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* introducing handles Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * component interfaces & tests Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * linters Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * import resource manager Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * correct year Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * import handles from loaded components Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * wip / debug Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * parse components Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * changes after rebase Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * component parser as shared library Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * validate urdf configuratin Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * documentation Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * remove default constructor Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * resource loaning Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * loan state interface Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * import externally declared components Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * move resource manager to hardware interface (ros-controls#226) * move resource manager to hardware interface Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * include functional for std::function Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> * address review comments Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
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hardware_interface/include/hardware_interface/loaned_command_interface.hpp
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| // Copyright 2020 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. | ||
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| #ifndef HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_ | ||
| #define HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_ | ||
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| #include <functional> | ||
| #include <utility> | ||
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| #include "hardware_interface/handle.hpp" | ||
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| namespace hardware_interface | ||
| { | ||
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| class LoanedCommandInterface | ||
| { | ||
| public: | ||
| using Deleter = std::function<void (void)>; | ||
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| explicit LoanedCommandInterface(CommandInterface & command_interface) | ||
| : LoanedCommandInterface(command_interface, nullptr) | ||
| {} | ||
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| LoanedCommandInterface( | ||
| CommandInterface & command_interface, | ||
| Deleter && deleter) | ||
| : command_interface_(command_interface), | ||
| deleter_(std::forward<Deleter>(deleter)) | ||
| {} | ||
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| LoanedCommandInterface(const LoanedCommandInterface & other) = delete; | ||
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| LoanedCommandInterface(LoanedCommandInterface && other) = default; | ||
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| virtual ~LoanedCommandInterface() | ||
| { | ||
| if (deleter_) { | ||
| deleter_(); | ||
| } | ||
| } | ||
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| void set_value(double val) | ||
| { | ||
| command_interface_.set_value(val); | ||
| } | ||
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| double get_value() const | ||
| { | ||
| return command_interface_.get_value(); | ||
| } | ||
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| protected: | ||
| CommandInterface & command_interface_; | ||
| Deleter deleter_; | ||
| }; | ||
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| } // namespace hardware_interface | ||
| #endif // HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_ |
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