Base controller class to combine ros2_control, control libraries and modulo. More...

#include <BaseControllerInterface.hpp>

Inheritance diagram for modulo_controllers::BaseControllerInterface:

Public Member Functions
	BaseControllerInterface ()
	Default constructor.

CallbackReturn	on_init () override
	Declare parameters and register the on_set_parameters callback.

CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
	Add signals.

template<>
void	write_output (const std::string &name, const bool &data)

template<>
void	write_output (const std::string &name, const double &data)

template<>
void	write_output (const std::string &name, const std::vector< double > &data)

template<>
void	write_output (const std::string &name, const int &data)

template<>
void	write_output (const std::string &name, const std::string &data)

Protected Member Functions
void	add_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
	Add a parameter.

template<typename T >
void	add_parameter (const std::string &name, const T &value, const std::string &description, bool read_only=false)
	Add a parameter.

virtual bool	on_validate_parameter_callback (const std::shared_ptr< state_representation::ParameterInterface > &parameter)
	Parameter validation function to be redefined by derived controller classes.

std::shared_ptr< state_representation::ParameterInterface >	get_parameter (const std::string &name) const
	Get a parameter by name.

template<typename T >
T	get_parameter_value (const std::string &name) const
	Get a parameter value by name.

template<typename T >
void	set_parameter_value (const std::string &name, const T &value)
	Set the value of a parameter.

void	add_predicate (const std::string &predicate_name, bool predicate_value)
	Add a predicate to the map of predicates.

void	add_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Add a predicate to the map of predicates based on a function to periodically call.

bool	get_predicate (const std::string &predicate_name) const
	Get the logical value of a predicate.

void	set_predicate (const std::string &predicate_name, bool predicate_value)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

void	set_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

void	add_trigger (const std::string &trigger_name)
	Add a trigger to the controller.

void	trigger (const std::string &trigger_name)
	Latch the trigger with the provided name.

template<typename T >
void	add_input (const std::string &name, const std::string &topic_name="")
	Add an input to the controller.

template<typename T >
void	add_output (const std::string &name, const std::string &topic_name="")
	Add an output to the controller.

void	set_input_validity_period (double input_validity_period)
	Set the input validity period of input signals.

template<typename T >
std::optional< T >	read_input (const std::string &name)
	Read the most recent message of an input.

template<typename T >
void	write_output (const std::string &name, const T &data)
	Write an object to an output.

void	add_service (const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)
	Add a service to trigger a callback function with no input arguments.

void	add_service (const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)
	Add a service to trigger a callback function with a string payload.

void	add_service_lockfree (const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)

void	add_service_lockfree (const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)

rclcpp::QoS	get_qos () const
	Getter of the Quality of Service attribute.

void	set_qos (const rclcpp::QoS &qos)
	Set the Quality of Service for ROS publishers and subscribers.

bool	is_active () const
	Check if the controller is currently in state active or not.

std::timed_mutex &	get_command_mutex ()
	Get the reference to the command mutex.

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
std::optional< bool >	read_input (const std::string &name)

template<>
std::optional< double >	read_input (const std::string &name)

template<>
std::optional< int >	read_input (const std::string &name)

Detailed Description

Base controller class to combine ros2_control, control libraries and modulo.

Definition at line 106 of file BaseControllerInterface.hpp.

Constructor & Destructor Documentation

◆ BaseControllerInterface()

modulo_controllers::BaseControllerInterface::BaseControllerInterface ( )

Default constructor.

Definition at line 20 of file BaseControllerInterface.cpp.

Member Function Documentation

◆ add_input() [1/4]

template<>

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 591 of file BaseControllerInterface.hpp.

◆ add_input() [2/4]

template<>

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 598 of file BaseControllerInterface.hpp.

◆ add_input() [3/4]

template<>

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 613 of file BaseControllerInterface.hpp.

◆ add_input() [4/4]

template<typename T >

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name = "" )

inlineprotected

Add an input to the controller.

Inputs should be added in the on_init function of the derived controllers. Doing this will create a ROS 2 subscription for the message type.

Template Parameters

T	The type of the input data

Parameters

name	The name of the input
topic_name	The topic name of the input (defaults to ~/name)

Definition at line 557 of file BaseControllerInterface.hpp.

◆ add_output() [1/4]

template<>

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 656 of file BaseControllerInterface.hpp.

◆ add_output() [2/4]

template<>

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 661 of file BaseControllerInterface.hpp.

◆ add_output() [3/4]

template<>

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 672 of file BaseControllerInterface.hpp.

