#include <mock_pendulum_hardware.hpp>

Inheritance diagram for mock_pendulum_hardware::MockPendulumHardware:

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Collaboration diagram for mock_pendulum_hardware::MockPendulumHardware:

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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.

std::vector< hardware_interface::StateInterface::ConstSharedPtr >	on_export_state_interfaces () override

std::vector< hardware_interface::CommandInterface::SharedPtr >	on_export_command_interfaces () override

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

CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

hardware_interface::return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the hardware.

hardware_interface::return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period) 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 &msg_template)
	User-overridable method to configure the structure of the HardwareStatus message.

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

virtual rclcpp::NodeOptions	define_custom_node_options () const
	Define custom node options for the hardware component interface.

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

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

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

virtual return_type	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_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.

uint8_t	get_lifecycle_id () const
	Get the lifecycle id of the hardware component interface.

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

virtual const StateInterface::SharedPtr &	get_state_interface_handle (const std::string &interface_name) const
	Get the state interface handle.

template<typename T >
bool	set_state (const StateInterface::SharedPtr &interface_handle, const T &value, bool wait_until_set)
	Set the value of a state interface.

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

template<typename T >
bool	get_state (const StateInterface::SharedPtr &interface_handle, T &state, bool wait_until_get) const

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

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

virtual const CommandInterface::SharedPtr &	get_command_interface_handle (const std::string &interface_name) const
	Get the command interface handle.

template<typename T >
bool	set_command (const CommandInterface::SharedPtr &interface_handle, const T &value, bool wait_until_set)
	Set the value of a command interface.

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

template<typename T >
bool	get_command (const CommandInterface::SharedPtr &interface_handle, T &command, bool wait_until_get) const

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

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

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

virtual 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	stop_async_handler ()
	Stop and release the async handler thread.

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

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

Additional Inherited Members
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_

Detailed Description

Mock hardware for a rotary (Furuta) inverted pendulum.

Angle conventions (chosen to match the controller, NOT the URDF joint zero): q1 (motor_joint) : arm angle, 0 = wherever the operator centred the arm, mechanically limited to +-135 deg by the lid bosses. q2 (pendulum_joint) : 0 = UPRIGHT, +-pi = hanging. Always reported wrapped into [-pi, pi].

The URDF's arm_to_pendulum zero is the hanging pose; this interface offsets that by pi so the controller sees the usual "error = q2" upright convention.

Member Function Documentation

◆ on_export_command_interfaces()

std::vector< hardware_interface::CommandInterface::SharedPtr > mock_pendulum_hardware::MockPendulumHardware::on_export_command_interfaces ( )

overridevirtual

Default implementation for exporting the CommandInterfaces. The CommandInterfaces are created according to the InterfaceDescription. The memory accessed by the controllers and hardware is assigned here and resides in the system_interface.

Actuator and System components should override this method. Sensor components can use the default.

Returns: vector of shared pointers to the created and stored CommandInterfaces

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ on_export_state_interfaces()

std::vector< hardware_interface::StateInterface::ConstSharedPtr > mock_pendulum_hardware::MockPendulumHardware::on_export_state_interfaces ( )

overridevirtual

Default implementation for exporting the StateInterfaces. The StateInterfaces are created according to the InterfaceDescription. The memory accessed by the controllers and hardware is assigned here and resides in the interface.

Returns: vector of shared pointers to the created and stored StateInterfaces

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ on_init()

CallbackReturn mock_pendulum_hardware::MockPendulumHardware::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.

◆ read()

hardware_interface::return_type mock_pendulum_hardware::MockPendulumHardware::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()

hardware_interface::return_type mock_pendulum_hardware::MockPendulumHardware::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

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.

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

zephyr-zenoh-integration/demos/inverted_pendulum/inverted_pendulum_ros/include/mock_pendulum_hardware/mock_pendulum_hardware.hpp
zephyr-zenoh-integration/demos/inverted_pendulum/inverted_pendulum_ros/src/mock_pendulum_hardware.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ on_export_command_interfaces()

◆ on_export_state_interfaces()

◆ on_init()

◆ read()

◆ write()