first version of transmissions for mock hardware

Author: mamueluth

hardware_interface/CMakeLists.txt

@@ -39,22 +39,6 @@ ament_target_dependencies(hardware_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPEN
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(hardware_interface PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
 
-add_library(mock_components SHARED
-  src/mock_components/generic_system.cpp
-)
-target_compile_features(mock_components PUBLIC cxx_std_17)
-target_include_directories(mock_components PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include/hardware_interface>
-)
-ament_target_dependencies(mock_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(mock_components PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
-
-pluginlib_export_plugin_description_file(
-  hardware_interface mock_components_plugin_description.xml)
-
 if(BUILD_TESTING)
 
   find_package(ament_cmake_gmock REQUIRED)
@@ -94,14 +78,6 @@ if(BUILD_TESTING)
   pluginlib_export_plugin_description_file(
     hardware_interface test/test_hardware_components/test_hardware_components.xml
   )
-
-  ament_add_gmock(test_generic_system test/mock_components/test_generic_system.cpp)
-  target_include_directories(test_generic_system PRIVATE include)
-  target_link_libraries(test_generic_system hardware_interface)
-  ament_target_dependencies(test_generic_system
-    pluginlib
-    ros2_control_test_assets
-  )
 endif()
 
 install(
@@ -110,7 +86,6 @@ install(
 )
 install(
   TARGETS
-    mock_components
     hardware_interface
   EXPORT export_hardware_interface
   RUNTIME DESTINATION bin

mock_hardware/CMakeLists.txt

@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 3.16)
+project(mock_hardware LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  hardware_interface
+  pluginlib
+  rclcpp_lifecycle
+  rcpputils
+  rcutils
+  transmission_interface
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_library(mock_components SHARED
+  src/generic_system.cpp
+)
+target_compile_features(mock_components PUBLIC cxx_std_17)
+target_include_directories(mock_components PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/mock_components>
+)
+ament_target_dependencies(mock_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(mock_components PRIVATE "MOCK_COMPONENTS_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(
+  hardware_interface mock_components_plugin_description.xml)
+
+if(BUILD_TESTING)
+
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_generic_system test/test_generic_system.cpp)
+  target_include_directories(test_generic_system PRIVATE include)
+  target_link_libraries(test_generic_system mock_components)
+  ament_target_dependencies(test_generic_system
+    pluginlib
+    ros2_control_test_assets
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/mock_components
+)
+install(
+  TARGETS
+    mock_components
+  EXPORT export_mock_components
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+ament_export_targets(export_mock_components HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

hardware_interface/doc/mock_components_userdoc.rst renamed to mock_hardware/doc/mock_components_userdoc.rst

@@ -17,6 +17,7 @@
 #ifndef MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_
 #define MOCK_COMPONENTS__GENERIC_SYSTEM_HPP_
 
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -25,6 +26,7 @@
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "transmission_interface/transmission.hpp"
 
 using hardware_interface::return_type;
 
@@ -55,10 +57,7 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
 
   return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
-  {
-    return return_type::OK;
-  }
+  return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
 
 protected:
   /// Use standard interfaces for joints because they are relevant for dynamic behavior
@@ -100,6 +99,37 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
   std::vector<std::vector<double>> gpio_commands_;
   std::vector<std::vector<double>> gpio_states_;
 
+  double actuator_slowdown_;
+
+  // used for the Transmission pass through.
+  // read: actuator_interface.state_->Transmission->joint_interface.state_
+  // write: joint_interface.command_->Transmission->actuator_interface.command_
+  // And StateInterface(joint_interface.state_)
+  struct InterfaceData
+  {
+    // TODO(Manuel) set initial to NaN and on_init initialize to given value in info or 0.0
+    explicit InterfaceData(const std::string & name)
+    : name_(name),
+      command_(0.0),  // command_(std::numeric_limits<double>::quiet_NaN()),
+      state_(0.0),    // state_(std::numeric_limits<double>::quiet_NaN()),
+      transmission_passthrough_(
+        0.0)  // transmission_passthrough_(std::numeric_limits<double>::quiet_NaN())
+    {
+    }
+
+    std::string name_;
+    double command_;
+    double state_;
+    // this is the "sink" that will be part of the transmission Joint/Actuator handles
+    double transmission_passthrough_;
+  };
+
+  std::vector<InterfaceData> joint_interfaces_;
+  std::vector<InterfaceData> actuator_interfaces_;
+
+  // transmissions
+  std::vector<std::shared_ptr<transmission_interface::Transmission>> transmissions_;
+
 private:
   template <typename HandleType>
   bool get_interface(

hardware_interface/include/mock_components/generic_system.hpp renamed to mock_hardware/include/mock_components/generic_system.hpp

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mock_hardware</name>
+  <version>4.3.0</version>
+  <description>ros2_control hardware interface</description>
+  <maintainer email="[email protected]">Bence Magyar</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>hardware_interface</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>pluginlib</depend>
+  <depend>rcpputils</depend>
+  <depend>transmission_interface</depend>
+
+  <build_depend>rcutils</build_depend>
+  <exec_depend>rcutils</exec_depend>
+
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>