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[RM] Add get_hardware_info method to the Hardware Components (#1643)
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@saikishor
saikishor committed Jul 29, 2024
1 parent df43a1c commit d3d1c95
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Showing 13 changed files with 146 additions and 106 deletions.
4 changes: 2 additions & 2 deletions doc/release_notes.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,7 @@ For details see the controller_manager section.
* Pass controller manager update rate on the init of the controller interface (`#1141 <https://github.com/ros-controls/ros2_control/pull/1141>`_)
* A method to get node options to setup the controller node #api-breaking (`#1169 <https://github.com/ros-controls/ros2_control/pull/1169>`_)
* Export state interfaces from the chainable controller #api-breaking (`#1021 <https://github.com/ros-controls/ros2_control/pull/1021>`_)

* All chainable controllers must implement the method ``export_state_interfaces`` to export the state interfaces, similar to ``export_reference_interfaces`` method that is exporting the reference interfaces.
* All chainable controllers must implement the method ``export_state_interfaces`` to export the state interfaces, similar to ``export_reference_interfaces`` method that is exporting the reference interfaces.

controller_manager
******************
Expand Down Expand Up @@ -100,6 +99,7 @@ hardware_interface
* Soft limits are also parsed from the URDF into the ``HardwareInfo`` structure for the defined joints (`#1488 <https://github.com/ros-controls/ros2_control/pull/1488>`_)
* Access to logger and clock through ``get_logger`` and ``get_clock`` methods in ResourceManager and HardwareComponents ``Actuator``, ``Sensor`` and ``System`` (`#1585 <https://github.com/ros-controls/ros2_control/pull/1585>`_)
* Added ``get_hardware_info`` method to the hardware components interface to access the ``HardwareInfo`` instead of accessing the variable ``info_`` directly (`#1643 <https://github.com/ros-controls/ros2_control/pull/1643>`_)

joint_limits
************
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6 changes: 6 additions & 0 deletions hardware_interface/include/hardware_interface/actuator_interface.hpp
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Expand Up @@ -241,6 +241,12 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
*/
rclcpp::Clock::SharedPtr get_clock() const { return clock_interface_->get_clock(); }

/// Get the hardware info of the ActuatorInterface.
/**
* \return hardware info of the ActuatorInterface.
*/
const HardwareInfo & get_hardware_info() const { return info_; }

HardwareInfo info_;
rclcpp_lifecycle::State lifecycle_state_;

Expand Down
6 changes: 6 additions & 0 deletions hardware_interface/include/hardware_interface/sensor_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,12 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
*/
rclcpp::Clock::SharedPtr get_clock() const { return clock_interface_->get_clock(); }

/// Get the hardware info of the SensorInterface.
/**
* \return hardware info of the SensorInterface.
*/
const HardwareInfo & get_hardware_info() const { return info_; }

HardwareInfo info_;
rclcpp_lifecycle::State lifecycle_state_;

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6 changes: 6 additions & 0 deletions hardware_interface/include/hardware_interface/system_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -242,6 +242,12 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
*/
rclcpp::Clock::SharedPtr get_clock() const { return clock_interface_->get_clock(); }

/// Get the hardware info of the SystemInterface.
/**
* \return hardware info of the SystemInterface.
*/
const HardwareInfo & get_hardware_info() const { return info_; }

HardwareInfo info_;
rclcpp_lifecycle::State lifecycle_state_;

Expand Down
105 changes: 57 additions & 48 deletions hardware_interface/src/mock_components/generic_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,8 +59,8 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
};

// check if to create mock command interface for sensor
auto it = info_.hardware_parameters.find("mock_sensor_commands");
if (it != info_.hardware_parameters.end())
auto it = get_hardware_info().hardware_parameters.find("mock_sensor_commands");
if (it != get_hardware_info().hardware_parameters.end())
{
use_mock_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
}
Expand All @@ -70,8 +70,8 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}

// check if to create mock command interface for gpio
it = info_.hardware_parameters.find("mock_gpio_commands");
if (it != info_.hardware_parameters.end())
it = get_hardware_info().hardware_parameters.find("mock_gpio_commands");
if (it != get_hardware_info().hardware_parameters.end())
{
use_mock_gpio_command_interfaces_ = hardware_interface::parse_bool(it->second);
}
Expand All @@ -82,7 +82,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i