◆ add_output() [4/4]

template<typename T >

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name = "" )

inlineprotected

Add an output to the controller.

Outputs should be added in the on_init function of the derived controllers. Doing this will create a ROS 2 publisher for the message type and wrap it in a RealtimePublisher.

Template Parameters

T	The type of the output data

Parameters

name	The name of the output
topic_name	The topic name of the output (defaults to ~/name)

Definition at line 636 of file BaseControllerInterface.hpp.

◆ add_parameter() [1/2]

void modulo_controllers::BaseControllerInterface::add_parameter	(	const std::shared_ptr< state_representation::ParameterInterface > &	parameter,
		const std::string &	description,
		bool	read_only = false )

protected

Add a parameter.

This method stores a pointer reference to an existing Parameter object in the local parameter map and declares the equivalent ROS parameter on the ROS interface.

Parameters

parameter	A ParameterInterface pointer to a Parameter instance
description	The description of the parameter
read_only	If true, the value of the parameter cannot be changed after declaration

◆ add_parameter() [2/2]

template<typename T >

void modulo_controllers::BaseControllerInterface::add_parameter	(	const std::string &	name,
		const T &	value,
		const std::string &	description,
		bool	read_only = false )

inlineprotected

Add a parameter.

This method creates a new Parameter object instance to reference in the local parameter map and declares the equivalent ROS parameter on the ROS interface.

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter
value	The value of the parameter
description	The description of the parameter
read_only	If true, the value of the parameter cannot be changed after declaration

Definition at line 517 of file BaseControllerInterface.hpp.

◆ add_predicate() [1/2]

void modulo_controllers::BaseControllerInterface::add_predicate	(	const std::string &	predicate_name,
		bool	predicate_value )

protected

Add a predicate to the map of predicates.

Parameters

predicate_name	the name of the associated predicate
predicate_value	the boolean value of the predicate

Definition at line 176 of file BaseControllerInterface.cpp.

◆ add_predicate() [2/2]

void modulo_controllers::BaseControllerInterface::add_predicate	(	const std::string &	predicate_name,
		const std::function< bool(void)> &	predicate_function )

protected

Add a predicate to the map of predicates based on a function to periodically call.

Parameters

predicate_name	the name of the associated predicate
predicate_function	the function to call that returns the value of the predicate

Definition at line 180 of file BaseControllerInterface.cpp.

◆ add_service() [1/2]

void modulo_controllers::BaseControllerInterface::add_service	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(const std::string &string)> &	callback )

protected

Add a service to trigger a callback function with a string payload.

The string payload can have an arbitrary format to parameterize and control the callback behaviour as desired. It is the responsibility of the service callback to parse the string according to some payload format. When adding a service with a string payload, be sure to document the payload format appropriately.

Parameters

service_name	The name of the service
callback	A service callback function with a string argument that returns a ControllerServiceResponse

Definition at line 488 of file BaseControllerInterface.cpp.

◆ add_service() [2/2]

void modulo_controllers::BaseControllerInterface::add_service	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(void)> &	callback )

protected

Add a service to trigger a callback function with no input arguments.

Parameters

service_name	The name of the service
callback	A service callback function with no arguments that returns a ControllerServiceResponse

Definition at line 483 of file BaseControllerInterface.cpp.

◆ add_service_lockfree() [1/2]

void modulo_controllers::BaseControllerInterface::add_service_lockfree	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(const std::string &string)> &	callback )

protected

The string payload can have an arbitrary format to parameterize and control the callback behaviour as desired. It is the responsibility of the service callback to parse the string according to some payload format. When adding a service with a string payload, be sure to document the payload format appropriately.

Parameters

service_name	The name of the service
callback	A service callback function with a string argument that returns a ControllerServiceResponse

Definition at line 499 of file BaseControllerInterface.cpp.

◆ add_service_lockfree() [2/2]

void modulo_controllers::BaseControllerInterface::add_service_lockfree	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(void)> &	callback )

protected

Parameters

service_name	The name of the service
callback	A service callback function with no arguments that returns a ControllerServiceResponse

Definition at line 494 of file BaseControllerInterface.cpp.

◆ add_trigger()

void modulo_controllers::BaseControllerInterface::add_trigger ( const std::string & trigger_name )

protected

Add a trigger to the controller.

Triggers are predicates that are always false except when it's triggered in which case it is set back to false immediately after it is read.

Parameters

trigger_name The name of the trigger

Definition at line 238 of file BaseControllerInterface.cpp.

