move interfaces into hardware_interface package

hardware_interface/CMakeLists.txt

@@ -13,7 +13,8 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcpputils REQUIRED)
-find_package(robot_control_components REQUIRED)
+find_package(tinyxml2_vendor REQUIRED)
+find_package(TinyXML2 REQUIRED)
 
 add_library(
   hardware_interface
@@ -26,26 +27,38 @@ add_library(
 target_include_directories(
   hardware_interface
   PUBLIC
-  include)
+  include
+)
 ament_target_dependencies(
   hardware_interface
   rclcpp
   rcpputils
-  robot_control_components
 )
-
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(hardware_interface PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
 
+add_library(
+  component_parser
+  src/utils/component_parser.cpp
+)
+target_include_directories(
+  component_parser
+  PUBLIC
+  include
+)
+ament_target_dependencies(
+  component_parser
+  TinyXML2
+)
+
 install(
   DIRECTORY include/
   DESTINATION include
 )
 
 install(
-  TARGETS
-  hardware_interface
+  TARGETS hardware_interface component_parser
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib)
@@ -54,17 +67,24 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gtest(test_macros test/test_macros.cpp)
+  ament_add_gmock(test_macros test/test_macros.cpp)
   target_include_directories(test_macros PRIVATE include)
   ament_target_dependencies(test_macros rcpputils)
+
+  ament_add_gmock(test_component_parser test/test_component_parser.cpp)
+  target_link_libraries(test_component_parser component_parser)
+  ament_target_dependencies(test_component_parser TinyXML2)
 endif()
 
 ament_export_dependencies(
-  robot_control_components
+  rclcpp
+  rcpputils
 )
 ament_export_include_directories(
   include
 )
 ament_export_libraries(
-  hardware_interface)
+  hardware_interface
+  component_parser
+)
 ament_package()

hardware_interface/include/hardware_interface/actuator.hpp

@@ -0,0 +1,87 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef HARDWARE_INTERFACE__ACTUATOR_HPP_
+#define HARDWARE_INTERFACE__ACTUATOR_HPP_
+
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "hardware_interface/component_info.hpp"
+#include "hardware_interface/component_interfaces/actuator_interface.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/visibility_control.h"
+
+namespace hardware_interface
+{
+
+class Actuator final
+{
+public:
+  explicit Actuator(std::unique_ptr<ActuatorInterface> impl)
+  : impl_(std::move(impl))
+  {}
+
+  ~Actuator() = default;
+
+  HARDWARE_INTERFACE_PUBLIC
+  hardware_interface_ret_t configure(const ComponentInfo & actuator_info)
+  {
+    return impl_->configure(actuator_info);
+  }
+
+  HARDWARE_INTERFACE_PUBLIC
+  hardware_interface_ret_t start()
+  {
+    return impl_->start();
+  }
+
+  HARDWARE_INTERFACE_PUBLIC
+  hardware_interface_ret_t stop()
+  {
+    return impl_->stop();
+  }
+
+  HARDWARE_INTERFACE_PUBLIC
+  bool is_started() const
+  {
+    return impl_->is_started();
+  }
+
+  HARDWARE_INTERFACE_PUBLIC
+  hardware_interface_ret_t read(double & data)
+  {
+    return impl_->read(data);
+  }
+
+  HARDWARE_INTERFACE_PUBLIC
+  hardware_interface_ret_t write(const double & data)
+  {
+    return impl_->write(data);
+  }
+
+  HARDWARE_INTERFACE_PUBLIC
+  std::string get_interface_name() const
+  {
+    return impl_->get_interface_name();
+  }
+
+private:
+  std::unique_ptr<ActuatorInterface> impl_;
+};
+
+}  // namespace hardware_interface
+#endif  // HARDWARE_INTERFACE__ACTUATOR_HPP_

robot_control_components/include/robot_control_components/component_info.hpp → hardware_interface/include/hardware_interface/component_info.hpp

@@ -13,16 +13,14 @@
 // limitations under the License.
 
 
-#ifndef ROBOT_CONTROL_COMPONENTS__COMPONENT_INFO_HPP_
-#define ROBOT_CONTROL_COMPONENTS__COMPONENT_INFO_HPP_
+#ifndef HARDWARE_INTERFACE__COMPONENT_INFO_HPP_
+#define HARDWARE_INTERFACE__COMPONENT_INFO_HPP_
 
 #include <map>
 #include <string>
 #include <vector>
 
-#include "robot_control_components/visibility_control.h"
-
-namespace robot_control_components
+namespace hardware_interface
 {
 
 struct ComponentInfo
@@ -39,6 +37,6 @@ struct ComponentInfo
   std::map<std::string, std::string> hardware_parameters;
 };
 
-}  // namespace robot_control_components
+}  // namespace hardware_interface
 
-#endif  // ROBOT_CONTROL_COMPONENTS__COMPONENT_INFO_HPP_
+#endif  // HARDWARE_INTERFACE__COMPONENT_INFO_HPP_

hardware_interface/include/hardware_interface/component_interfaces/actuator_interface.hpp

@@ -0,0 +1,70 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef HARDWARE_INTERFACE__COMPONENT_INTERFACES__ACTUATOR_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__COMPONENT_INTERFACES__ACTUATOR_INTERFACE_HPP_
+
+#include <algorithm>
+#include <array>
+#include <string>
+#include <vector>
+
+#include "hardware_interface/component_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/visibility_control.h"
+
+namespace hardware_interface
+{
+
+class ActuatorInterface
+{
+public:
+  HARDWARE_INTERFACE_PUBLIC
+  ActuatorInterface() = default;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  ~ActuatorInterface() = default;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t configure(const ComponentInfo & actuator_info) = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  std::string get_interface_name() const = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t start() = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t stop() = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  bool is_started() const = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t read(double & data) = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t write(const double & data) = 0;
+};
+
+}  // namespace hardware_interface
+#endif  // HARDWARE_INTERFACE__COMPONENT_INTERFACES__ACTUATOR_INTERFACE_HPP_

hardware_interface/include/hardware_interface/component_interfaces/sensor_interface.hpp

@@ -0,0 +1,63 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef HARDWARE_INTERFACE__COMPONENT_INTERFACES__SENSOR_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__COMPONENT_INTERFACES__SENSOR_INTERFACE_HPP_
+
+#include <string>
+
+#include "hardware_interface/component_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/visibility_control.h"
+
+namespace hardware_interface
+{
+
+class SensorInterface
+{
+public:
+  HARDWARE_INTERFACE_PUBLIC
+  SensorInterface() = default;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  ~SensorInterface() = default;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t configure(const ComponentInfo & sensor_info) = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  std::string get_interface_name() const = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t start() = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t stop() = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  bool is_started() const = 0;
+
+  HARDWARE_INTERFACE_PUBLIC
+  virtual
+  hardware_interface_ret_t read(double & data) = 0;
+};
+
+}  // namespace hardware_interface
+#endif  // HARDWARE_INTERFACE__COMPONENT_INTERFACES__SENSOR_INTERFACE_HPP_