40 lines
1.6 KiB
C++
40 lines
1.6 KiB
C++
#ifndef MG_WHEEL_INTERFACE_HPP_
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#define MG_WHEEL_INTERFACE_HPP_
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#include <vector>
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#include <string>
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#include "libserial/SerialPort.h"
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#include "hardware_interface/handle.hpp"
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#include "hardware_interface/system_interface.hpp"
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using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
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#include "hardware_interface/types/hardware_interface_return_values.hpp"
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#include "pluginlib/class_list_macros.hpp"
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namespace mg {
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class MgStepperInterface : public hardware_interface::SystemInterface {
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public:
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CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
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CallbackReturn on_configure(const rclcpp_lifecycle::State&) override;
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CallbackReturn on_shutdown(const rclcpp_lifecycle::State&) override;
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std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
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std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
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hardware_interface::return_type read(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) override;
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hardware_interface::return_type write(const rclcpp::Time& /*time*/,
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const rclcpp::Duration& /*period*/) override;
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private:
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std::string serial_port_name;
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LibSerial::SerialPort odrive_serial_interface;
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double left_wheel_vel_cmd = 0;
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double left_wheel_pos_state = 0;
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double right_wheel_vel_cmd = 0;
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double right_wheel_pos_state = 0;
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};
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}
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PLUGINLIB_EXPORT_CLASS(mg::MgStepperInterface, hardware_interface::SystemInterface)
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#endif |