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Deprecate fake components, long live mock components (#762)
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6 changes: 3 additions & 3 deletions
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...interface/doc/fake_components_userdoc.rst → ...interface/doc/mock_components_userdoc.rst
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hardware_interface/include/mock_components/generic_system.hpp
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| // Copyright (c) 2021 PickNik, 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. | ||
| // | ||
| // Author: Jafar Abdi, Denis Stogl | ||
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| #ifndef MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_ | ||
| #define MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_ | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include "hardware_interface/handle.hpp" | ||
| #include "hardware_interface/hardware_info.hpp" | ||
| #include "hardware_interface/system_interface.hpp" | ||
| #include "hardware_interface/types/hardware_interface_return_values.hpp" | ||
| #include "hardware_interface/types/hardware_interface_type_values.hpp" | ||
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| using hardware_interface::return_type; | ||
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| namespace mock_components | ||
| { | ||
| using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; | ||
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| class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::SystemInterface | ||
| { | ||
| public: | ||
| CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override; | ||
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| std::vector<hardware_interface::StateInterface> export_state_interfaces() override; | ||
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| std::vector<hardware_interface::CommandInterface> export_command_interfaces() override; | ||
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| return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ||
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| return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override | ||
| { | ||
| return return_type::OK; | ||
| } | ||
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| protected: | ||
| /// Use standard interfaces for joints because they are relevant for dynamic behavior | ||
| /** | ||
| * By splitting the standard interfaces from other type, the users are able to inherit this | ||
| * class and simply create small "simulation" with desired dynamic behavior. | ||
| * The advantage over using Gazebo is that enables "quick & dirty" tests of robot's URDF and | ||
| * controllers. | ||
| */ | ||
| const std::vector<std::string> standard_interfaces_ = { | ||
| hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY, | ||
| hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT}; | ||
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| const size_t POSITION_INTERFACE_INDEX = 0; | ||
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| struct MimicJoint | ||
| { | ||
| std::size_t joint_index; | ||
| std::size_t mimicked_joint_index; | ||
| double multiplier = 1.0; | ||
| }; | ||
| std::vector<MimicJoint> mimic_joints_; | ||
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| /// The size of this vector is (standard_interfaces_.size() x nr_joints) | ||
| std::vector<std::vector<double>> joint_commands_; | ||
| std::vector<std::vector<double>> joint_states_; | ||
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| std::vector<std::string> other_interfaces_; | ||
| /// The size of this vector is (other_interfaces_.size() x nr_joints) | ||
| std::vector<std::vector<double>> other_commands_; | ||
| std::vector<std::vector<double>> other_states_; | ||
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| std::vector<std::string> sensor_interfaces_; | ||
| /// The size of this vector is (sensor_interfaces_.size() x nr_joints) | ||
| std::vector<std::vector<double>> sensor_fake_commands_; | ||
| std::vector<std::vector<double>> sensor_states_; | ||
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| std::vector<std::string> gpio_interfaces_; | ||
| /// The size of this vector is (gpio_interfaces_.size() x nr_joints) | ||
| std::vector<std::vector<double>> gpio_fake_commands_; | ||
| std::vector<std::vector<double>> gpio_commands_; | ||
| std::vector<std::vector<double>> gpio_states_; | ||
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| private: | ||
| template <typename HandleType> | ||
| bool get_interface( | ||
| const std::string & name, const std::vector<std::string> & interface_list, | ||
| const std::string & interface_name, const size_t vector_index, | ||
| std::vector<std::vector<double>> & values, std::vector<HandleType> & interfaces); | ||
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| void initialize_storage_vectors( | ||
| std::vector<std::vector<double>> & commands, std::vector<std::vector<double>> & states, | ||
| const std::vector<std::string> & interfaces); | ||
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| template <typename InterfaceType> | ||
| bool populate_interfaces( | ||
| const std::vector<hardware_interface::ComponentInfo> & components, | ||
| std::vector<std::string> & interfaces, std::vector<std::vector<double>> & storage, | ||
| std::vector<InterfaceType> & target_interfaces, bool using_state_interfaces); | ||
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| bool use_fake_gpio_command_interfaces_; | ||
| bool use_fake_sensor_command_interfaces_; | ||
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| double position_state_following_offset_; | ||
| std::string custom_interface_with_following_offset_; | ||
| size_t index_custom_interface_with_following_offset_; | ||
| }; | ||
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| typedef GenericSystem GenericRobot; | ||
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| } // namespace mock_components | ||
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| #endif // MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_ |
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