Add ducy cycle status interface

Author: glpuga

vesc_hardware/include/vesc_hardware/vesc_hardware.hpp

@@ -189,6 +189,7 @@ class VescHardware : public hardware_interface::SystemInterface {
   std::atomic<double> hw_state_velocity_;
   std::atomic<double> hw_avg_id_;
   std::atomic<double> hw_avg_iq_;
+  std::atomic<double> hw_duty_cycle_;
 
   // IMU state storage (atomic for thread-safe access from callback)
   std::atomic<double> hw_imu_orientation_x_;

vesc_hardware/src/vesc_hardware.cpp

@@ -49,6 +49,7 @@ constexpr char CUSTOM_HW_IF_SERVO[] = "servo";
 // Motor current interface names
 constexpr char CUSTOM_HW_IF_AVG_ID[] = "average_id";
 constexpr char CUSTOM_HW_IF_AVG_IQ[] = "average_iq";
+constexpr char CUSTOM_HW_IF_DUTY_CYCLE[] = "duty_cycle";
 
 // IMU sensor interface names - Quaternion orientation
 constexpr char CUSTOM_HW_IF_ORIENTATION_X[] = "orientation.x";
@@ -424,6 +425,10 @@ void VescHardware::populate_state_definitions()
     false,
     [this]() {return hw_avg_iq_.load(std::memory_order_relaxed);}
   };
+  state_interfaces_[CUSTOM_HW_IF_DUTY_CYCLE] = {
+    false,
+    [this]() {return hw_duty_cycle_.load(std::memory_order_relaxed);}
+  };
 
   // IMU state interfaces - Quaternion orientation
   state_interfaces_[CUSTOM_HW_IF_ORIENTATION_X] = {
@@ -544,6 +549,9 @@ void VescHardware::processValuesPacket(
   hw_avg_id_.store(values_packet->avg_id(), std::memory_order_relaxed);
   hw_avg_iq_.store(values_packet->avg_iq(), std::memory_order_relaxed);
 
+  // Store duty cycle
+  hw_duty_cycle_.store(values_packet->duty_cycle_now(), std::memory_order_relaxed);
+
   // Publish telemetry data
   publishVescState(*values_packet);
 }