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Karsten1987bmagyar
Karsten1987
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bmagyar
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resource loaning (#224)
* introducing handles Signed-off-by: Karsten Knese <[email protected]> * component interfaces & tests Signed-off-by: Karsten Knese <[email protected]> * linters Signed-off-by: Karsten Knese <[email protected]> * import resource manager Signed-off-by: Karsten Knese <[email protected]> * correct year Signed-off-by: Karsten Knese <[email protected]> * import handles from loaded components Signed-off-by: Karsten Knese <[email protected]> * wip / debug Signed-off-by: Karsten Knese <[email protected]> * parse components Signed-off-by: Karsten Knese <[email protected]> * changes after rebase Signed-off-by: Karsten Knese <[email protected]> * component parser as shared library Signed-off-by: Karsten Knese <[email protected]> * validate urdf configuratin Signed-off-by: Karsten Knese <[email protected]> * documentation Signed-off-by: Karsten Knese <[email protected]> * remove default constructor Signed-off-by: Karsten Knese <[email protected]> * resource loaning Signed-off-by: Karsten Knese <[email protected]> * loan state interface Signed-off-by: Karsten Knese <[email protected]> * import externally declared components Signed-off-by: Karsten Knese <[email protected]> * move resource manager to hardware interface (#226) * move resource manager to hardware interface Signed-off-by: Karsten Knese <[email protected]> * include functional for std::function Co-authored-by: Bence Magyar <[email protected]> * address review comments Signed-off-by: Karsten Knese <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
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14 files changed

+608
-186
lines changed

14 files changed

+608
-186
lines changed

‎controller_manager/CMakeLists.txt‎

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@@ -21,7 +21,6 @@ find_package(rclcpp REQUIRED)
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add_library(controller_manager SHARED
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src/controller_manager.cpp
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src/resource_manager.cpp
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)
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target_include_directories(controller_manager PRIVATE include)
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ament_target_dependencies(controller_manager
@@ -106,26 +105,6 @@ if(BUILD_TESTING)
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test_controller_manager_srvs
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test_robot_hardware
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)
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add_library(test_components SHARED
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test/test_components/test_actuator.cpp
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test/test_components/test_sensor.cpp
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test/test_components/test_system.cpp)
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ament_target_dependencies(test_components
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hardware_interface
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pluginlib)
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install(TARGETS test_components
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DESTINATION lib
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)
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pluginlib_export_plugin_description_file(
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hardware_interface test/test_components/test_components.xml)
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ament_add_gmock(
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test_resource_manager
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test/test_resource_manager.cpp
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)
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target_include_directories(test_resource_manager PRIVATE include src)
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target_link_libraries(test_resource_manager controller_manager)
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endif()
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ament_export_libraries(

‎controller_manager/src/resource_manager.hpp‎

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This file was deleted.

