Remodel component interfaces #203
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bmagyar
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destogl
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I added a few discussion points.
Most importantly: I am not sure we need templates with Handles/Interfaces. Or we could use templates to set the data type of Handle/Interface (in general it has not be double, it could be also bool for valves or some status string)
hardware_interface/include/hardware_interface/components/system_interface.hpp
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hardware_interface/include/hardware_interface/hardware_info.hpp
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Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>
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I've rebased this PR after merging #209 |
Codecov Report
@@ Coverage Diff @@
## master #203 +/- ##
==========================================
+ Coverage 31.41% 32.73% +1.31%
==========================================
Files 38 44 +6
Lines 2489 2688 +199
Branches 1638 1734 +96
==========================================
+ Hits 782 880 +98
- Misses 251 258 +7
- Partials 1456 1550 +94
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bmagyar
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Second part of #164
Introduces
StateHandleandCommandHandle.Adapts the hardware components interfaces to instantiate these handles given the configuration info passed to the components on a prior call to
configure.Sits on top of #201