Revert "Start of Unification for Sensor, Actuator, and System into a Si…" (#2456)

Author: bmagyar

hardware_interface/CMakeLists.txt

@@ -29,9 +29,11 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
 endforeach()
 
 add_library(hardware_interface SHARED
+  src/actuator.cpp
   src/component_parser.cpp
   src/resource_manager.cpp
-  src/hardware_component.cpp
+  src/sensor.cpp
+  src/system.cpp
   src/lexical_casts.cpp
 )
 target_compile_features(hardware_interface PUBLIC cxx_std_17)

hardware_interface/include/hardware_interface/actuator.hpp

@@ -15,11 +15,113 @@
 #ifndef HARDWARE_INTERFACE__ACTUATOR_HPP_
 #define HARDWARE_INTERFACE__ACTUATOR_HPP_
 
+#include <memory>
+#include <string>
+#include <vector>
+
 #include "hardware_interface/actuator_interface.hpp"
-#include "hardware_interface/hardware_component.hpp"
+#include "hardware_interface/handle.hpp"
+#include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/types/statistics_types.hpp"
+#include "rclcpp/duration.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
+#include "rclcpp/time.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 
 namespace hardware_interface
 {
-using Actuator = HardwareComponent;
+class ActuatorInterface;
+
+class Actuator final
+{
+public:
+  Actuator() = default;
+
+  explicit Actuator(std::unique_ptr<ActuatorInterface> impl);
+
+  explicit Actuator(Actuator && other) noexcept;
+
+  ~Actuator() = default;
+
+  Actuator(const Actuator & other) = delete;
+
+  Actuator & operator=(const Actuator & other) = delete;
+
+  Actuator & operator=(Actuator && other) = delete;
+
+  [[deprecated(
+    "Replaced by const rclcpp_lifecycle::State & initialize(const "
+    "hardware_interface::HardwareComponentParams & params).")]]
+  const rclcpp_lifecycle::State & initialize(
+    const HardwareInfo & actuator_info, rclcpp::Logger logger,
+    rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface);
+
+  [[deprecated(
+    "Replaced by const rclcpp_lifecycle::State & initialize(const "
+    "hardware_interface::HardwareComponentParams & params).")]]
+  const rclcpp_lifecycle::State & initialize(
+    const HardwareInfo & actuator_info, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock);
+
+  const rclcpp_lifecycle::State & initialize(
+    const hardware_interface::HardwareComponentParams & params);
+
+  const rclcpp_lifecycle::State & configure();
+
+  const rclcpp_lifecycle::State & cleanup();
+
+  const rclcpp_lifecycle::State & shutdown();
+
+  const rclcpp_lifecycle::State & activate();
+
+  const rclcpp_lifecycle::State & deactivate();
+
+  const rclcpp_lifecycle::State & error();
+
+  std::vector<StateInterface::ConstSharedPtr> export_state_interfaces();
+
+  std::vector<CommandInterface::SharedPtr> export_command_interfaces();
+
+  return_type prepare_command_mode_switch(
+    const std::vector<std::string> & start_interfaces,
+    const std::vector<std::string> & stop_interfaces);
+
+  return_type perform_command_mode_switch(
+    const std::vector<std::string> & start_interfaces,
+    const std::vector<std::string> & stop_interfaces);
+
+  const std::string & get_name() const;
+
+  const std::string & get_group_name() const;
+
+  const rclcpp_lifecycle::State & get_lifecycle_state() const;
+
+  const rclcpp::Time & get_last_read_time() const;
+
+  const rclcpp::Time & get_last_write_time() const;
+
+  const HardwareComponentStatisticsCollector & get_read_statistics() const;
+
+  const HardwareComponentStatisticsCollector & get_write_statistics() const;
+
+  return_type read(const rclcpp::Time & time, const rclcpp::Duration & period);
+
+  return_type write(const rclcpp::Time & time, const rclcpp::Duration & period);
+
+  std::recursive_mutex & get_mutex();
+
+private:
+  std::unique_ptr<ActuatorInterface> impl_;
+  mutable std::recursive_mutex actuators_mutex_;
+  // Last read cycle time
+  rclcpp::Time last_read_cycle_time_;
+  // Last write cycle time
+  rclcpp::Time last_write_cycle_time_;
+  // Component statistics
+  HardwareComponentStatisticsCollector read_statistics_;
+  HardwareComponentStatisticsCollector write_statistics_;
+};
+
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__ACTUATOR_HPP_