component_parser.hpp

// Copyright 2020 ros2_control Development Team
//
// 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.
 
#ifndef HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
#define HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
 
#include <string>
#include <unordered_map>
#include <vector>
 
#include "hardware_interface/hardware_info.hpp"
 
namespace hardware_interface
{
 
std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
std::vector<InterfaceDescription> parse_state_interface_descriptions(
  const std::vector<ComponentInfo> & component_info);
 
void parse_state_interface_descriptions(
  const std::vector<ComponentInfo> & component_info,
  std::unordered_map<std::string, InterfaceDescription> & state_interfaces_map);
 
std::vector<InterfaceDescription> parse_command_interface_descriptions(
  const std::vector<ComponentInfo> & component_info);
 
void parse_command_interface_descriptions(
  const std::vector<ComponentInfo> & component_info,
  std::unordered_map<std::string, InterfaceDescription> & command_interfaces_map);
}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_