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77 changes: 77 additions & 0 deletions
77
controller_interface/include/semantic_components/led_rgb_device.hpp
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| // Copyright (c) 2024, Sherpa Mobile Robotics | ||
| // | ||
| // 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. | ||
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| #ifndef SEMANTIC_COMPONENTS__LED_RGB_DEVICE_HPP_ | ||
| #define SEMANTIC_COMPONENTS__LED_RGB_DEVICE_HPP_ | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include "semantic_components/semantic_component_command_interface.hpp" | ||
| #include "std_msgs/msg/color_rgba.hpp" | ||
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| namespace semantic_components | ||
| { | ||
| class LedRgbDevice : public SemanticComponentCommandInterface<std_msgs::msg::ColorRGBA> | ||
| { | ||
| public: | ||
| /** | ||
| * Constructor for a LED RGB device with interface names set based on device name. | ||
| * The constructor sets the command interface names to "<name>/interface_r", | ||
| * "<name>/interface_g", "<name>/interface_b". | ||
| * | ||
| * \param[in] name name of the LED device, used as a prefix for the command interface names | ||
| * \param[in] interface_r name of the command interface for the red channel | ||
| * \param[in] interface_g name of the command interface for the green channel | ||
| * \param[in] interface_b name of the command interface for the blue channel | ||
| */ | ||
| explicit LedRgbDevice( | ||
| const std::string & name, const std::string & interface_r, const std::string & interface_g, | ||
| const std::string & interface_b) | ||
| : SemanticComponentCommandInterface( | ||
| name, {{name + "/" + interface_r}, {name + "/" + interface_g}, {name + "/" + interface_b}}) | ||
| { | ||
| } | ||
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| /// Set LED states from ColorRGBA message | ||
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| /** | ||
| * Set the values of the LED RGB device from a ColorRGBA message. | ||
| * | ||
| * \details Sets the values of the red, green, and blue channels from the message. | ||
| * If any of the values are out of the range [0, 1], the function fails and returns false. | ||
| * | ||
| * \param[in] message ColorRGBA message | ||
| * | ||
| * \return true if all values were set, false otherwise | ||
| */ | ||
| bool set_values_from_message(const std_msgs::msg::ColorRGBA & message) override | ||
| { | ||
| if ( | ||
| message.r < 0 || message.r > 1 || message.g < 0 || message.g > 1 || message.b < 0 || | ||
| message.b > 1) | ||
| { | ||
| return false; | ||
| } | ||
| bool all_set = true; | ||
| all_set &= command_interfaces_[0].get().set_value(message.r); | ||
| all_set &= command_interfaces_[1].get().set_value(message.g); | ||
| all_set &= command_interfaces_[2].get().set_value(message.b); | ||
| return all_set; | ||
| } | ||
| }; | ||
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| } // namespace semantic_components | ||
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| #endif // SEMANTIC_COMPONENTS__LED_RGB_DEVICE_HPP_ |
103 changes: 103 additions & 0 deletions
103
controller_interface/include/semantic_components/semantic_component_command_interface.hpp
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| // Copyright (c) 2024, Sherpa Mobile Robotics | ||
| // | ||
| // 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. | ||
|
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| #ifndef SEMANTIC_COMPONENTS__SEMANTIC_COMPONENT_COMMAND_INTERFACE_HPP_ | ||
| #define SEMANTIC_COMPONENTS__SEMANTIC_COMPONENT_COMMAND_INTERFACE_HPP_ | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include "controller_interface/helpers.hpp" | ||
| #include "hardware_interface/loaned_command_interface.hpp" | ||
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| namespace semantic_components | ||
| { | ||
| template <typename MessageInputType> | ||
| class SemanticComponentCommandInterface | ||
| { | ||
| public: | ||
| SemanticComponentCommandInterface( | ||
| const std::string & name, const std::vector<std::string> & interface_names) | ||
| : name_(name), interface_names_(interface_names) | ||
| { | ||
| assert(interface_names.size() > 0); | ||
| command_interfaces_.reserve(interface_names.size()); | ||
| } | ||
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| virtual ~SemanticComponentCommandInterface() = default; | ||
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| /// Assign loaned command interfaces from the hardware. | ||
| /** | ||
| * Assign loaned command interfaces on the controller start. | ||
| * | ||
| * \param[in] command_interfaces vector of command interfaces provided by the controller. | ||
| */ | ||
| bool assign_loaned_command_interfaces( | ||
| std::vector<hardware_interface::LoanedCommandInterface> & command_interfaces) | ||
| { | ||
| return controller_interface::get_ordered_interfaces( | ||
| command_interfaces, interface_names_, "", command_interfaces_); | ||
| } | ||
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| /// Release loaned command interfaces from the hardware. | ||
| void release_interfaces() { command_interfaces_.clear(); } | ||
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| /// Definition of command interface names for the component. | ||
| /** | ||
| * The function should be used in "command_interface_configuration()" of a controller to provide | ||
| * standardized command interface names semantic component. | ||
| * | ||
| * \default Default implementation defined command interfaces as "name/NR" where NR is number | ||
| * from 0 to size of values; | ||
| * \return list of strings with command interface names for the semantic component. | ||
| */ | ||
| const std::vector<std::string> & get_command_interface_names() const { return interface_names_; } | ||
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| /// Return all values. | ||
| /** | ||
| * \return true if it gets all the values, else false (i.e., invalid size or if the method | ||
| * ``hardware_interface::LoanedCommandInterface::set_value`` fails). | ||
| */ | ||
| bool set_values(const std::vector<double> & values) | ||
| { | ||
| // check we have sufficient memory | ||
| if (values.size() != command_interfaces_.size()) | ||
| { | ||
| return false; | ||
| } | ||
| // set values | ||
| bool all_set = true; | ||
| for (auto i = 0u; i < values.size(); ++i) | ||
| { | ||
| all_set &= command_interfaces_[i].get().set_value(values[i]); | ||
| } | ||
| return all_set; | ||
| } | ||
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| /// Set values from MessageInputType | ||
| /** | ||
| * \return True if all values were set successfully, false otherwise. | ||
| */ | ||
| virtual bool set_values_from_message(const MessageInputType & /* message */) = 0; | ||
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| protected: | ||
| std::string name_; | ||
| std::vector<std::string> interface_names_; | ||
| std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> | ||
| command_interfaces_; | ||
| }; | ||
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| } // namespace semantic_components | ||
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| #endif // SEMANTIC_COMPONENTS__SEMANTIC_COMPONENT_COMMAND_INTERFACE_HPP_ |
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| <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="2"> | ||
| <name>controller_interface</name> | ||
| <version>4.24.0</version> | ||
| <version>4.26.0</version> | ||
| <description>Description of controller_interface</description> | ||
| <maintainer email="[email protected]">Bence Magyar</maintainer> | ||
| <maintainer email="[email protected]">Denis Štogl</maintainer> | ||
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