gripper_hardware.hpp

Go to the documentation of this file.

// 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 GRIPPER_HARDWARE_HPP_
#define GRIPPER_HARDWARE_HPP_
 
#include <memory>
#include <string>
#include <vector>
#include <set>
#include <unordered_map>
#include <memory>
#include <limits>
 
#include "bioscara_gripper_hardware_driver/mGripper.h"
#include "bioscara_gripper_hardware_driver/mMockGripper.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
{
 
    class BioscaraGripperHardwareInterface : public hardware_interface::SystemInterface
    {
    public:
        RCLCPP_SHARED_PTR_DEFINITIONS(BioscaraGripperHardwareInterface)
 
        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::CallbackReturn on_error(
            const rclcpp_lifecycle::State &previous_state) override;
 
    private:
        struct gripper_config_t
        {
            float reduction = 1;
            float offset = 0;
            float min;
            float max;
            float init_pos;
        };
 
        std::unique_ptr<bioscara_hardware_drivers::BaseGripper> _gripper;
 
        gripper_config_t _gripper_cfg;
 
        float _last_pos = std::numeric_limits<double>::quiet_NaN();
        float _vel = std::numeric_limits<double>::quiet_NaN();
    };
 
} // namespace bioscara_hardware_interfaces
 
#endif // GRIPPER_HARDWARE_HPP_