// check if there is parameter that disables commands
// this way we simulate disconnected driver
it = info_.hardware_parameters.find("disable_commands");
it = get_hardware_info().hardware_parameters.find("disable_commands");
if (it != info.hardware_parameters.end())
{
command_propagation_disabled_ = hardware_interface::parse_bool(it->second);
Expand All @@ -93,7 +93,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}

// check if there is parameter that enables dynamic calculation
it = info_.hardware_parameters.find("calculate_dynamics");
it = get_hardware_info().hardware_parameters.find("calculate_dynamics");
if (it != info.hardware_parameters.end())
{
calculate_dynamics_ = hardware_interface::parse_bool(it->second);
Expand All @@ -107,12 +107,12 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
position_state_following_offset_ = 0.0;
custom_interface_with_following_offset_ = "";

it = info_.hardware_parameters.find("position_state_following_offset");
if (it != info_.hardware_parameters.end())
it = get_hardware_info().hardware_parameters.find("position_state_following_offset");
if (it != get_hardware_info().hardware_parameters.end())
{
position_state_following_offset_ = hardware_interface::stod(it->second);
it = info_.hardware_parameters.find("custom_interface_with_following_offset");
if (it != info_.hardware_parameters.end())
it = get_hardware_info().hardware_parameters.find("custom_interface_with_following_offset");
if (it != get_hardware_info().hardware_parameters.end())
{
custom_interface_with_following_offset_ = it->second;
}
Expand All @@ -121,9 +121,10 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
index_custom_interface_with_following_offset_ = std::numeric_limits<size_t>::max();

// Initialize storage for standard interfaces
initialize_storage_vectors(joint_commands_, joint_states_, standard_interfaces_, info_.joints);
initialize_storage_vectors(
joint_commands_, joint_states_, standard_interfaces_, get_hardware_info().joints);
// set all values without initial values to 0
for (auto i = 0u; i < info_.joints.size(); i++)
for (auto i = 0u; i < get_hardware_info().joints.size(); i++)
{
for (auto j = 0u; j < standard_interfaces_.size(); j++)
{
Expand All @@ -135,7 +136,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}

// search for non-standard joint interfaces
for (const auto & joint : info_.joints)
for (const auto & joint : get_hardware_info().joints)
{
// populate non-standard command interfaces to other_interfaces_
populate_non_standard_interfaces(joint.command_interfaces, other_interfaces_);
Expand All @@ -145,7 +146,8 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}

// Initialize storage for non-standard interfaces
initialize_storage_vectors(other_commands_, other_states_, other_interfaces_, info_.joints);
initialize_storage_vectors(
other_commands_, other_states_, other_interfaces_, get_hardware_info().joints);

// when following offset is used on custom interface then find its index
if (!custom_interface_with_following_offset_.empty())
Expand All @@ -170,7 +172,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}
}

for (const auto & sensor : info_.sensors)
for (const auto & sensor : get_hardware_info().sensors)
{
for (const auto & interface : sensor.state_interfaces)
{
Expand All @@ -183,10 +185,10 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}
}
initialize_storage_vectors(
sensor_mock_commands_, sensor_states_, sensor_interfaces_, info_.sensors);
sensor_mock_commands_, sensor_states_, sensor_interfaces_, get_hardware_info().sensors);

// search for gpio interfaces
for (const auto & gpio : info_.gpios)
for (const auto & gpio : get_hardware_info().gpios)
{
// populate non-standard command interfaces to gpio_interfaces_
populate_non_standard_interfaces(gpio.command_interfaces, gpio_interfaces_);
Expand All @@ -198,12 +200,14 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
// Mock gpio command interfaces
if (use_mock_gpio_command_interfaces_)
{
initialize_storage_vectors(gpio_mock_commands_, gpio_states_, gpio_interfaces_, info_.gpios);
initialize_storage_vectors(
gpio_mock_commands_, gpio_states_, gpio_interfaces_, get_hardware_info().gpios);
}
// Real gpio command interfaces
else
{
initialize_storage_vectors(gpio_commands_, gpio_states_, gpio_interfaces_, info_.gpios);
initialize_storage_vectors(
gpio_commands_, gpio_states_, gpio_interfaces_, get_hardware_info().gpios);
}

return CallbackReturn::SUCCESS;
Expand All @@ -214,9 +218,9 @@ std::vector<hardware_interface::StateInterface> GenericSystem::export_state_inte
std::vector<hardware_interface::StateInterface> state_interfaces;

