Rewrote IO Gripper Controller to GPIO Tool Controller.

Author: destogl

gpio_controllers/CMakeLists.txt

@@ -14,22 +14,22 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(example_interfaces REQUIRED)
+find_package(control_msgs REQUIRED)
 find_package(controller_interface REQUIRED)
+find_package(generate_parameter_library REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(realtime_tools REQUIRED)
-find_package(generate_parameter_library REQUIRED)
-find_package(control_msgs REQUIRED)
-
+find_package(sensor_msgs REQUIRED)
 
 generate_parameter_library(gpio_command_controller_parameters
   src/gpio_command_controller_parameters.yaml
 )
 
-add_library(gpio_controllers
-  SHARED
+add_library(gpio_controllers SHARED
   src/gpio_command_controller.cpp
 )
 target_include_directories(gpio_controllers PRIVATE include)
@@ -44,9 +44,30 @@ ament_target_dependencies(gpio_controllers PUBLIC
   realtime_tools
   control_msgs
 )
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(gpio_controllers PRIVATE "GPIO_COMMAND_CONTROLLER_BUILDING_DLL")
+
+generate_parameter_library(gpio_tool_controller_parameters
+  src/gpio_tool_controller.yaml
+)
+add_library(gpio_tool_controllers SHARED
+  src/gpio_tool_controller.cpp
+)
+target_compile_features(gpio_tool_controllers PUBLIC cxx_std_20)
+target_include_directories(gpio_tool_controllers PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(gpio_tool_controllers PUBLIC
+                      gpio_tool_controller_parameters
+                      controller_interface::controller_interface
+                      hardware_interface::hardware_interface
+                      pluginlib::pluginlib
+                      rclcpp::rclcpp
+                      rclcpp_lifecycle::rclcpp_lifecycle
+                      realtime_tools::realtime_tools
+                      ${control_msgs_TARGETS}
+                      ${builtin_interfaces_TARGETS}
+                      ${example_interfaces_TARGETS}
+                      )
+
 pluginlib_export_plugin_description_file(controller_interface gpio_controllers_plugin.xml)
 
 install(
@@ -57,6 +78,7 @@ install(
 install(
   TARGETS
   gpio_controllers
+  gpio_tool_controllers
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -97,6 +119,21 @@ if(BUILD_TESTING)
     ros2_control_test_assets
     control_msgs
   )
+
+  # ament_add_gmock(test_gpio_tool_controller
+  #   test/gpio_tool_controller/test_gpio_tool_controller.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_open.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_close.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_all_param_set.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_open_close_action.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_reconfigure.cpp
+  #   test/gpio_tool_controller/test_gpio_tool_controller_reconfigure_action.cpp
+  # )
+  # target_include_directories(test_gpio_tool_controller PRIVATE include)
+  # target_link_libraries(test_gpio_tool_controller
+  #   gpio_tool_controller
+  #   ros2_control_test_assets::ros2_control_test_assets
+  # )
 endif()
 
 ament_export_dependencies(
@@ -111,5 +148,6 @@ ament_export_include_directories(
 )
 ament_export_libraries(
   gpio_controllers
+  gpio_tool_controllers
 )
 ament_package()

gpio_controllers/gpio_controllers_plugin.xml

@@ -5,3 +5,12 @@
   </description>
   </class>
 </library>
+
+<library path="gpio_tool_controllers">
+  <class name="gpio_tool_controller/GpioToolController" type="gpio_tool_controller::GpioToolController" base_class_type="controller_interface::ControllerInterface">
+  <description>
+    The gpio tool controllers enables control of the tools that are controlled using GPIOs. For example, pneumatic grippers, lifts, etc. It enables management of multiple engaged state, e.g., if gripper is closed with or without an object.
+    The controller can be also be used in the simple form where certian states of a device are set through GPIOs, e.g., manual and automatic mode.
+  </description>
+  </class>
+</library>

gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp

@@ -22,7 +22,7 @@
 
 #include "control_msgs/msg/dynamic_interface_group_values.hpp"
 #include "controller_interface/controller_interface.hpp"
-#include "gpio_command_controller_parameters.hpp"
+#include "gpio_controllers/gpio_command_controller_parameters.hpp"
 #include "gpio_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"