-
Notifications
You must be signed in to change notification settings - Fork 279
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #6 from ros2/controller_interface
import controller_interface
- Loading branch information
Showing
6 changed files
with
320 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,55 @@ | ||
cmake_minimum_required(VERSION 3.5) | ||
project(controller_interface) | ||
|
||
# Default to C++14 | ||
if(NOT CMAKE_CXX_STANDARD) | ||
set(CMAKE_CXX_STANDARD 14) | ||
endif() | ||
|
||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
add_compile_options(-Wall -Wextra) | ||
endif() | ||
|
||
find_package(ament_cmake REQUIRED) | ||
find_package(hardware_interface REQUIRED) | ||
find_package(rclcpp_lifecycle REQUIRED) | ||
|
||
add_library(controller_interface SHARED src/controller_interface.cpp) | ||
target_include_directories( | ||
controller_interface | ||
PRIVATE | ||
include) | ||
ament_target_dependencies( | ||
controller_interface | ||
"hardware_interface" | ||
"rclcpp_lifecycle" | ||
) | ||
# Causes the visibility macros to use dllexport rather than dllimport, | ||
# which is appropriate when building the dll but not consuming it. | ||
target_compile_definitions(controller_interface PRIVATE "CONTROLLER_INTERFACE_BUILDING_DLL") | ||
|
||
install(DIRECTORY include/ | ||
DESTINATION include | ||
) | ||
install(TARGETS controller_interface | ||
ARCHIVE DESTINATION lib | ||
LIBRARY DESTINATION lib | ||
RUNTIME DESTINATION bin | ||
) | ||
|
||
if(BUILD_TESTING) | ||
find_package(ament_lint_auto REQUIRED) | ||
ament_lint_auto_find_test_dependencies() | ||
endif() | ||
|
||
ament_export_dependencies( | ||
hardware_interface | ||
rclcpp_lifecycle | ||
) | ||
ament_export_include_directories( | ||
include | ||
) | ||
ament_export_libraries( | ||
controller_interface | ||
) | ||
ament_package() |
46 changes: 46 additions & 0 deletions
46
controller_interface/cmake/controller_interface_configure_controller_library.cmake
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,46 @@ | ||
# Copyright 2017 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. | ||
|
||
# | ||
# Configures a controller library which implements the controller_interface. | ||
# | ||
# This should be called on any library which is built to implement the rmw API. | ||
# The custom settings are all related to library symbol visibility, see: | ||
# | ||
# https://gcc.gnu.org/wiki/Visibility | ||
# http://www.ibm.com/developerworks/aix/library/au-aix-symbol-visibility/ | ||
# | ||
# Thought about using: | ||
# | ||
# http://www.cmake.org/cmake/help/v2.8.8/cmake.html#module:GenerateExportHeader | ||
# | ||
# But it doesn't seem to set the compiler flags correctly on clang and | ||
# also doesn't work very well when the headers and library are in | ||
# different projects like this. | ||
# | ||
# Effectively, using this macro results in the | ||
# CONTROLLER_INTERFACE_BUILDING_DLL definition | ||
# being set on Windows, and the -fvisibility* flags being passed to gcc and | ||
# clang. | ||
# | ||
# @public | ||
# | ||
macro(controller_interface_configure_controller_library library_target) | ||
if(WIN32) | ||
# Causes the visibility macros to use dllexport rather than dllimport | ||
# which is appropriate when building the dll but not consuming it. | ||
target_compile_definitions(${library_target} | ||
PRIVATE "CONTROLLER_INTERFACE_BUILDING_DLL") | ||
endif() | ||
endmacro() |
72 changes: 72 additions & 0 deletions
72
controller_interface/include/controller_interface/controller_interface.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,72 @@ | ||