// Joints' state interfaces
for (auto i = 0u; i < info_.joints.size(); i++)
for (auto i = 0u; i < get_hardware_info().joints.size(); i++)
{
const auto & joint = info_.joints[i];
const auto & joint = get_hardware_info().joints[i];
for (const auto & interface : joint.state_interfaces)
{
// Add interface: if not in the standard list then use "other" interface list
Expand All @@ -236,14 +240,15 @@ std::vector<hardware_interface::StateInterface> GenericSystem::export_state_inte

// Sensor state interfaces
if (!populate_interfaces(
info_.sensors, sensor_interfaces_, sensor_states_, state_interfaces, true))
get_hardware_info().sensors, sensor_interfaces_, sensor_states_, state_interfaces, true))
{
throw std::runtime_error(
"Interface is not found in the standard nor other list. This should never happen!");
};

// GPIO state interfaces
if (!populate_interfaces(info_.gpios, gpio_interfaces_, gpio_states_, state_interfaces, true))
if (!populate_interfaces(
get_hardware_info().gpios, gpio_interfaces_, gpio_states_, state_interfaces, true))
{
throw std::runtime_error("Interface is not found in the gpio list. This should never happen!");
}
Expand All @@ -256,9 +261,9 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
std::vector<hardware_interface::CommandInterface> command_interfaces;

// Joints' state interfaces
for (size_t i = 0; i < info_.joints.size(); ++i)
for (size_t i = 0; i < get_hardware_info().joints.size(); ++i)
{
const auto & joint = info_.joints[i];
const auto & joint = get_hardware_info().joints[i];
for (const auto & interface : joint.command_interfaces)
{
// Add interface: if not in the standard list than use "other" interface list
Expand All @@ -278,13 +283,14 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
}
}
// Set position control mode per default
joint_control_mode_.resize(info_.joints.size(), POSITION_INTERFACE_INDEX);
joint_control_mode_.resize(get_hardware_info().joints.size(), POSITION_INTERFACE_INDEX);

// Mock sensor command interfaces
if (use_mock_sensor_command_interfaces_)
{
if (!populate_interfaces(
info_.sensors, sensor_interfaces_, sensor_mock_commands_, command_interfaces, true))
get_hardware_info().sensors, sensor_interfaces_, sensor_mock_commands_,
command_interfaces, true))
{
throw std::runtime_error(
"Interface is not found in the standard nor other list. This should never happen!");
Expand All @@ -295,7 +301,8 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
if (use_mock_gpio_command_interfaces_)
{
if (!populate_interfaces(
info_.gpios, gpio_interfaces_, gpio_mock_commands_, command_interfaces, true))
get_hardware_info().gpios, gpio_interfaces_, gpio_mock_commands_, command_interfaces,
true))
{
throw std::runtime_error(
"Interface is not found in the gpio list. This should never happen!");
Expand All @@ -305,7 +312,7 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
else
{
if (!populate_interfaces(
info_.gpios, gpio_interfaces_, gpio_commands_, command_interfaces, false))
get_hardware_info().gpios, gpio_interfaces_, gpio_commands_, command_interfaces, false))
{
throw std::runtime_error(
"Interface is not found in the gpio list. This should never happen!");
Expand All @@ -328,49 +335,50 @@ return_type GenericSystem::prepare_command_mode_switch(

const size_t FOUND_ONCE_FLAG = 1000000;

const auto & info = get_hardware_info();
std::vector<size_t> joint_found_in_x_requests_;
joint_found_in_x_requests_.resize(info_.joints.size(), 0);
joint_found_in_x_requests_.resize(info.joints.size(), 0);

for (const auto & key : start_interfaces)
{
// check if interface is joint
auto joint_it_found = std::find_if(
info_.joints.begin(), info_.joints.end(),
info.joints.begin(), info.joints.end(),
[key](const auto & joint) { return (key.find(joint.name) != std::string::npos); });

if (joint_it_found != info_.joints.end())
if (joint_it_found != info.joints.end())
{
const size_t joint_index = std::distance(info_.joints.begin(), joint_it_found);
const size_t joint_index = std::distance(info.joints.begin(), joint_it_found);
if (joint_found_in_x_requests_[joint_index] == 0)
{
joint_found_in_x_requests_[joint_index] = FOUND_ONCE_FLAG;
}

