hardware_info.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__HARDWARE_INFO_HPP_
#define HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
 
#include <string>
#include <unordered_map>
#include <vector>
 
#include "joint_limits/joint_limits.hpp"
 
namespace hardware_interface
{
struct InterfaceInfo
{
  std::string name;
  std::string min;
  std::string max;
  std::string initial_value;
  std::string data_type;
  int size;
  bool enable_limits;
  std::unordered_map<std::string, std::string> parameters;
};
 
struct MimicJoint
{
  std::size_t joint_index;
  std::size_t mimicked_joint_index;
  double multiplier = 1.0;
  double offset = 0.0;
};
 
enum class MimicAttribute
{
  NOT_SET,
  TRUE,
  FALSE
};
 
struct ComponentInfo
{
  std::string name;
  std::string type;
 
  MimicAttribute is_mimic = MimicAttribute::NOT_SET;
 
  std::vector<InterfaceInfo> command_interfaces;
  std::vector<InterfaceInfo> state_interfaces;
  std::unordered_map<std::string, std::string> parameters;
};
 
struct JointInfo
{
  std::string name;
  std::vector<std::string> state_interfaces;
  std::vector<std::string> command_interfaces;
  std::string role;
  double mechanical_reduction = 1.0;
  double offset = 0.0;
};
 
struct ActuatorInfo
{
  std::string name;
  std::vector<std::string> state_interfaces;
  std::vector<std::string> command_interfaces;
  std::string role;
  double mechanical_reduction = 1.0;
  double offset = 0.0;
};
 
struct TransmissionInfo
{
  std::string name;
  std::string type;
  std::vector<JointInfo> joints;
  std::vector<ActuatorInfo> actuators;
  std::unordered_map<std::string, std::string> parameters;
};
 
struct InterfaceDescription
{
  InterfaceDescription(const std::string & prefix_name_in, const InterfaceInfo & interface_info_in)
  : prefix_name(prefix_name_in),
    interface_info(interface_info_in),
    interface_name(prefix_name + "/" + interface_info.name)
  {
  }
 
  std::string prefix_name;
 
  InterfaceInfo interface_info;
 
  std::string interface_name;
 
  std::string get_prefix_name() const { return prefix_name; }
 
  std::string get_interface_name() const { return interface_info.name; }
 
  std::string get_name() const { return interface_name; }
};
 
struct HardwareInfo
{
  std::string name;
  std::string type;
  std::string group;
  unsigned int rw_rate;
  bool is_async;
  int thread_priority;
  std::string hardware_plugin_name;
  std::unordered_map<std::string, std::string> hardware_parameters;
  std::vector<ComponentInfo> joints;
  std::vector<MimicJoint> mimic_joints;
  std::vector<ComponentInfo> sensors;
  std::vector<ComponentInfo> gpios;
  std::vector<TransmissionInfo> transmissions;
  std::string original_xml;
  std::unordered_map<std::string, joint_limits::JointLimits> limits;
 
  std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits;
};
 
}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__HARDWARE_INFO_HPP_