Skip to content

Commit

Permalink
Remodel component interfaces (#203)
Browse files Browse the repository at this point in the history 
* introducing handles
* component interfaces & tests

Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>
  • Loading branch information
@Karsten1987 @bmagyar @destogl
3 people committed Nov 2, 2020
1 parent bce8d90 commit 3466439
Show file tree
Hide file tree
Showing 16 changed files with 525 additions and 681 deletions.
3 changes: 3 additions & 0 deletions hardware_interface/CMakeLists.txt
View file
Expand Up @@ -103,6 +103,9 @@ if(BUILD_TESTING)
target_link_libraries(test_joint_handle hardware_interface)
ament_target_dependencies(test_joint_handle rcpputils)

ament_add_gmock(test_component_interfaces test/test_component_interfaces.cpp)
target_link_libraries(test_component_interfaces hardware_interface)

ament_add_gmock(test_component_parser test/test_component_parser.cpp)
target_link_libraries(test_component_parser component_parser)
ament_target_dependencies(test_component_parser TinyXML2)
Expand Down
12 changes: 2 additions & 10 deletions hardware_interface/include/hardware_interface/actuator_handle.hpp
View file
Expand Up @@ -18,22 +18,14 @@
#include <string>

#include "hardware_interface/handle.hpp"
#include "hardware_interface/macros.hpp"
#include "hardware_interface/visibility_control.h"

namespace hardware_interface
{
/** A handle used to get and set a value on a given actuator interface. */
class ActuatorHandle : public Handle<ActuatorHandle>
class ActuatorHandle : public ReadWriteHandle<ActuatorHandle>
{
public:
HARDWARE_INTERFACE_PUBLIC
ActuatorHandle(
const std::string & name, const std::string & interface_name,
double * value_ptr = nullptr)
: Handle(name, interface_name, value_ptr)
{
}
using ReadWriteHandle<ActuatorHandle>::ReadWriteHandle;
};

} // namespace hardware_interface
Expand Down
19 changes: 19 additions & 0 deletions hardware_interface/include/hardware_interface/components/actuator.hpp
View file
Expand Up @@ -16,7 +16,9 @@
#define HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_HPP_

#include <memory>
#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"
Expand All @@ -34,18 +36,35 @@ class Actuator final
public:
Actuator() = default;

HARDWARE_INTERFACE_PUBLIC
explicit Actuator(std::unique_ptr<ActuatorInterface> impl);

~Actuator() = default;

HARDWARE_INTERFACE_PUBLIC
return_type configure(const HardwareInfo & actuator_info);

HARDWARE_INTERFACE_PUBLIC
std::vector<StateHandle> export_state_handles();

HARDWARE_INTERFACE_PUBLIC
std::vector<CommandHandle> export_command_handles();

HARDWARE_INTERFACE_PUBLIC
return_type start();

HARDWARE_INTERFACE_PUBLIC
return_type stop();

HARDWARE_INTERFACE_PUBLIC
status get_status() const;

HARDWARE_INTERFACE_PUBLIC
return_type read();

HARDWARE_INTERFACE_PUBLIC
return_type write();

private:
std::unique_ptr<ActuatorInterface> impl_;
};
Expand Down
52 changes: 47 additions & 5 deletions hardware_interface/include/hardware_interface/components/actuator_interface.hpp
View file
Expand Up @@ -16,11 +16,12 @@
#define HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_INTERFACE_HPP_

#include <memory>
#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"
#include "hardware_interface/visibility_control.h"

namespace hardware_interface
{
Expand All @@ -46,16 +47,38 @@ class ActuatorInterface
* \return return_type::OK if required data are provided and can be parsed,
* return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type configure(const HardwareInfo & actuator_info) = 0;

/// Exports all state handles for this actuator.
/**
* The state handles have to be created and transfered according
* to the actuator info passed in for the configuration.
*
* Note the ownership over the state handles must be released.
*
* \return vector of state handles
*/
virtual
std::vector<StateHandle> export_state_handles() = 0;

/// Exports all command handles for this actuator.
/**
* The command handles have to be created and transfered according
* to the actuator info passed in for the configuration.
*
* Note the ownership over the command handles must be released.
*
* \return vector of command handles
*/
virtual
std::vector<CommandHandle> export_command_handles() = 0;

/**
* \brief Start exchange data with the hardware.
*
* \return return_type:OK if everything worked as expected, return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type start() = 0;

Expand All @@ -64,7 +87,6 @@ class ActuatorInterface
*
* \return return_type:OK if everything worked as expected, return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type stop() = 0;

Expand All @@ -73,9 +95,29 @@ class ActuatorInterface
*
* \return status current status.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
status get_status() const = 0;

/// Read the current state values from the actuator.
/**
* The data readings from the physical hardware has to be updated
* and reflected accordingly in the exported state handles.
* That is, the data pointed by the handles shall be updated.
*
* \return return_type::OK if the read was successful, return_type::ERROR otherwise.
*/
virtual
return_type read() = 0;

/// Write the current command values to the actuator.
/**
* The physical hardware shall be updated with the latest value from
* the exported command handles.
*
* \return return_type::OK if the read was successful, return_type::ERROR otherwise.
*/
virtual
return_type write() = 0;
};

