actuator_extra_interface.h

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 * Copyright (c) 2021, Qiayuan Liao
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//
// Created by qiayuan on 5/14/21.
//
 
#pragma once
 
#include <utility>
#include <hardware_interface/internal/hardware_resource_manager.h>
 
namespace rm_control
{
class ActuatorExtraHandle
{
public:
  ActuatorExtraHandle() = default;
  ActuatorExtraHandle(std::string name, bool* halted, bool* need_calibration, bool* calibrated,
                      bool* calibration_reading, double* pos, double* offset)
    : name_(std::move(name))
    , halted_(halted)
    , need_calibration_(need_calibration)
    , calibrated_(calibrated)
    , calibration_reading_(calibration_reading)
    , pos_(pos)
    , offset_(offset)
  {
    if (!halted)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. halted pointer is null.");
    if (!need_calibration)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. need_calibration  pointer is null.");
    if (!calibrated)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. calibrated pointer is null.");
    if (!calibration_reading)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. calibration reading pointer is null.");
    if (!pos)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name + "'. pos pointer is null.");
    if (!offset)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. offset pointer is null.");
  }
  std::string getName() const
  {
    return name_;
  }
  bool getHalted() const
  {
    assert(halted_);
    return *halted_;
  }
  bool getNeedCalibration() const
  {
    assert(need_calibration_);
    return *need_calibration_;
  }
  bool getCalibrated() const
  {
    assert(calibrated_);
    return *calibrated_;
  }
  bool getCalibrationReading() const
  {
    assert(calibration_reading_);
    return *calibration_reading_;
  }
  double getPosition() const
  {
    assert(pos_);
    return *pos_;
  }
  double getOffset() const
  {
    assert(offset_);
    return *offset_;
  }
  void setOffset(double offset)
  {
    *offset_ = offset;
  }
  void setCalibrated(bool calibrated)
  {
    *calibrated_ = calibrated;
  }
 
private:
  std::string name_;
  bool* halted_ = { nullptr };
  bool* need_calibration_ = { nullptr };
  bool* calibrated_ = { nullptr };
  bool* calibration_reading_ = { nullptr };
  double* pos_{};
  double* offset_{};
};
 
class ActuatorExtraInterface
  : public hardware_interface::HardwareResourceManager<ActuatorExtraHandle, hardware_interface::ClaimResources>
{
};
 
}  // namespace rm_control