◆ get_command_mutex()

std::timed_mutex & modulo_controllers::BaseControllerInterface::get_command_mutex ( )

protected

Get the reference to the command mutex.

Returns: The reference to the command mutex

Definition at line 517 of file BaseControllerInterface.cpp.

◆ get_parameter()

std::shared_ptr< ParameterInterface > modulo_controllers::BaseControllerInterface::get_parameter ( const std::string & name ) const

nodiscardprotected

Get a parameter by name.

Parameters

name	The name of the parameter

Returns: The ParameterInterface pointer to a Parameter instance

Definition at line 110 of file BaseControllerInterface.cpp.

◆ get_parameter_value()

template<typename T >

T modulo_controllers::BaseControllerInterface::get_parameter_value ( const std::string & name ) const

inlineprotected

Get a parameter value by name.

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter

Returns: The value of the parameter

Definition at line 527 of file BaseControllerInterface.hpp.

◆ get_predicate()

bool modulo_controllers::BaseControllerInterface::get_predicate ( const std::string & predicate_name ) const

nodiscardprotected

Get the logical value of a predicate.

If the predicate is not found or the callable function fails, the return value is false.

Parameters

predicate_name the name of the predicate to retrieve from the map of predicates

Returns: the value of the predicate as a boolean

Definition at line 201 of file BaseControllerInterface.cpp.

◆ get_qos()

rclcpp::QoS modulo_controllers::BaseControllerInterface::get_qos ( ) const

nodiscardprotected

Getter of the Quality of Service attribute.

Returns: The Quality of Service attribute

Definition at line 505 of file BaseControllerInterface.cpp.

◆ is_active()

bool modulo_controllers::BaseControllerInterface::is_active ( ) const

protected

Check if the controller is currently in state active or not.

Returns: True if the controller is active, false otherwise

Definition at line 513 of file BaseControllerInterface.cpp.

◆ on_configure()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::BaseControllerInterface::on_configure ( const rclcpp_lifecycle::State & previous_state )

override

Add signals.

Parameters

previous_state The previous lifecycle state

Returns: SUCCESS or ERROR

Definition at line 46 of file BaseControllerInterface.cpp.

◆ on_init()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::BaseControllerInterface::on_init ( )

override

Declare parameters and register the on_set_parameters callback.

Returns: CallbackReturn status

Definition at line 23 of file BaseControllerInterface.cpp.

◆ on_validate_parameter_callback()

bool modulo_controllers::BaseControllerInterface::on_validate_parameter_callback ( const std::shared_ptr< state_representation::ParameterInterface > & parameter )

protectedvirtual

Parameter validation function to be redefined by derived controller classes.

This method is automatically invoked whenever the ROS interface tried to modify a parameter. Validation and sanitization can be performed by reading or writing the value of the parameter through the ParameterInterface pointer, depending on the parameter name and desired controller behaviour. If the validation returns true, the updated parameter value (including any modifications) is applied. If the validation returns false, any changes to the parameter are discarded and the parameter value is not changed.

Parameters

parameter A ParameterInterface pointer to a Parameter instance

Returns: The validation result

Reimplemented in modulo_controllers::RobotControllerInterface.

Definition at line 172 of file BaseControllerInterface.cpp.

◆ read_input() [1/4]

template<typename T >

std::optional< T > modulo_controllers::BaseControllerInterface::read_input ( const std::string & name )

inlineprotected

Read the most recent message of an input.

Template Parameters

T	The expected type of the input data

Parameters

name	The name of the input

Returns: The data on the desired input channel if the input exists and is not older than parameter 'input_validity_period'

Definition at line 682 of file BaseControllerInterface.hpp.

◆ read_input() [2/4]

template<>

std::optional< bool > modulo_controllers::BaseControllerInterface::read_input ( const std::string & name )

inlineprotected

Definition at line 682 of file BaseControllerInterface.hpp.

◆ read_input() [3/4]

template<>

std::optional< double > modulo_controllers::BaseControllerInterface::read_input ( const std::string & name )

inlineprotected

Definition at line 682 of file BaseControllerInterface.hpp.

◆ read_input() [4/4]

template<>

std::optional< int > modulo_controllers::BaseControllerInterface::read_input ( const std::string & name )

inlineprotected

Definition at line 682 of file BaseControllerInterface.hpp.

◆ set_input_validity_period()

void modulo_controllers::BaseControllerInterface::set_input_validity_period ( double input_validity_period )

protected

Set the input validity period of input signals.

