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Add some default functionality to SystemHardwareInterface #180

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Add some default functionality to SystemHardwareInterface #180

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29 changes: 27 additions & 2 deletions hardware_interface/include/hardware_interface/system_hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#define HARDWARE_INTERFACE__SYSTEM_HARDWARE_INTERFACE_HPP_

#include <memory>
#include <string>
#include <vector>

#include "hardware_interface/components/joint.hpp"
Expand Down Expand Up @@ -52,7 +53,12 @@ class SystemHardwareInterface
*/
HARDWARE_INTERFACE_PUBLIC
virtual
return_type configure(const HardwareInfo & system_info) = 0;
return_type configure(const HardwareInfo & system_info)
{
info_ = system_info;
status_ = hardware_interface::hardware_interface_status::CONFIGURED;
return return_type::OK;
}

/**
* \brief Start exchange data with the hardware.
Expand All @@ -72,14 +78,29 @@ class SystemHardwareInterface
virtual
return_type stop() = 0;

/**
* \brief Get the name of the system hardware
*
* \return Get the name of the component as specified in the URDF
*/
HARDWARE_INTERFACE_PUBLIC
virtual
std::string get_name() const
{
return info_.name;
}

/**
* \brief Get current state of the system hardware.
*
* \return hardware_interface_status current status.
*/
HARDWARE_INTERFACE_PUBLIC
virtual
hardware_interface_status get_status() const = 0;
hardware_interface_status get_status() const
{
return status_;
}

/**
* \brief Read data from the hardware into sensors using "set_state" function in the Sensor class.
Expand Down Expand Up @@ -115,6 +136,10 @@ class SystemHardwareInterface
return_type
virtual
write_joints(const std::vector<std::shared_ptr<components::Joint>> & joints) = 0;

protected:
hardware_interface::HardwareInfo info_;
hardware_interface::hardware_interface_status status_;
};

} // namespace hardware_interface
Expand Down