arm_hardware.hpp

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// Copyright 2023 ros2_control Development Team
//
// 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 ARM_HARDWARE_HPP_
#define ARM_HARDWARE_HPP_
 
#include <memory>
#include <string>
#include <vector>
#include <set>
#include <unordered_map>
#include <memory>
#include <mutex>
 
#include "bioscara_arm_hardware_driver/mJoint.h"
#include "bioscara_arm_hardware_driver/mMockJoint.h"
 
#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 "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
 
namespace bioscara_hardware_interfaces
{
    constexpr char HW_IF_HOME[] = "home";
 
    class BioscaraArmHardwareInterface : public hardware_interface::SystemInterface
    {
    public:
        RCLCPP_SHARED_PTR_DEFINITIONS(BioscaraArmHardwareInterface)
 
        
        hardware_interface::CallbackReturn on_init(
            const hardware_interface::HardwareComponentInterfaceParams &params) override;
 
        hardware_interface::CallbackReturn on_shutdown(
            const rclcpp_lifecycle::State &previous_state) override;
 
        hardware_interface::CallbackReturn on_configure(
            const rclcpp_lifecycle::State &previous_state) override;
 
        hardware_interface::CallbackReturn on_cleanup(
            const rclcpp_lifecycle::State &previous_state) override;
 
        hardware_interface::CallbackReturn on_activate(
            const rclcpp_lifecycle::State &previous_state) override;
 
        hardware_interface::CallbackReturn on_deactivate(
            const rclcpp_lifecycle::State &previous_state) override;
 
        hardware_interface::return_type read(
            const rclcpp::Time &time,
            const rclcpp::Duration &period) override;
 
        hardware_interface::return_type write(
            const rclcpp::Time &time,
            const rclcpp::Duration &period) override;
 
        hardware_interface::return_type prepare_command_mode_switch(
            const std::vector<std::string> &start_interfaces,
            const std::vector<std::string> &stop_interfaces) override;
 
        hardware_interface::return_type perform_command_mode_switch(
            const std::vector<std::string> &start_interfaces,
            const std::vector<std::string> &stop_interfaces) override;
 
        hardware_interface::CallbackReturn on_error(
            const rclcpp_lifecycle::State &previous_state) override;
 
    private:
        struct joint_homing_config_t
        {
            float speed;
 
            u_int8_t threshold;
 
            u_int8_t current;
 
            float acceleration = 0.01;
        };
 
        struct joint_config_t
        {
            int i2c_address;
 
            float reduction = 1;
 
            float min;
 
            float max;
 
            u_int8_t drive_current;
 
            u_int8_t hold_current;
 
            u_int8_t stall_threshold;
 
            float max_velocity;
 
            float max_acceleration;
 
            joint_homing_config_t homing;
        };
 
        std::unordered_map<std::string, std::unique_ptr<bioscara_hardware_drivers::BaseJoint>> _joints;
 
        std::unordered_map<std::string, joint_config_t> _joint_cfg;
 
        std::unordered_map<std::string, std::set<std::string>> _joint_command_modes;
 
        std::unordered_map<std::string, std::set<std::string>> _new_joint_command_modes;
 
        std::vector<std::pair<std::string, hardware_interface::InterfaceDescription *>> _ordered_joint_state_interfaces_ptr;
 
        std::mutex mtx;
 
        bioscara_hardware_drivers::err_type_t start_homing(const std::string name, float velocity);
 
        bioscara_hardware_drivers::err_type_t stop_homing(const std::string name);
 
        void split_interface_string_to_joint_and_name(std::string interface, std::string &joint_name, std::string &interface_name);
 
        bioscara_hardware_drivers::err_type_t activate_joint(const std::string name);
 
        bioscara_hardware_drivers::err_type_t deactivate_joint(const std::string name);
    };
 
} // namespace bioscara_hardware_interfaces
 
#endif // ARM_HARDWARE_HPP_