sas_robot_driver_ros_composer.hpp

#pragma once
/*
# Copyright (c) 2016-2025 Murilo Marques Marinho
#
#    This file is part of sas_robot_driver.
#
#    sas_robot_driver is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_robot_driver is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#
# ################################################################
# 2025.07.10: Removing CoppeliaSim and moving it to sas_robot_driver_coppeliasim
*/
 
#include <atomic>
#include <memory>
#include <mutex>
 
#include <eigen3/Eigen/Dense>
 
#include <sas_core/sas_robot_driver.hpp>
#include <sas_robot_driver/sas_robot_driver_client.hpp>
 
 
namespace sas
{
 
struct RobotDriverROSComposerConfiguration
{
    std::vector<std::string> robot_driver_client_names;
    bool override_joint_limits_with_robot_parameter_file;
    std::string robot_parameter_file_path;
};
 
class RobotDriverROSComposer: public RobotDriver
{
protected:
    std::shared_ptr<rclcpp::Node> node_;
 
    RobotDriverROSComposerConfiguration configuration_;
    std::vector<std::unique_ptr<sas::RobotDriverClient>> robot_driver_clients_;
 
    RobotDriverROSComposer()=delete;
    RobotDriverROSComposer(const RobotDriverROSComposer&)=delete;
public:
    RobotDriverROSComposer(const RobotDriverROSComposerConfiguration& configuration,
                           std::shared_ptr<rclcpp::Node>& node,
                           std::atomic_bool *break_loops);
 
    Eigen::VectorXd get_joint_positions() override;
    void set_target_joint_positions(const Eigen::VectorXd& set_target_joint_positions_rad) override;
    std::tuple<Eigen::VectorXd, Eigen::VectorXd> get_joint_limits() override;
    void set_joint_limits(const std::tuple<Eigen::VectorXd, Eigen::VectorXd>&) override;
 
    void connect() override;
    void disconnect() override;
 
    void initialize() override;
    void deinitialize() override;
 
    ~RobotDriverROSComposer();
 
};
}