Parameters

input_validity_period The desired input validity period

Definition at line 429 of file BaseControllerInterface.cpp.

◆ set_parameter_value()

template<typename T >

void modulo_controllers::BaseControllerInterface::set_parameter_value	(	const std::string &	name,
		const T &	value )

inlineprotected

Set the value of a parameter.

The parameter must have been previously declared. This method preserves the reference to the original Parameter instance

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter

Returns: The value of the parameter

Definition at line 537 of file BaseControllerInterface.hpp.

◆ set_predicate() [1/2]

void modulo_controllers::BaseControllerInterface::set_predicate	(	const std::string &	predicate_name,
		bool	predicate_value )

protected

Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

Even though the predicates are published periodically, the new value of this predicate will be published once immediately after setting it.

Parameters

predicate_name	the name of the predicate to retrieve from the map of predicates
predicate_value	the new value of the predicate

Definition at line 219 of file BaseControllerInterface.cpp.

◆ set_predicate() [2/2]

void modulo_controllers::BaseControllerInterface::set_predicate	(	const std::string &	predicate_name,
		const std::function< bool(void)> &	predicate_function )

protected

Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

Even though the predicates are published periodically, the new value of this predicate will be published once immediately after setting it.

Parameters

predicate_name	the name of the predicate to retrieve from the map of predicates
predicate_function	the function to call that returns the value of the predicate

Definition at line 223 of file BaseControllerInterface.cpp.

◆ set_qos()

void modulo_controllers::BaseControllerInterface::set_qos ( const rclcpp::QoS & qos )

protected

Set the Quality of Service for ROS publishers and subscribers.

Parameters

qos	The desired Quality of Service

Definition at line 509 of file BaseControllerInterface.cpp.

◆ trigger()

void modulo_controllers::BaseControllerInterface::trigger ( const std::string & trigger_name )

protected

Latch the trigger with the provided name.

Parameters

trigger_name The name of the trigger

Definition at line 259 of file BaseControllerInterface.cpp.

◆ write_output() [1/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const bool &	data )

inline

Definition at line 875 of file BaseControllerInterface.hpp.

◆ write_output() [2/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const double &	data )

inline

Definition at line 880 of file BaseControllerInterface.hpp.

◆ write_output() [3/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const int &	data )

inline

Definition at line 890 of file BaseControllerInterface.hpp.

◆ write_output() [4/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const std::string &	data )

inline

Definition at line 895 of file BaseControllerInterface.hpp.

◆ write_output() [5/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const std::vector< double > &	data )

inline

Definition at line 885 of file BaseControllerInterface.hpp.

◆ write_output() [6/6]

template<typename T >

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const T &	data )

inlineprotected

Write an object to an output.

This uses the realtime publisher from add_output() to simplify publishing data in the realtime context of the control loop.

Template Parameters

T	The type of the the object to publish

Parameters

name	The name of the output
state	The object to publish

Definition at line 782 of file BaseControllerInterface.hpp.

The documentation for this class was generated from the following files:

/github/workspace/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp
/github/workspace/source/modulo_controllers/src/BaseControllerInterface.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BaseControllerInterface()

Member Function Documentation

◆ add_input() [1/4]

◆ add_input() [2/4]

◆ add_input() [3/4]

◆ add_input() [4/4]

◆ add_output() [1/4]

◆ add_output() [2/4]

◆ add_output() [3/4]

◆ add_output() [4/4]

◆ add_parameter() [1/2]

◆ add_parameter() [2/2]

◆ add_predicate() [1/2]

◆ add_predicate() [2/2]

◆ add_service() [1/2]

◆ add_service() [2/2]

◆ add_service_lockfree() [1/2]

◆ add_service_lockfree() [2/2]

◆ add_trigger()

◆ get_command_mutex()

◆ get_parameter()

◆ get_parameter_value()

◆ get_predicate()

◆ get_qos()

◆ is_active()

◆ on_configure()

◆ on_init()

◆ on_validate_parameter_callback()

◆ read_input() [1/4]

◆ read_input() [2/4]

◆ read_input() [3/4]

◆ read_input() [4/4]

◆ set_input_validity_period()

◆ set_parameter_value()

◆ set_predicate() [1/2]

◆ set_predicate() [2/2]

◆ set_qos()

◆ trigger()

◆ write_output() [1/6]

◆ write_output() [2/6]

◆ write_output() [3/6]

◆ write_output() [4/6]

◆ write_output() [5/6]

◆ write_output() [6/6]