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jetbot_system.hpp
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jetbot_system.hpp
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// Copyright 2021 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.
//
// This file was last modified by Michael Hart, a.k.a Mike Likes Robots
// ([email protected]), on 2024-03-07.
#ifndef JETBOT_CONTROL__JETBOT_SYSTEM_HPP_
#define JETBOT_CONTROL__JETBOT_SYSTEM_HPP_
#include <memory>
#include <string>
#include <vector>
#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 "jetbot_control/i2c_device.hpp"
#include "jetbot_control/motor.hpp"
#include "jetbot_control/visibility_control.h"
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
namespace jetbot_control {
class JetBotSystemHardware : public hardware_interface::SystemInterface {
public:
RCLCPP_SHARED_PTR_DEFINITIONS(JetBotSystemHardware)
JETBOT_CONTROL_PUBLIC
hardware_interface::CallbackReturn on_init(
const hardware_interface::HardwareInfo& info) override;
JETBOT_CONTROL_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces()
override;
JETBOT_CONTROL_PUBLIC
std::vector<hardware_interface::CommandInterface> export_command_interfaces()
override;
JETBOT_CONTROL_PUBLIC
hardware_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State& previous_state) override;
JETBOT_CONTROL_PUBLIC
hardware_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State& previous_state) override;
JETBOT_CONTROL_PUBLIC
hardware_interface::return_type read(const rclcpp::Time& time,
const rclcpp::Duration& period) override;
JETBOT_CONTROL_PUBLIC
hardware_interface::return_type write(
const rclcpp::Time& time, const rclcpp::Duration& period) override;
private:
std::vector<MotorPins> motor_pin_sets_;
std::vector<Motor> motors_;
std::shared_ptr<I2CDevice> i2c_device_;
std::vector<double> hw_commands_;
std::vector<double> hw_velocities_;
};
} // namespace jetbot_control
#endif // JETBOT_CONTROL__JETBOT_SYSTEM_HPP_