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add parse_state_interface_descriptions and parse_command_interface_description and reuse components #1768

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add parse_state_interface_descriptions and parse_command_interface_description and reuse components #1768

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b3ea566
add parse_state_interface_descriptions and parse_command_interface_de…
saikishor Sep 26, 2024
fa6c995
Merge branch 'master' into cleanup/importing_component_interface_desc…
saikishor Oct 7, 2024
62e98b9
Merge branch 'master' into cleanup/importing_component_interface_desc…
saikishor Oct 8, 2024
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32 changes: 2 additions & 30 deletions hardware_interface/include/hardware_interface/actuator_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,39 +123,11 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
virtual CallbackReturn on_init(const HardwareInfo & hardware_info)
{
info_ = hardware_info;
import_state_interface_descriptions(info_);
import_command_interface_descriptions(info_);
parse_state_interface_descriptions(info_.joints, joint_state_interfaces_);
parse_command_interface_descriptions(info_.joints, joint_command_interfaces_);
return CallbackReturn::SUCCESS;
};

/**
* Import the InterfaceDescription for the StateInterfaces from the HardwareInfo.
* Separate them into the possible types: Joint and store them.
*/
virtual void import_state_interface_descriptions(const HardwareInfo & hardware_info)
{
auto joint_state_interface_descriptions =
parse_state_interface_descriptions(hardware_info.joints);
for (const auto & description : joint_state_interface_descriptions)
{
joint_state_interfaces_.insert(std::make_pair(description.get_name(), description));
}
}

/**
* Import the InterfaceDescription for the CommandInterfaces from the HardwareInfo.
* Separate them into the possible types: Joint and store them.
*/
virtual void import_command_interface_descriptions(const HardwareInfo & hardware_info)
{
auto joint_command_interface_descriptions =
parse_command_interface_descriptions(hardware_info.joints);
for (const auto & description : joint_command_interface_descriptions)
{
joint_command_interfaces_.insert(std::make_pair(description.get_name(), description));
}
}

/// Exports all state interfaces for this hardware interface.
/**
* Old way of exporting the StateInterfaces. If a empty vector is returned then
Expand Down
20 changes: 20 additions & 0 deletions hardware_interface/include/hardware_interface/component_parser.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#define HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_

#include <string>
#include <unordered_map>
#include <vector>

#include "hardware_interface/hardware_info.hpp"
Expand All @@ -41,6 +42,16 @@ HARDWARE_INTERFACE_PUBLIC
std::vector<InterfaceDescription> parse_state_interface_descriptions(
const std::vector<ComponentInfo> & component_info);

/**
* \param[in] component_info information about a component (gpio, joint, sensor)
* \param[out] state_interfaces_map unordered_map filled with information about hardware's
* StateInterfaces for the component which are exported
*/
HARDWARE_INTERFACE_PUBLIC
void parse_state_interface_descriptions(
const std::vector<ComponentInfo> & component_info,
std::unordered_map<std::string, InterfaceDescription> & state_interfaces_map);

/**
* \param[in] component_info information about a component (gpio, joint, sensor)
* \return vector filled with information about hardware's CommandInterfaces for the component
Expand All @@ -50,5 +61,14 @@ HARDWARE_INTERFACE_PUBLIC
std::vector<InterfaceDescription> parse_command_interface_descriptions(
const std::vector<ComponentInfo> & component_info);

/**
* \param[in] component_info information about a component (gpio, joint, sensor)
* \param[out] command_interfaces_map unordered_map filled with information about hardware's
* CommandInterfaces for the component which are exported
*/
HARDWARE_INTERFACE_PUBLIC
void parse_command_interface_descriptions(
const std::vector<ComponentInfo> & component_info,
std::unordered_map<std::string, InterfaceDescription> & command_interfaces_map);
} // namespace hardware_interface
#endif // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
16 changes: 1 addition & 15 deletions hardware_interface/include/hardware_interface/sensor_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,24 +123,10 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
virtual CallbackReturn on_init(const HardwareInfo & hardware_info)
{
info_ = hardware_info;
import_state_interface_descriptions(info_);
parse_state_interface_descriptions(info_.sensors, sensor_state_interfaces_);
return CallbackReturn::SUCCESS;
};

/**
* Import the InterfaceDescription for the StateInterfaces from the HardwareInfo.
* Separate them into the possible types: Sensor and store them.
*/
virtual void import_state_interface_descriptions(const HardwareInfo & hardware_info)
{
auto sensor_state_interface_descriptions =
parse_state_interface_descriptions(hardware_info.sensors);
for (const auto & description : sensor_state_interface_descriptions)
{
sensor_state_interfaces_.insert(std::make_pair(description.get_name(), description));
}
}