‎hardware_interface/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@ endif()
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find_package(ament_cmake REQUIRED)
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find_package(control_msgs REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rcpputils REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(tinyxml2_vendor REQUIRED)
@@ -23,7 +24,9 @@ add_library(
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src/components/actuator.cpp
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src/components/sensor.cpp
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src/components/system.cpp
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src/component_parser.cpp
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src/operation_mode_handle.cpp
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src/resource_manager.cpp
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src/robot_hardware.cpp
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)
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target_include_directories(
@@ -34,27 +37,15 @@ target_include_directories(
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ament_target_dependencies(
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hardware_interface
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control_msgs
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pluginlib
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rcutils
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rcpputils
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(hardware_interface PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
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add_library(
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component_parser SHARED
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src/component_parser.cpp
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)
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target_include_directories(
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component_parser
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PUBLIC
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include
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)
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ament_target_dependencies(
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component_parser
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TinyXML2
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)
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target_compile_definitions(component_parser PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
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# prevent pluginlib from using boost
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target_compile_definitions(hardware_interface PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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install(
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DIRECTORY include/
@@ -63,7 +54,6 @@ install(
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install(
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TARGETS
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component_parser
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hardware_interface
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RUNTIME DESTINATION bin
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ARCHIVE DESTINATION lib
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ament_target_dependencies(test_macros rcpputils)
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ament_add_gmock(test_robot_hardware_interfaces test/test_robot_hardware_interface.cpp)
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target_include_directories(test_robot_hardware_interfaces PRIVATE include)
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target_link_libraries(test_robot_hardware_interfaces hardware_interface)
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ament_add_gmock(test_register_actuators test/test_register_actuators.cpp)
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target_include_directories(test_register_actuators PRIVATE include)
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target_link_libraries(test_register_actuators hardware_interface)
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ament_target_dependencies(test_register_actuators rcpputils)
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ament_add_gmock(test_register_joints test/test_register_joints.cpp)
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target_include_directories(test_register_joints PRIVATE include)
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target_link_libraries(test_register_joints hardware_interface)
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ament_target_dependencies(test_register_joints rcpputils)
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ament_add_gmock(test_actuator_handle test/test_actuator_handle.cpp)
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target_include_directories(test_actuator_handle PRIVATE include)
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target_link_libraries(test_actuator_handle hardware_interface)
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ament_target_dependencies(test_actuator_handle rcpputils)
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ament_add_gmock(test_joint_handle test/test_joint_handle.cpp)
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target_include_directories(test_joint_handle PRIVATE include)
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target_link_libraries(test_joint_handle hardware_interface)
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ament_target_dependencies(test_joint_handle rcpputils)
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ament_add_gmock(test_component_interfaces test/test_component_interfaces.cpp)
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target_link_libraries(test_component_interfaces hardware_interface)
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ament_add_gmock(test_component_parser test/test_component_parser.cpp)
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target_link_libraries(test_component_parser component_parser)
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ament_target_dependencies(test_component_parser TinyXML2)
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target_link_libraries(test_component_parser hardware_interface)
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add_library(test_components SHARED
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test/test_components/test_actuator.cpp
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test/test_components/test_sensor.cpp
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test/test_components/test_system.cpp)
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target_link_libraries(test_components hardware_interface)
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ament_target_dependencies(test_components
103+
pluginlib)
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install(TARGETS test_components
105+
DESTINATION lib
106+
)
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pluginlib_export_plugin_description_file(
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hardware_interface test/test_components/test_components.xml)
109+
110+
ament_add_gmock(
111+
test_resource_manager
112+
test/test_resource_manager.cpp
113+
)
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target_link_libraries(test_resource_manager hardware_interface)
112115
endif()
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ament_export_include_directories(
115118
include
116119
)
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ament_export_libraries(
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component_parser
119121
hardware_interface
120122
)
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ament_export_dependencies(
122124
control_msgs
125+
pluginlib
123126
rcpputils
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tinyxml2_vendor
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TinyXML2

‎hardware_interface/include/hardware_interface/handle.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -139,7 +139,7 @@ class ReadWriteHandle : public ReadOnlyHandle<HandleType>
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class StateInterface : public ReadOnlyHandle<StateInterface>
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{
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public:
142-
StateInterface(const StateInterface & other) = delete;
142+
StateInterface(const StateInterface & other) = default;
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144144
StateInterface(StateInterface && other) = default;
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@@ -149,6 +149,12 @@ class StateInterface : public ReadOnlyHandle<StateInterface>
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class CommandInterface : public ReadWriteHandle<CommandInterface>
150150
{
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public:
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/// CommandInterface copy constructor is actively deleted
153+
/**
154+
* Command interfaces are having a unique ownership and thus
155+
* can't be copied in order to avoid simultaneous writes to
156+
* the same resource.
157+
*/
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CommandInterface(const CommandInterface & other) = delete;
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CommandInterface(CommandInterface && other) = default;

‎hardware_interface/include/hardware_interface/loaned_command_interface.hpp‎

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@@ -0,0 +1,69 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#ifndef HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_
16+
#define HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_
17+
18+
#include <functional>
19+
#include <utility>
20+
21+
#include "hardware_interface/handle.hpp"
22+
23+
namespace hardware_interface
24+
{
25+
26+
class LoanedCommandInterface
27+
{
28+
public:
29+
using Deleter = std::function<void (void)>;
30+
31+
explicit LoanedCommandInterface(CommandInterface & command_interface)
32+
: LoanedCommandInterface(command_interface, nullptr)
33+
{}
34+
35+
LoanedCommandInterface(
36+
CommandInterface & command_interface,
37+
Deleter && deleter)
38+
: command_interface_(command_interface),
39+
deleter_(std::forward<Deleter>(deleter))
40+
{}
41+
42+
LoanedCommandInterface(const LoanedCommandInterface & other) = delete;
43+
44+
LoanedCommandInterface(LoanedCommandInterface && other) = default;
45+
46+
virtual ~LoanedCommandInterface()
47+
{
48+
if (deleter_) {
49+
deleter_();
50+
}
51+
}
52+
53+
void set_value(double val)
54+
{
55+
command_interface_.set_value(val);
56+
}
57+
58+
double get_value() const
59+
{
60+
return command_interface_.get_value();
61+
}
62+
63+
protected:
64+
CommandInterface & command_interface_;
65+
Deleter deleter_;
66+
};
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68+
} // namespace hardware_interface
69+
#endif // HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_

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