ethercat_driver.hpp

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// Copyright 2022 ICUBE Laboratory, University of Strasbourg
//
// 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 ETHERCAT_DRIVER__ETHERCAT_DRIVER_HPP_
#define ETHERCAT_DRIVER__ETHERCAT_DRIVER_HPP_
 
#include <unordered_map>
#include <memory>
#include <string>
#include <vector>
#include <pluginlib/class_loader.hpp>
#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"
#include "ethercat_driver/visibility_control.h"
#include "ethercat_interface/ec_slave.hpp"
#include "ethercat_interface/ec_master.hpp"
 
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
namespace ethercat_driver
{
 
class EthercatDriver : public hardware_interface::SystemInterface
{
public:
  RCLCPP_SHARED_PTR_DEFINITIONS(EthercatDriver)
 
  ETHERCAT_DRIVER_PUBLIC
  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
  ETHERCAT_DRIVER_PUBLIC
  CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
 
  ETHERCAT_DRIVER_PUBLIC
  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
  ETHERCAT_DRIVER_PUBLIC
  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
  ETHERCAT_DRIVER_PUBLIC
  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
  ETHERCAT_DRIVER_PUBLIC
  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
  ETHERCAT_DRIVER_PUBLIC
  hardware_interface::return_type read(const rclcpp::Time &, const rclcpp::Duration &) override;
 
  ETHERCAT_DRIVER_PUBLIC
  hardware_interface::return_type write(const rclcpp::Time &, const rclcpp::Duration &) override;
 
private:
  std::vector<std::unordered_map<std::string, std::string>> getEcModuleParam(
    std::string & urdf, std::string component_name, std::string component_type);
 
  std::vector<std::shared_ptr<ethercat_interface::EcSlave>> ec_modules_;
  std::vector<std::unordered_map<std::string, std::string>> ec_module_parameters_;
 
  std::vector<std::vector<double>> hw_joint_commands_;
  std::vector<std::vector<double>> hw_sensor_commands_;
  std::vector<std::vector<double>> hw_gpio_commands_;
  std::vector<std::vector<double>> hw_joint_states_;
  std::vector<std::vector<double>> hw_sensor_states_;
  std::vector<std::vector<double>> hw_gpio_states_;
 
  pluginlib::ClassLoader<ethercat_interface::EcSlave> ec_loader_{
    "ethercat_interface", "ethercat_interface::EcSlave"};
 
  int control_frequency_;
  ethercat_interface::EcMaster master_;
  std::mutex ec_mutex_;
  bool activated_;
};
}  // namespace ethercat_driver
 
#endif  // ETHERCAT_DRIVER__ETHERCAT_DRIVER_HPP_