staubli_hardware_interface.hpp

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// Copyright 2025 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.
//
// Author: Thibault Poignonec (thibault.poignonec@gmail.fr)
 
#ifndef STAUBLI_ROBOT_DRIVER__STAUBLI_HARDWARE_INTERFACE_HPP_
#define STAUBLI_ROBOT_DRIVER__STAUBLI_HARDWARE_INTERFACE_HPP_
 
// C++
#include <memory>
#include <string>
#include <vector>
 
// ROS2
#include "rclcpp_lifecycle/state.hpp"
 
// ROS2 Control
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_component_interface_params.hpp"
 
// Staubli Robot Driver
#include "staubli_robot_driver/robot_driver.hpp"
#include "staubli_robot_driver/communication/messages.hpp"
#include "staubli_robot_driver/communication/protocol.hpp"
 
namespace staubli_robot_driver {
 
class StaubliHardwareInterface : public hardware_interface::SystemInterface
{
public:
    StaubliHardwareInterface();
    ~StaubliHardwareInterface();
 
    hardware_interface::CallbackReturn
    on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override;
 
    hardware_interface::CallbackReturn
    on_configure(const rclcpp_lifecycle::State& previous_state) final;
 
    hardware_interface::CallbackReturn
    on_activate(const rclcpp_lifecycle::State& previous_state) final;
 
    hardware_interface::CallbackReturn
    on_cleanup(const rclcpp_lifecycle::State& previous_state) final;
 
    hardware_interface::CallbackReturn
    on_shutdown(const rclcpp_lifecycle::State& previous_state) final;
 
    hardware_interface::CallbackReturn
    on_error (const rclcpp_lifecycle::State& previous_state) final;
 
    std::vector<hardware_interface::StateInterface> export_state_interfaces() final;
 
    std::vector<hardware_interface::CommandInterface> export_command_interfaces() final;
 
    hardware_interface::return_type
    read(const rclcpp::Time& time, const rclcpp::Duration& period) final;
 
    hardware_interface::return_type
    write(const rclcpp::Time& time, const rclcpp::Duration& period) final;
 
    hardware_interface::return_type
    prepare_command_mode_switch(const std::vector<std::string>& start_interfaces,
        const std::vector<std::string>& stop_interfaces) final;
 
    hardware_interface::return_type
    perform_command_mode_switch(const std::vector<std::string>& start_interfaces,
        const std::vector<std::string>& stop_interfaces) final;
 
private:
    CommandType resolve_mode(const std::vector<std::string>& start_interfaces) const;
 
    bool update_state(const RobotStateMessage& state_msg);
 
private:
    std::shared_ptr<RobotDriver> robot_driver_;
 
    RobotStateMessage state_msg_;
 
    CommandType current_control_mode_;
 
    CommandType pending_mode_;
 
    bool switch_prepared_;
 
    struct SupervisionGpio {
        double operation_mode;
        double operation_mode_status;
        double safety_status;
        double control_sequence_delay;
        // Bool values
        double brakes_released;
        double motion_possible;
        double in_motion;
        double in_error;
        double estop_pressed;
        double wait_for_ack;
    };
 
    // Copy of supervision GPIO for state interface
    SupervisionGpio supervision_gpio_copy_;
 
    // Joint state
    size_t num_joints_;  
    std::vector<double> hw_joint_positions_;  
    std::vector<double> hw_joint_velocities_;  
    std::vector<double> hw_joint_efforts_;  
 
    // Joint commands
    std::vector<double> hw_joint_position_commands_;  
    std::vector<double> hw_joint_velocity_commands_;  
 
    std::vector<double> hw_joint_acceleration_commands_;
 
    // GPIO state
    std::vector<double> hw_digital_inputs_;   
    std::vector<double> hw_analog_inputs_;  
    std::vector<double> hw_digital_outputs_;   
    std::vector<double> hw_analog_outputs_;  
 
    // GPIO command
    std::vector<double> hw_digital_output_commands_;   
    std::vector<double> hw_analog_output_commands_;  
};
 
}  // namespace staubli_robot_driver
 
#endif  // STAUBLI_ROBOT_DRIVER__STAUBLI_HARDWARE_INTERFACE_HPP_