wip

Author: macmacal

robotiq_hande_driver/CMakeLists.txt

@@ -11,7 +11,7 @@ add_executable(hande_driver src/hande_driver.cpp)
 target_include_directories(hande_driver PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_compile_features(hande_driver PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_features(hande_driver PUBLIC c_std_99 cxx_std_20)  # Require C99 and C++17
 
 install(TARGETS hande_driver
   DESTINATION lib/${PROJECT_NAME})

robotiq_hande_driver/hardware/include/robotiq_hande_driver/hande_hardware_interface.hpp

@@ -0,0 +1,33 @@
+#ifndef ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_
+#define ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_
+
+#include <string>
+#include "hardware_interface/system_interface.hpp"
+
+namespace robotiq_hande_driver {
+
+class RobotiqHandeHardwareInterface : public hardware_interface::SystemInterface
+{
+public:
+    RobotiqHandeHardwareInterface();
+    hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
+    hardware_interface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State& previous_state) override;
+    hardware_interface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State& previous_state) override;
+    hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
+    hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
+    hardware_interface::CallbackReturn on_error(const rclcpp_lifecycle::State& previous_state) override;
+
+    hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
+    std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+    std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+    hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
+    hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
+
+private:
+    //TODO: composition of the modbus communication
+    std::string tty_port_;
+
+};
+
+}
+#endif  // ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_

robotiq_hande_driver/src/hande_driver.cpp …nde_driver/hardware/src/hande_driver.cpprobotiq_hande_driver/src/hande_driver.cpp renamed to robotiq_hande_driver/hardware/src/hande_driver.cpp robotiq_hande_driver/src/hande_driver.cpp renamed to robotiq_hande_driver/hardware/src/hande_driver.cpp

@@ -0,0 +1,27 @@
+#include "robotiq_hande_driver/hande_hardware_interface.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+const auto logger = rclcpp::get_logger("RobotiqHandeHardwareInterface");
+
+namespace robotiq_hande_driver {
+
+RobotiqHandeHardwareInterface::RobotiqHandeHardwareInterface() {}
+
+hardware_interface::CallbackReturn RobotiqHandeHardwareInterface::on_init(const hardware_interface::HardwareInfo& info)
+{
+    if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
+        return hardware_interface::CallbackReturn::ERROR;
+    }
+
+    tty_port_ = info_.hardware_parameters["tty"];
+
+    //TODO: Initialize modbus communication
+
+    RCLCPP_INFO(logger, std::format("Initialized ModbusRTU on {} ", tty_port_));
+    return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+
+// CallbackReturn::SUCCESS or return CallbackReturn::ERROR
+
+}