actuator_interface.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__ACTUATOR_INTERFACE_HPP_
#define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_

#include <memory>
#include <string>
#include <vector>

#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_status_values.hpp"

namespace hardware_interface
{

class ActuatorInterface
{
public:
  ActuatorInterface() = default;

  virtual ~ActuatorInterface() = default;


  virtual return_type configure(const HardwareInfo & actuator_info) = 0;


  virtual std::vector<StateInterface> export_state_interfaces() = 0;


  virtual std::vector<CommandInterface> export_command_interfaces() = 0;


  virtual return_type prepare_command_mode_switch(
    const std::vector<std::string> & /*start_interfaces*/,
    const std::vector<std::string> & /*stop_interfaces*/)
  {
    return return_type::OK;
  }

  // Perform switching to the new command interface.
  virtual return_type perform_command_mode_switch(
    const std::vector<std::string> & /*start_interfaces*/,
    const std::vector<std::string> & /*stop_interfaces*/)
  {
    return return_type::OK;
  }


  virtual return_type start() = 0;


  virtual return_type stop() = 0;


  virtual std::string get_name() const = 0;


  virtual status get_status() const = 0;


  virtual return_type read() = 0;


  virtual return_type write() = 0;
};

}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_