// Copyright 2017 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 CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_ | ||
#define CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_ | ||
|
||
#include <memory> | ||
#include <string> | ||
|
||
#include "controller_interface/visibility_control.h" | ||
|
||
#include "hardware_interface/robot_hardware.hpp" | ||
|
||
#include "rclcpp/rclcpp.hpp" | ||
#include "rclcpp_lifecycle/lifecycle_node.hpp" | ||
|
||
namespace controller_interface | ||
{ | ||
|
||
using controller_interface_ret_t = std::uint8_t; | ||
static constexpr controller_interface_ret_t CONTROLLER_INTERFACE_RET_SUCCESS = 1; | ||
static constexpr controller_interface_ret_t CONTROLLER_INTERFACE_RET_ERROR = 0; | ||
|
||
class ControllerInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface | ||
{ | ||
public: | ||
CONTROLLER_INTERFACE_PUBLIC | ||
ControllerInterface() = default; | ||
|
||
CONTROLLER_INTERFACE_PUBLIC | ||
virtual | ||
~ControllerInterface() = default; | ||
|
||
CONTROLLER_INTERFACE_PUBLIC | ||
controller_interface_ret_t | ||
virtual | ||
init( | ||
std::weak_ptr<hardware_interface::RobotHardware> robot_hardware, | ||
const std::string & controller_name); | ||
|
||
CONTROLLER_INTERFACE_PUBLIC | ||
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> | ||
get_lifecycle_node(); | ||
|
||
CONTROLLER_INTERFACE_PUBLIC | ||
virtual | ||
controller_interface_ret_t | ||
update() = 0; | ||
|
||
protected: | ||
std::weak_ptr<hardware_interface::RobotHardware> robot_hardware_; | ||
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> lifecycle_node_; | ||
std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameters_client_; | ||
|
||
private: | ||
std::shared_ptr<rclcpp::node::Node> parameter_client_node_; | ||
}; | ||
|
||
} // namespace controller_interface | ||
|
||
#endif // CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_ |
56 changes: 56 additions & 0 deletions
56
controller_interface/include/controller_interface/visibility_control.h
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,56 @@ | ||
// Copyright 2017 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. | ||
|
||
/* This header must be included by all rclcpp headers which declare symbols | ||
* which are defined in the rclcpp library. When not building the rclcpp | ||
* library, i.e. when using the headers in other package's code, the contents | ||
* of this header change the visibility of certain symbols which the rclcpp | ||
* library cannot have, but the consuming code must have inorder to link. | ||
*/ | ||
|
||
#ifndef CONTROLLER_INTERFACE__VISIBILITY_CONTROL_H_ | ||
#define CONTROLLER_INTERFACE__VISIBILITY_CONTROL_H_ | ||
|
||
// This logic was borrowed (then namespaced) from the examples on the gcc wiki: | ||
// https://gcc.gnu.org/wiki/Visibility | ||
|
||
#if defined _WIN32 || defined __CYGWIN__ | ||
#ifdef __GNUC__ | ||
#define CONTROLLER_INTERFACE_EXPORT __attribute__ ((dllexport)) | ||
#define CONTROLLER_INTERFACE_IMPORT __attribute__ ((dllimport)) | ||
#else | ||
#define CONTROLLER_INTERFACE_EXPORT __declspec(dllexport) | ||
#define CONTROLLER_INTERFACE_IMPORT __declspec(dllimport) | ||
#endif | ||
#ifdef CONTROLLER_INTERFACE_BUILDING_DLL | ||
#define CONTROLLER_INTERFACE_PUBLIC CONTROLLER_INTERFACE_EXPORT | ||
#else | ||
#define CONTROLLER_INTERFACE_PUBLIC CONTROLLER_INTERFACE_IMPORT | ||
#endif | ||
#define CONTROLLER_INTERFACE_PUBLIC_TYPE CONTROLLER_INTERFACE_PUBLIC | ||
#define CONTROLLER_INTERFACE_LOCAL | ||
