Inheritance diagram for modulo_controllers::ControllerInterface:

Public Member Functions
	ControllerInterface (bool claim_all_state_interfaces=false)
	Default constructor.

CallbackReturn	on_init () override
	Declare parameters.

CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) final
	Set class properties from parameters.

CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) final
	Initialize internal data attributes from configured interfaces and wait for valid states from hardware.

CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) final
	Deactivate the controller.

controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) final
	Read the state interfaces, perform control evaluation and write the command interfaces.

controller_interface::InterfaceConfiguration	state_interface_configuration () const final
	Configure the state interfaces.

controller_interface::InterfaceConfiguration	command_interface_configuration () const final
	Configure the command interfaces.

Public Member Functions inherited from modulo_controllers::BaseControllerInterface
	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
virtual CallbackReturn	add_interfaces ()
	Add interfaces like parameters, signals, services, and predicates to the controller.

virtual CallbackReturn	on_configure ()
	Configure the controller.

virtual CallbackReturn	on_activate ()
	Activate the controller.

virtual CallbackReturn	on_deactivate ()
	Deactivate the controller.

virtual controller_interface::return_type	read_state_interfaces ()
	Read the state interfaces.

virtual controller_interface::return_type	write_command_interfaces (const rclcpp::Duration &period)
	Write the command interfaces.

virtual controller_interface::return_type	evaluate (const rclcpp::Time &time, const std::chrono::nanoseconds &period)=0
	The control logic callback.

void	add_state_interface (const std::string &name, const std::string &interface)
	Add a state interface to the controller by name.

void	add_command_interface (const std::string &name, const std::string &interface)
	Add a command interface to the controller by name.

std::unordered_map< std::string, double >	get_state_interfaces (const std::string &name) const
	Get a map containing the state interfaces by name of the parent tag.

double	get_state_interface (const std::string &name, const std::string &interface) const
	Get the value of a state interface by name.

double	get_command_interface (const std::string &name, const std::string &interface) const
	Get the value of a command interface by name.

void	set_command_interface (const std::string &name, const std::string &interface, double value)
	Set the value of a command interface by name.

Protected Member Functions inherited from modulo_controllers::BaseControllerInterface
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.

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)

Protected Attributes
std::string	hardware_name_
	The hardware name provided by a parameter.

Detailed Description

Definition at line 10 of file ControllerInterface.hpp.

Constructor & Destructor Documentation

◆ ControllerInterface()

modulo_controllers::ControllerInterface::ControllerInterface ( bool claim_all_state_interfaces = false )

Default constructor.

Parameters

claim_all_state_interfaces Flag to indicate if all state interfaces should be claimed

Definition at line 9 of file ControllerInterface.cpp.

Member Function Documentation

◆ add_command_interface()

void modulo_controllers::ControllerInterface::add_command_interface	(	const std::string &	name,
		const std::string &	interface )

protected

Add a command interface to the controller by name.

Parameters

name	The name of the parent tag, e.g. the name of the joint, sensor or gpio
interface	The desired command interface

Definition at line 84 of file ControllerInterface.cpp.

◆ add_interfaces()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::ControllerInterface::add_interfaces ( )

protectedvirtual

Add interfaces like parameters, signals, services, and predicates to the controller.

This function is called during the on_init callback of the base class to perform post-construction steps.

Returns: SUCCESS or ERROR

Reimplemented in modulo_controllers::RobotControllerInterface.

Definition at line 39 of file ControllerInterface.cpp.

◆ add_state_interface()

void modulo_controllers::ControllerInterface::add_state_interface	(	const std::string &	name,
		const std::string &	interface )

protected

Add a state interface to the controller by name.

Parameters

name	The name of the parent tag, e.g. the name of the joint, sensor or gpio
interface	The desired state interface

Definition at line 80 of file ControllerInterface.cpp.

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration modulo_controllers::ControllerInterface::command_interface_configuration ( ) const

final

Configure the command interfaces.

Returns: The command interface configuration

Definition at line 106 of file ControllerInterface.cpp.

◆ evaluate()

virtual controller_interface::return_type modulo_controllers::ControllerInterface::evaluate	(	const rclcpp::Time &	time,
		const std::chrono::nanoseconds &	period )

protectedpure virtual

The control logic callback.

This method should be overridden by derived classes. It is called in the update() method between reading the state interfaces and writing the command interfaces.

Parameters

time	The controller clock time
period	Time elapsed since the last control evaluation

Returns: OK or ERROR

◆ get_command_interface()

double modulo_controllers::ControllerInterface::get_command_interface	(	const std::string &	name,
		const std::string &	interface ) const

protected

Get the value of a command interface by name.

Parameters

name	The name of the parent tag, e.g. the name of the joint, sensor or gpio
interface	The desired command interface

Exceptions

out_of_range if the desired command interface is not available

Returns: The value of the command interface

Definition at line 278 of file ControllerInterface.cpp.

◆ get_state_interface()

double modulo_controllers::ControllerInterface::get_state_interface	(	const std::string &	name,
		const std::string &	interface ) const

protected

Get the value of a state interface by name.