if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_POSITION)
if (key == info.joints[joint_index].name + "/" + hardware_interface::HW_IF_POSITION)
{
joint_found_in_x_requests_[joint_index] += 1;
}
if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_VELOCITY)
if (key == info.joints[joint_index].name + "/" + hardware_interface::HW_IF_VELOCITY)
{
if (!calculate_dynamics_)
{
RCLCPP_WARN(
get_logger(),
"Requested velocity mode for joint '%s' without dynamics calculation enabled - this "
"might lead to wrong feedback and unexpected behavior.",
info_.joints[joint_index].name.c_str());
info.joints[joint_index].name.c_str());
}
joint_found_in_x_requests_[joint_index] += 1;
}
if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_ACCELERATION)
if (key == info.joints[joint_index].name + "/" + hardware_interface::HW_IF_ACCELERATION)
{
if (!calculate_dynamics_)
{
RCLCPP_WARN(
get_logger(),
"Requested acceleration mode for joint '%s' without dynamics calculation enabled - "
"this might lead to wrong feedback and unexpected behavior.",
info_.joints[joint_index].name.c_str());
info.joints[joint_index].name.c_str());
}
joint_found_in_x_requests_[joint_index] += 1;
}
Expand All @@ -382,14 +390,14 @@ return_type GenericSystem::prepare_command_mode_switch(
}
}

for (size_t i = 0; i < info_.joints.size(); ++i)
for (size_t i = 0; i < info.joints.size(); ++i)
{
// There has to always be at least one control mode from the above three set
if (joint_found_in_x_requests_[i] == FOUND_ONCE_FLAG)
{
RCLCPP_ERROR(
get_logger(), "Joint '%s' has to have '%s', '%s', or '%s' interface!",
info_.joints[i].name.c_str(), hardware_interface::HW_IF_POSITION,
info.joints[i].name.c_str(), hardware_interface::HW_IF_POSITION,
hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_ACCELERATION);
ret_val = hardware_interface::return_type::ERROR;
}
Expand All @@ -401,7 +409,7 @@ return_type GenericSystem::prepare_command_mode_switch(
get_logger(),
"Got multiple (%zu) starting interfaces for joint '%s' - this is not "
"supported!",
joint_found_in_x_requests_[i] - FOUND_ONCE_FLAG, info_.joints[i].name.c_str());
joint_found_in_x_requests_[i] - FOUND_ONCE_FLAG, info.joints[i].name.c_str());
ret_val = hardware_interface::return_type::ERROR;
}
}
Expand All @@ -421,23 +429,24 @@ return_type GenericSystem::perform_command_mode_switch(
for (const auto & key : start_interfaces)
{
// check if interface is joint
const auto & info = get_hardware_info();
auto joint_it_found = std::find_if(
info_.joints.begin(), info_.joints.end(),
info.joints.begin(), info.joints.end(),
[key](const auto & joint) { return (key.find(joint.name) != std::string::npos); });

if (joint_it_found != info_.joints.end())
if (joint_it_found != info.joints.end())
{
const size_t joint_index = std::distance(info_.joints.begin(), joint_it_found);
const size_t joint_index = std::distance(info.joints.begin(), joint_it_found);

if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_POSITION)
if (key == info.joints[joint_index].name + "/" + hardware_interface::HW_IF_POSITION)
{
joint_control_mode_[joint_index] = POSITION_INTERFACE_INDEX;
}
if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_VELOCITY)
if (key == info.joints[joint_index].name + "/" + hardware_interface::HW_IF_VELOCITY)
{
joint_control_mode_[joint_index] = VELOCITY_INTERFACE_INDEX;
}
if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_ACCELERATION)
if (key == info.joints[joint_index].name + "/" + hardware_interface::HW_IF_ACCELERATION)
{
joint_control_mode_[joint_index] = ACCELERATION_INTERFACE_INDEX;
}
Expand Down Expand Up @@ -565,7 +574,7 @@ return_type GenericSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Dur
return return_type::ERROR;
}

for (const auto & mimic_joint : info_.mimic_joints)
for (const auto & mimic_joint : get_hardware_info().mimic_joints)
{
for (auto i = 0u; i < joint_states_.size(); ++i)
{
Expand Down
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