#else | ||
#define CONTROLLER_INTERFACE_EXPORT __attribute__ ((visibility("default"))) | ||
#define CONTROLLER_INTERFACE_IMPORT | ||
#if __GNUC__ >= 4 | ||
#define CONTROLLER_INTERFACE_PUBLIC __attribute__ ((visibility("default"))) | ||
#define CONTROLLER_INTERFACE_LOCAL __attribute__ ((visibility("hidden"))) | ||
#else | ||
#define CONTROLLER_INTERFACE_PUBLIC | ||
#define CONTROLLER_INTERFACE_LOCAL | ||
#endif | ||
#define CONTROLLER_INTERFACE_PUBLIC_TYPE | ||
#endif | ||
|
||
#endif // CONTROLLER_INTERFACE__VISIBILITY_CONTROL_H_ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,25 @@ | ||
<?xml version="1.0"?> | ||
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="2"> | ||
<name>controller_interface</name> | ||
<version>0.0.0</version> | ||
<description>Description of controller_interface</description> | ||
<maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer> | ||
<license>Apache License 2.0</license> | ||
|
||
<buildtool_depend>ament_cmake</buildtool_depend> | ||
|
||
<build_depend>hardware_interface</build_depend> | ||
<build_depend>rclcpp_lifecycle</build_depend> | ||
|
||
<exec_depend>hardware_interface</exec_depend> | ||
<exec_depend>rclcpp_lifecycle</exec_depend> | ||
|
||
<test_depend>ament_cmake_gtest</test_depend> | ||
<test_depend>ament_lint_auto</test_depend> | ||
<test_depend>ament_lint_common</test_depend> | ||
|
||
<export> | ||
<build_type>ament_cmake</build_type> | ||
</export> | ||
</package> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,66 @@ | ||
// Copyright 2017 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. | ||
|
||
#include "controller_interface/controller_interface.hpp" | ||
|
||
#include <memory> | ||
#include <string> | ||
|
||
namespace controller_interface | ||
{ | ||
|
||
controller_interface_ret_t | ||
ControllerInterface::init( | ||
std::weak_ptr<hardware_interface::RobotHardware> robot_hardware, | ||
const std::string & controller_name) | ||
{ | ||
robot_hardware_ = robot_hardware; | ||
lifecycle_node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(controller_name); | ||
|
||
lifecycle_node_->register_on_configure( | ||
std::bind(&ControllerInterface::on_configure, this, std::placeholders::_1)); | ||
|
||
lifecycle_node_->register_on_cleanup( | ||
std::bind(&ControllerInterface::on_cleanup, this, std::placeholders::_1)); | ||
|
||
lifecycle_node_->register_on_activate( | ||
std::bind(&ControllerInterface::on_activate, this, std::placeholders::_1)); | ||
|
||
lifecycle_node_->register_on_deactivate( | ||
std::bind(&ControllerInterface::on_deactivate, this, std::placeholders::_1)); | ||
|
||
lifecycle_node_->register_on_shutdown( | ||
std::bind(&ControllerInterface::on_shutdown, this, std::placeholders::_1)); | ||
|
||
lifecycle_node_->register_on_error( | ||
std::bind(&ControllerInterface::on_error, this, std::placeholders::_1)); | ||
|
||
std::string remote_controller_parameter_server = "controller_parameter_server"; | ||
parameters_client_ = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>( | ||
lifecycle_node_->get_node_base_interface(), | ||
lifecycle_node_->get_node_topics_interface(), | ||
lifecycle_node_->get_node_graph_interface(), | ||
lifecycle_node_->get_node_services_interface(), | ||
remote_controller_parameter_server); | ||
|
||
return CONTROLLER_INTERFACE_RET_SUCCESS; | ||
} | ||
|
||
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> | ||
ControllerInterface::get_lifecycle_node() | ||
{ | ||
return lifecycle_node_; | ||
} | ||
|
||
} // namespace controller_interface |