Parameters

name	The name of the parent tag, e.g. the name of the joint, sensor or gpio
interface	The desired state interface

Exceptions

out_of_range if the desired state interface is not available

Returns: The value of the state interface

Definition at line 274 of file ControllerInterface.cpp.

◆ get_state_interfaces()

std::unordered_map< std::string, double > modulo_controllers::ControllerInterface::get_state_interfaces ( const std::string & name ) const

protected

Get a map containing the state interfaces by name of the parent tag.

Parameters

name	The name of the parent tag, e.g. the name of the joint, sensor or gpio

Exceptions

out_of_range if the desired state interface is not available

Returns: The map containing the values of the state interfaces

Definition at line 270 of file ControllerInterface.cpp.

◆ on_activate() [1/2]

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::ControllerInterface::on_activate ( )

protectedvirtual

Activate the controller.

This method should be overridden by derived classes.

Returns: SUCCESS or ERROR

Reimplemented in modulo_controllers::RobotControllerInterface.

Definition at line 194 of file ControllerInterface.cpp.

◆ on_activate() [2/2]

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::ControllerInterface::on_activate ( const rclcpp_lifecycle::State & previous_state )

final

Initialize internal data attributes from configured interfaces and wait for valid states from hardware.

This functions calls the internal on_activate() method

Parameters

previous_state The previous lifecycle state

Returns: SUCCESS or ERROR

Definition at line 141 of file ControllerInterface.cpp.

◆ on_configure() [1/2]

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::ControllerInterface::on_configure ( )

protectedvirtual

Configure the controller.

This method should be overridden by derived classes.

Returns: SUCCESS or ERROR

Reimplemented in modulo_controllers::RobotControllerInterface.

Definition at line 76 of file ControllerInterface.cpp.

◆ on_configure() [2/2]

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

final

Set class properties from parameters.

This functions calls the internal on_configure() method

Parameters

previous_state The previous lifecycle state

Returns: SUCCESS or ERROR

Definition at line 44 of file ControllerInterface.cpp.

◆ on_deactivate() [1/2]

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::ControllerInterface::on_deactivate ( )

protectedvirtual

Deactivate the controller.

This method should be overridden by derived classes.

Returns: SUCCESS or ERROR

Definition at line 208 of file ControllerInterface.cpp.

◆ on_deactivate() [2/2]

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::ControllerInterface::on_deactivate ( const rclcpp_lifecycle::State & previous_state )

final

Deactivate the controller.

Parameters

previous_state The previous lifecycle state

Returns: SUCCESS or ERROR

Definition at line 199 of file ControllerInterface.cpp.

◆ on_init()

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

override

Declare parameters.

Returns: CallbackReturn status

Definition at line 12 of file ControllerInterface.cpp.

◆ read_state_interfaces()

controller_interface::return_type modulo_controllers::ControllerInterface::read_state_interfaces ( )

protectedvirtual

Read the state interfaces.

Returns: OK or ERROR

Definition at line 253 of file ControllerInterface.cpp.

◆ set_command_interface()

void modulo_controllers::ControllerInterface::set_command_interface	(	const std::string &	name,
		const std::string &	interface,
		double	value )

protected

Set the value of a command interface by name.

Parameters

name	The name of the parent tag, e.g. the name of the sensor or gpio
interface	The name of the command interface
value	The new value of the interface

Definition at line 282 of file ControllerInterface.cpp.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration modulo_controllers::ControllerInterface::state_interface_configuration ( ) const

final

Configure the state interfaces.

Returns: The state interface configuration

Definition at line 123 of file ControllerInterface.cpp.

◆ update()

controller_interface::return_type modulo_controllers::ControllerInterface::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period )

final

Read the state interfaces, perform control evaluation and write the command interfaces.

Parameters

time	The controller clock time
period	Time elapsed since the last control evaluation

Returns: OK or ERROR

Definition at line 213 of file ControllerInterface.cpp.

◆ write_command_interfaces()

controller_interface::return_type modulo_controllers::ControllerInterface::write_command_interfaces ( const rclcpp::Duration & period )

protectedvirtual

Write the command interfaces.

Parameters

period Time elapsed since the last control evaluation

Returns: OK or ERROR

Definition at line 262 of file ControllerInterface.cpp.

Member Data Documentation

◆ hardware_name_

std::string modulo_controllers::ControllerInterface::hardware_name_

protected

The hardware name provided by a parameter.

Definition at line 169 of file ControllerInterface.hpp.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ControllerInterface()

Member Function Documentation

◆ add_command_interface()

◆ add_interfaces()

◆ add_state_interface()

◆ command_interface_configuration()

◆ evaluate()

◆ get_command_interface()

◆ get_state_interface()

◆ get_state_interfaces()

◆ on_activate() [1/2]

◆ on_activate() [2/2]

◆ on_configure() [1/2]

◆ on_configure() [2/2]

◆ on_deactivate() [1/2]

◆ on_deactivate() [2/2]

◆ on_init()

◆ read_state_interfaces()

◆ set_command_interface()

◆ state_interface_configuration()

◆ update()

◆ write_command_interfaces()

Member Data Documentation

◆ hardware_name_