAII	stats_registrations_

std::shared_ptr< rclcpp::Publisher< control_msgs::msg::HardwareStatus > >	hardware_status_publisher_

realtime_tools::RealtimeThreadSafeBox< std::optional< control_msgs::msg::HardwareStatus > >	hardware_status_box_

rclcpp::TimerBase::SharedPtr	hardware_status_timer_

Member Function Documentation

◆ export_unlisted_command_interface_descriptions()

std::vector< hardware_interface::InterfaceDescription > mock_components::GenericSystem::export_unlisted_command_interface_descriptions ( )

overridevirtual

Override this method to export custom CommandInterfaces which are not defined in the URDF file. Those interfaces will be added to the unlisted_command_interfaces_ map.

Returns: vector of descriptions to the unlisted CommandInterfaces

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ on_init()

CallbackReturn mock_components::GenericSystem::on_init ( const hardware_interface::HardwareComponentInterfaceParams & params )

overridevirtual

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

Parameters

[in] params A struct of type hardware_interface::HardwareComponentInterfaceParams containing all necessary parameters for initializing this specific hardware component, specifically its HardwareInfo, and a weak_ptr to the executor.

Warning: The parsed executor should not be used to call cancel() or use blocking callbacks such as spin().

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::HardwareComponentInterface.

◆ 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.

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 from hardware_interface::HardwareComponentInterface.

◆ 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.

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 from hardware_interface::HardwareComponentInterface.

◆ read()

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

overridevirtual

Read the current state values from the hardware.

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::HardwareComponentInterface.

◆ write()

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

inlineoverridevirtual

Write the current command values to the hardware.

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.

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

Public Member Functions

Protected Attributes

Member Function Documentation

◆ export_unlisted_command_interface_descriptions()

◆ on_init()

◆ perform_command_mode_switch()

◆ prepare_command_mode_switch()

◆ read()

◆ write()

Member Data Documentation

◆ standard_interfaces_