Rewrote IO Gripper Controller to GPIO Tool Controller.

Author: destogl

gpio_controllers/CMakeLists.txt

@@ -7,34 +7,59 @@ export_windows_symbols()
 
 # find dependencies
 find_package(ament_cmake 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)
+find_package(std_srvs 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)
-target_link_libraries(gpio_controllers PUBLIC
-                      gpio_command_controller_parameters
+target_link_libraries(gpio_controllers PUBLIC gpio_command_controller_parameters)
+ament_target_dependencies(gpio_controllers PUBLIC
+  builtin_interfaces
+  controller_interface
+  hardware_interface
+  pluginlib
+  rclcpp_lifecycle
+  rcutils
+  realtime_tools
+  control_msgs
+)
+
+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})
+                      ${builtin_interfaces_TARGETS}
+                      ${std_srvs_TARGETS}
+                      )
 
 pluginlib_export_plugin_description_file(controller_interface gpio_controllers_plugin.xml)
 
@@ -46,6 +71,7 @@ install(
 install(
   TARGETS
   gpio_controllers
+  gpio_tool_controllers
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -78,6 +104,21 @@ if(BUILD_TESTING)
     gpio_controllers
     ros2_control_test_assets::ros2_control_test_assets
   )
+
+  # 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(
@@ -92,5 +133,6 @@ 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>