cm_topic_hardware_component.hpp

// Copyright 2025 AIT Austrian Institute of Technology GmbH
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/* Author: Christoph Froehlich */
 
#pragma once
 
// C++
#include <memory>
#include <string>
 
// ROS
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_component_interface_params.hpp"
#include "pal_statistics_msgs/msg/statistics_names.hpp"
#include "pal_statistics_msgs/msg/statistics_values.hpp"
#include "rclcpp/subscription.hpp"
 
namespace cm_topic_hardware_component
{
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
class CMTopicSystem : public hardware_interface::SystemInterface
{
public:
  CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;
 
  hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
 
  hardware_interface::return_type write(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) override;
 
private:
  rclcpp::Subscription<pal_statistics_msgs::msg::StatisticsNames>::SharedPtr pal_names_subscriber_;
  rclcpp::Subscription<pal_statistics_msgs::msg::StatisticsValues>::SharedPtr pal_values_subscriber_;
  pal_statistics_msgs::msg::StatisticsValues latest_pal_values_;
  std::unordered_map<uint32_t, std::vector<std::string>> pal_statistics_names_per_topic_;
};
 
}  // namespace cm_topic_hardware_component