/// Exports all state interfaces for this hardware interface.
/**
* Old way of exporting the StateInterfaces. If a empty vector is returned then
Expand Down
53 changes: 5 additions & 48 deletions hardware_interface/include/hardware_interface/system_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,57 +126,14 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
virtual CallbackReturn on_init(const HardwareInfo & hardware_info)
{
info_ = hardware_info;
import_state_interface_descriptions(info_);
import_command_interface_descriptions(info_);
parse_state_interface_descriptions(info_.joints, joint_state_interfaces_);
parse_state_interface_descriptions(info_.sensors, sensor_state_interfaces_);
parse_state_interface_descriptions(info_.gpios, gpio_state_interfaces_);
parse_command_interface_descriptions(info_.joints, joint_command_interfaces_);
parse_command_interface_descriptions(info_.gpios, gpio_command_interfaces_);
return CallbackReturn::SUCCESS;
};

/**
* Import the InterfaceDescription for the StateInterfaces from the HardwareInfo.
* Separate them into the possible types: Joint, GPIO, Sensor and store them.
*/
void import_state_interface_descriptions(const HardwareInfo & hardware_info)
{
auto joint_state_interface_descriptions =
parse_state_interface_descriptions(hardware_info.joints);
for (const auto & description : joint_state_interface_descriptions)
{
joint_state_interfaces_.insert(std::make_pair(description.get_name(), description));
}
auto sensor_state_interface_descriptions =
parse_state_interface_descriptions(hardware_info.sensors);
for (const auto & description : sensor_state_interface_descriptions)
{
sensor_state_interfaces_.insert(std::make_pair(description.get_name(), description));
}
auto gpio_state_interface_descriptions =
parse_state_interface_descriptions(hardware_info.gpios);
for (const auto & description : gpio_state_interface_descriptions)
{
gpio_state_interfaces_.insert(std::make_pair(description.get_name(), description));
}
}

/**
* Import the InterfaceDescription for the CommandInterfaces from the HardwareInfo.
* Separate them into the possible types: Joint and GPIO and store them.
*/
void import_command_interface_descriptions(const HardwareInfo & hardware_info)
{
auto joint_command_interface_descriptions =
parse_command_interface_descriptions(hardware_info.joints);
for (const auto & description : joint_command_interface_descriptions)
{
joint_command_interfaces_.insert(std::make_pair(description.get_name(), description));
}
auto gpio_command_interface_descriptions =
parse_command_interface_descriptions(hardware_info.gpios);
for (const auto & description : gpio_command_interface_descriptions)
{
gpio_command_interfaces_.insert(std::make_pair(description.get_name(), description));
}
}

/// Exports all state interfaces for this hardware interface.
/**
* Old way of exporting the StateInterfaces. If a empty vector is returned then
Expand Down
32 changes: 32 additions & 0 deletions hardware_interface/src/component_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -929,6 +929,22 @@ std::vector<InterfaceDescription> parse_state_interface_descriptions(
return component_state_interface_descriptions;
}

void parse_state_interface_descriptions(
const std::vector<ComponentInfo> & component_info,
std::unordered_map<std::string, InterfaceDescription> & state_interfaces_map)
Comment on lines +932 to +934
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In order to help with future-proofing this a little bit I am wondering if we could use a template for this function with some traits or concepts (or none if none works yet w this C++ version) to capture that we really only expect this to be an STL container, we aren't using any API specific to an unordered map

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Do you mean here std::unordered_map<std::string, InterfaceDescription> & state_interfaces_map ?

I'm not sure what traits can be used here. As both methods use the same set of arguments. If you have some ideas, please let me know :)

{
state_interfaces_map.reserve(state_interfaces_map.size() + component_info.size());

for (const auto & component : component_info)
{
for (const auto & state_interface : component.state_interfaces)
{
InterfaceDescription description(component.name, state_interface);
state_interfaces_map.insert(std::make_pair(description.get_name(), description));
}
}
}

std::vector<InterfaceDescription> parse_command_interface_descriptions(
const std::vector<ComponentInfo> & component_info)
{
Expand All @@ -946,4 +962,20 @@ std::vector<InterfaceDescription> parse_command_interface_descriptions(
return component_command_interface_descriptions;
}

void parse_command_interface_descriptions(
const std::vector<ComponentInfo> & component_info,
std::unordered_map<std::string, InterfaceDescription> & command_interfaces_map)
{
command_interfaces_map.reserve(command_interfaces_map.size() + component_info.size());

for (const auto & component : component_info)
{
for (const auto & command_interface : component.command_interfaces)
{
InterfaceDescription description(component.name, command_interface);
command_interfaces_map.insert(std::make_pair(description.get_name(), description));
}
}
}

} // namespace hardware_interface
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