} // namespace components
Expand Down
8 changes: 8 additions & 0 deletions hardware_interface/include/hardware_interface/components/sensor.hpp
View file
Expand Up @@ -20,6 +20,7 @@
#include <utility>
#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"
Expand All @@ -37,13 +38,17 @@ class Sensor final
public:
Sensor() = default;

HARDWARE_INTERFACE_PUBLIC
explicit Sensor(std::unique_ptr<SensorInterface> impl);

~Sensor() = default;

HARDWARE_INTERFACE_PUBLIC
return_type configure(const HardwareInfo & sensor_info);

HARDWARE_INTERFACE_PUBLIC
std::vector<StateHandle> export_state_handles();

HARDWARE_INTERFACE_PUBLIC
return_type start();

Expand All @@ -53,6 +58,9 @@ class Sensor final
HARDWARE_INTERFACE_PUBLIC
status get_status() const;

HARDWARE_INTERFACE_PUBLIC
return_type read();

private:
std::unique_ptr<SensorInterface> impl_;
};
Expand Down
27 changes: 23 additions & 4 deletions hardware_interface/include/hardware_interface/components/sensor_interface.hpp
View file
Expand Up @@ -47,16 +47,26 @@ class SensorInterface
* \return return_type::OK if required data are provided and can be parsed,
* return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type configure(const HardwareInfo & sensor_info) = 0;

/// Exports all state handles for this sensor.
/**
* The state handles have to be created and transfered according
* to the sensor info passed in for the configuration.
*
* Note the ownership over the state handles must be released.
*
* \return vector of state handles
*/
virtual
std::vector<StateHandle> export_state_handles() = 0;

/**
* \brief Start exchange data with the hardware.
*
* \return return_type:OK if everything worked as expected, return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type start() = 0;

Expand All @@ -65,7 +75,6 @@ class SensorInterface
*
* \return return_type:OK if everything worked as expected, return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type stop() = 0;

Expand All @@ -74,9 +83,19 @@ class SensorInterface
*
* \return status current status.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
status get_status() const = 0;

/// Read the current state values from the sensor.
/**
* The data readings from the physical hardware has to be updated
* and reflected accordingly in the exported state handles.
* That is, the data pointed by the handles shall be updated.
*
* \return return_type::OK if the read was successful, return_type::ERROR otherwise.
*/
virtual
return_type read() = 0;
};

} // namespace components
Expand Down
13 changes: 13 additions & 0 deletions hardware_interface/include/hardware_interface/components/system.hpp
View file
Expand Up @@ -20,6 +20,7 @@
#include <utility>
#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"
Expand All @@ -43,6 +44,12 @@ class System final
HARDWARE_INTERFACE_PUBLIC
return_type configure(const HardwareInfo & system_info);

HARDWARE_INTERFACE_PUBLIC
std::vector<StateHandle> export_state_handles();

HARDWARE_INTERFACE_PUBLIC
std::vector<CommandHandle> export_command_handles();

HARDWARE_INTERFACE_PUBLIC
return_type start();

Expand All @@ -52,6 +59,12 @@ class System final
HARDWARE_INTERFACE_PUBLIC
status get_status() const;

HARDWARE_INTERFACE_PUBLIC
return_type read();

HARDWARE_INTERFACE_PUBLIC
return_type write();

private:
std::unique_ptr<SystemInterface> impl_;
};
Expand Down
49 changes: 45 additions & 4 deletions hardware_interface/include/hardware_interface/components/system_interface.hpp
View file
Expand Up @@ -48,16 +48,38 @@ class SystemInterface
* \return return_type::OK if required data are provided and can be parsed,
* return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type configure(const HardwareInfo & system_info) = 0;

/// Exports all state handles for this system.
/**
* The state handles have to be created and transfered according
* to the system info passed in for the configuration.
*
* Note the ownership over the state handles must be released.
*
* \return vector of state handles
*/
virtual
std::vector<StateHandle> export_state_handles() = 0;

/// Exports all command handles for this system.
/**
* The command handles have to be created and transfered according
* to the system info passed in for the configuration.
*
* Note the ownership over the command handles must be released.
*
* \return vector of command handles
*/
virtual
std::vector<CommandHandle> export_command_handles() = 0;

/**
* \brief Start exchange data with the hardware.
*
* \return return_type:OK if everything worked as expected, return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type start() = 0;

Expand All @@ -66,7 +88,6 @@ class SystemInterface
*
* \return return_type:OK if everything worked as expected, return_type::ERROR otherwise.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type stop() = 0;

Expand All @@ -75,9 +96,29 @@ class SystemInterface
*
* \return status current status.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
status get_status() const = 0;

/// 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 handles.
* That is, the data pointed by the handles shall be updated.
*
* \return return_type::OK if the read was successful, return_type::ERROR otherwise.
*/
virtual
return_type read() = 0;

/// 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 handles.
*
* \return return_type::OK if the read was successful, return_type::ERROR otherwise.
*/
virtual
return_type write() = 0;
};

} // namespace components
Expand Down

0 comments on commit 3466439

Please sign in to comment.