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…odic Extend interfaces
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hardware_interface/include/hardware_interface/joint_mode_interface.h
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2013, University of Colorado, Boulder | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the Univ of CO, Boulder nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: Dave Coleman | ||
| Desc: This interface is for switching a hardware interface between different controller modes | ||
| i.e. position, velocity, effort | ||
| */ | ||
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| #pragma once | ||
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| #include <cassert> | ||
| #include <hardware_interface/internal/hardware_resource_manager.h> | ||
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| namespace hardware_interface | ||
| { | ||
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| enum class JointCommandModes | ||
| { | ||
| BEGIN = -1, | ||
| MODE_POSITION = 0, | ||
| MODE_VELOCITY = 1, | ||
| MODE_EFFORT = 2, | ||
| NOMODE = 3, | ||
| EMERGENCY_STOP = 4, | ||
| SWITCHING = 5, | ||
| ERROR = 6 | ||
| }; | ||
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| /** \brief A handle used to read and mode a single joint. */ | ||
| class JointModeHandle | ||
| { | ||
| public: | ||
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| JointModeHandle(): | ||
| name_(), mode_(0){} | ||
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| /** \param mode Which mode to start in */ | ||
| JointModeHandle(std::string name, JointCommandModes* mode) | ||
| : mode_(mode) | ||
| , name_(name) | ||
| { | ||
| if (!mode_) | ||
| { | ||
| throw HardwareInterfaceException("Cannot create mode interface. Mode data pointer is null."); | ||
| } | ||
| } | ||
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| std::string getName() const {return name_;} | ||
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| void setMode(JointCommandModes mode) {assert(mode_); *mode_ = mode;} | ||
| JointCommandModes getMode() const {assert(mode_); return *mode_;} | ||
| const JointCommandModes* getModePtr() const {assert(mode_); return mode_;} | ||
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| // Helper function for console messages | ||
| std::string getModeName(JointCommandModes mode) const | ||
| { | ||
| switch(mode) | ||
| { | ||
| case JointCommandModes::BEGIN: | ||
| return "not_operational"; | ||
| case JointCommandModes::MODE_POSITION: | ||
| return "position"; | ||
| case JointCommandModes::MODE_VELOCITY: | ||
| return "velocity"; | ||
| case JointCommandModes::MODE_EFFORT: | ||
| return "effort"; | ||
| case JointCommandModes::NOMODE: | ||
| return "other"; | ||
| case JointCommandModes::EMERGENCY_STOP: | ||
| return "emergency_stop"; | ||
| case JointCommandModes::SWITCHING: | ||
| return "switching"; | ||
| case JointCommandModes::ERROR: | ||
| return "error"; | ||
| } | ||
| return "unknown"; | ||
| } | ||
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| private: | ||
| JointCommandModes* mode_; | ||
| std::string name_; | ||
| }; | ||
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| /** \brief Hardware interface to support changing between control modes */ | ||
| class JointModeInterface : public HardwareResourceManager<JointModeHandle, DontClaimResources> {}; | ||
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| } // namespace |
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