gz_system.hpp

// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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 GZ_ROS2_CONTROL__GZ_SYSTEM_HPP_
#define GZ_ROS2_CONTROL__GZ_SYSTEM_HPP_
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include "gz_ros2_control/gz_system_interface.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
namespace gz_ros2_control
{
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
// Forward declaration
class GazeboSimSystemPrivate;
 
// These class must inherit `gz_ros2_control::GazeboSimSystemInterface` which implements a
// simulated `ros2_control` `hardware_interface::SystemInterface`.
 
class GazeboSimSystem : public GazeboSimSystemInterface
{
public:
  GazeboSimSystem();
 
  ~GazeboSimSystem() override;
 
  // Documentation Inherited
  CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params)
  override;
 
  CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
 
  // Documentation Inherited
  std::vector<hardware_interface::StateInterface::ConstSharedPtr>
  on_export_state_interfaces() override;
 
  // Documentation Inherited
  std::vector<hardware_interface::CommandInterface::SharedPtr>
  on_export_command_interfaces() override;
 
  // Documentation Inherited
  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
  // Documentation Inherited
  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
  // Documentation Inherited
  hardware_interface::return_type perform_command_mode_switch(
    const std::vector<std::string> & start_interfaces,
    const std::vector<std::string> & stop_interfaces) override;
 
  // Documentation Inherited
  hardware_interface::return_type read(
    const rclcpp::Time & time,
    const rclcpp::Duration & period) override;
 
  // Documentation Inherited
  hardware_interface::return_type write(
    const rclcpp::Time & time,
    const rclcpp::Duration & period) override;
 
  // Documentation Inherited
  bool initSim(
    rclcpp::Node::SharedPtr & model_nh,
    std::map<std::string, sim::Entity> & joints,
    const hardware_interface::HardwareInfo & hardware_info,
    sim::EntityComponentManager & _ecm,
    unsigned int update_rate) override;
 
private:
  // Register a sensor (for now just IMUs)
  // \param[in] hardware_info hardware information where the data of
  // the sensors is extract.
  void registerSensors(
    const hardware_interface::HardwareInfo & hardware_info);
 
  std::unique_ptr<GazeboSimSystemPrivate> dataPtr;
};
 
}  // namespace gz_ros2_control
 
#endif  // GZ_ROS2_CONTROL__GZ_SYSTEM_HPP_