Virtual Class to implement when integrating a complex system into ros2_control. More...

#include <system_interface.hpp>

Inheritance diagram for hardware_interface::SystemInterface:

[legend]

Public Member Functions
virtual return_type	configure (const HardwareInfo &system_info)=0
	Configuration of the system from data parsed from the robot's URDF. More...

virtual std::vector< StateInterface >	export_state_interfaces ()=0
	Exports all state interfaces for this system. More...

virtual std::vector< CommandInterface >	export_command_interfaces ()=0
	Exports all command interfaces for this system. More...

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch. More...

virtual return_type	perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)

virtual return_type	start ()=0
	Start exchange data with the hardware. More...

virtual return_type	stop ()=0
	Stop exchange data with the hardware. More...

virtual std::string	get_name () const =0
	Get name of the system hardware. More...

virtual status	get_status () const =0
	Get current state of the system hardware. More...

virtual return_type	read ()=0
	Read the current state values from the actuators and sensors within the system. More...

virtual return_type	write ()=0
	Write the current command values to the actuator within the system. More...

Detailed Description

Virtual Class to implement when integrating a complex system into ros2_control.

The common examples for these types of hardware are multi-joint systems with or without sensors such as industrial or humanoid robots.

Member Function Documentation

◆ configure()

virtual return_type hardware_interface::SystemInterface::configure ( const HardwareInfo & system_info )

pure virtual

Configuration of the system from data parsed from the robot's URDF.

Parameters

[in] system_info structure with data from URDF.

Returns: return_type::OK if required data are provided and can be parsed, return_type::ERROR otherwise.

Implemented in fake_components::GenericSystem, and test_hardware_components::TestSystemCommandModes.

◆ export_command_interfaces()

virtual std::vector<CommandInterface> hardware_interface::SystemInterface::export_command_interfaces ( )

pure virtual

Exports all command interfaces for this system.

The command interfaces have to be created and transferred according to the system info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of command interfaces

Implemented in test_hardware_components::TestSystemCommandModes, and fake_components::GenericSystem.

◆ export_state_interfaces()

virtual std::vector<StateInterface> hardware_interface::SystemInterface::export_state_interfaces ( )

pure virtual

Exports all state interfaces for this system.

The state interfaces have to be created and transferred according to the system info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Implemented in test_hardware_components::TestSystemCommandModes, and fake_components::GenericSystem.

◆ get_name()

virtual std::string hardware_interface::SystemInterface::get_name ( ) const

pure virtual

Get name of the system hardware.

Returns: name.

◆ get_status()

virtual status hardware_interface::SystemInterface::get_status ( ) const

pure virtual

Get current state of the system hardware.

Returns: current status.

◆ perform_command_mode_switch()

virtual return_type hardware_interface::SystemInterface::perform_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

inlinevirtual

Perform the mode-switching for the new command interface combination.

Note: This is part of the realtime update loop, and should be fast.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfacs stopping.

Returns: return_type::OK if the new command interface combination can be switched to, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented in test_hardware_components::TestSystemCommandModes.

◆ prepare_command_mode_switch()

virtual return_type hardware_interface::SystemInterface::prepare_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

inlinevirtual

Prepare for a new command interface switch.

Prepare for any mode-switching required by the new command interface combination.

Note: This is a non-realtime evaluation of whether a set of command interface claims are possible, and call to start preparing data structures for the upcoming switch that will occur.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfacs stopping.

Returns: return_type::OK if the new command interface combination can be prepared, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented in test_hardware_components::TestSystemCommandModes.

◆ read()

virtual return_type hardware_interface::SystemInterface::read ( )

pure virtual

Read the current state values from the actuators and sensors within the system.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implemented in test_hardware_components::TestSystemCommandModes, and fake_components::GenericSystem.

◆ start()

virtual return_type hardware_interface::SystemInterface::start ( )

pure virtual

Start exchange data with the hardware.

Returns: return_type:OK if everything worked as expected, return_type::ERROR otherwise.

Implemented in test_hardware_components::TestSystemCommandModes, and fake_components::GenericSystem.

◆ stop()

virtual return_type hardware_interface::SystemInterface::stop ( )

pure virtual

Stop exchange data with the hardware.

Returns: return_type:OK if everything worked as expected, return_type::ERROR otherwise.

Implemented in test_hardware_components::TestSystemCommandModes, and fake_components::GenericSystem.

◆ write()

virtual return_type hardware_interface::SystemInterface::write ( )

pure virtual

Write the current command values to the actuator within the system.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implemented in test_hardware_components::TestSystemCommandModes, and fake_components::GenericSystem.

The documentation for this class was generated from the following file:

hardware_interface/include/hardware_interface/system_interface.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ configure()

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ get_name()

◆ get_status()

◆ perform_command_mode_switch()

◆ prepare_command_mode_switch()

◆ read()

◆ start()

◆ stop()

◆ write()