Created base structure for littlebot_hardware_communication class

littlebot_base/include/littlebot_base/hardware_communication.hpp

@@ -0,0 +1,69 @@
+// //  @ Copyright 2024 Nestor Neto
+
+#pragma once
+
+#include <string>
+#include <vector>
+
+namespace littlebot_base
+{
+
+class HardwareCommunication{
+public:
+  /**
+   * @brief Deconstructor for the HardwareCommunication class
+   *
+   */
+  virtual ~HardwareCommunication() = default;
+
+  /**
+   * @brief Set the command velocities
+   */
+  virtual void setCommandVelocities(std::vector<float> velocities) = 0;
+
+  /**
+   * @brief Get the status velocities
+   */
+  virtual std::vector<float> getStatusVelocities() const = 0;
+
+  /**
+   * @brief Get the status positions
+   */
+  virtual std::vector<float> getStatusPositionsStatus() const = 0;
+
+protected:
+  /**
+   * @brief Constructor for the LittlebotHardwareCommunication class
+   */
+  HardwareCommunication() = default;
+
+private:
+  /**
+   * @brief Receive data from the hardware
+   */
+  virtual bool receive() = 0;
+
+  /**
+   * @brief Send data to the hardware
+   */
+  virtual bool send() = 0;
+
+  /**
+   * @brief 
+   */
+  std::vector<float> command_velocities_;
+
+  /**
+   * @brief 
+   */
+  std::vector<float> status_positions_;
+
+  /**
+   * @brief 
+   */
+  std::vector<float> status_velocities_;
+
+
+};
+
+}  // namespace littlebot_base

littlebot_base/include/littlebot_base/littlebot_hardware_component.hpp

@@ -0,0 +1,103 @@
+// //  @ Copyright 2023 Nestor Neto
+
+#pragma once
+
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include <hardware_interface/handle.hpp>
+#include <hardware_interface/hardware_info.hpp>
+#include <hardware_interface/system_interface.hpp>
+#include <hardware_interface/types/hardware_interface_return_values.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_lifecycle/state.hpp>
+
+namespace littlebot_base
+{
+
+class LittlebotHardwareComponent : public hardware_interface::SystemInterface
+{
+public:
+  /**
+   * @brief Deconstructor for the LittlebotHardwareComponent class
+   *
+   */
+  ~LittlebotHardwareComponent() = default;
+
+  /**
+   * @brief
+   */
+  hardware_interface::CallbackReturn on_init(
+    const hardware_interface::HardwareInfo & info) override;
+
+  /**
+   * @brief 
+   */
+  hardware_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief 
+   */
+  hardware_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief 
+   */
+  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+
+  /**
+   * @brief  
+   */
+  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+
+  /**
+   * @brief 
+   */
+  hardware_interface::return_type read(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  /**
+   * @brief 
+   */
+  hardware_interface::return_type write(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+
+private:
+  /**
+   * @brief The name of the hardware component.
+   */
+  const std::string hardware_component_name_{"LittlebotHardwareComponent"};
+
+  /**
+   * @brief command interface.
+   */
+  std::vector<double> hw_commands_;
+
+  /**
+   * @brief position state interface.
+   */
+  std::vector<double> hw_positions_;
+
+  /**
+   * @brief velocity state interface.
+   */
+  std::vector<double> hw_velocities_;
+
+  /**
+   * @brief 
+   */
+  static constexpr int kNumCommandInterface_{1};
+
+  /**
+   * @brief 
+   */
+  static constexpr int kNumStateInterface_{2};
+};
+
+}  // namespace littlebot_base

littlebot_base/include/littlebot_base/littlebot_hardware_comunication.hpp

@@ -0,0 +1,72 @@
+// //  @ Copyright 2024 Nestor Neto
+
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <libserial/serial.hpp>
+
+#include "littlebot_base/hardware_communication.hpp"
+
+namespace littlebot_base
+{
+
+class LittlebotHardwareCommunication : public HardwareCommunication
+{
+public:
+  /**
+   * @brief Constructor for the LittlebotLittlebotHardwareCommunication class
+   */
+  LittlebotHardwareCommunication(const std::string serial_port);
+
+  /**
+   * @brief Deconstructor for the LittlebotHardwareCommunication class
+   */
+  ~LittlebotHardwareCommunication();
+
+  /**
+   * @brief Set the command velocities
+   */
+  void setCommandVelocities(std::vector<float> velocities) override;
+
+  /**
+   * @brief Get the status velocities
+   */
+  std::vector<float> getStatusVelocities() const override;
+
+  /**
+   * @brief Get the status positions
+   */
+  std::vector<float> getStatusPositionsStatus() const override;
+
+private:
+  /**
+   * @brief Receive data from the hardware
+   */
+  bool receive() override;
+
+  /**
+   * @brief Send data to the hardware
+   */
+  bool send() override;
+
+  /**
+   * @brief 
+   */
+  std::vector<float> command_velocities_;
+
+  /**
+   * @brief 
+   */
+  std::vector<float> status_positions_;
+
+  /**
+   * @brief 
+   */
+  std::vector<float> status_velocities_;
+
+
+};
+
+}  // namespace littlebot_base

littlebot_base/littlebot_hardware_component.xml

@@ -0,0 +1,9 @@
+<library path="littlebot_hardware_component">
+  <class name="littlebot_base/LittlebotHardwareComponent"
+         type="littlebot_base::LittlebotHardwareComponent"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      The ros2_control LittlebotHardwareComponent using a system hardware interface-type.
+    </description>
+  </class>
+</library>

littlebot_base/src/littlebot_hardware_communication.cpp

@@ -0,0 +1,49 @@
+//  @ Copyright 2024 Nestor Neto
+
+#include <string>
+#include <vector>
+
+#include "littlebot_base/littlebot_hardware_comunication.hpp"
+
+namespace littlebot_base
+{
+  LittlebotHardwareCommunication::LittlebotHardwareCommunication(const std::string serial_port)
+  {
+    std::cout << "LittlebotHardwareCommunication constructor" << serial_port << std::endl;
+  }
+
+  LittlebotHardwareCommunication::~LittlebotHardwareCommunication()
+  {
+    std::cout << "LittlebotHardwareCommunication deconstructor" << std::endl;
+  }
+
+  void LittlebotHardwareCommunication::setCommandVelocities(std::vector<float> velocities)
+  {
+    std::cout << "LittlebotHardwareCommunication setCommandVelocities" << std::endl;
+  }
+
+  std::vector<float> LittlebotHardwareCommunication::getStatusVelocities() const
+  {
+    std::cout << "LittlebotHardwareCommunication getStatusVelocities" << std::endl;
+    return std::vector<float>{1.2, 3.4};
+  }
+
+  std::vector<float> LittlebotHardwareCommunication::getStatusPositionsStatus() const
+  {
+    std::cout << "LittlebotHardwareCommunication getStatusPositionsStatus" << std::endl;
+    return std::vector<float>{1.2, 3.4};
+  }
+
+  bool LittlebotHardwareCommunication::receive()
+  {
+    std::cout << "LittlebotHardwareCommunication receive" << std::endl;
+    return true;
+  }
+
+  bool LittlebotHardwareCommunication::send()
+  {
+    std::cout << "LittlebotHardwareCommunication send" << std::endl;
+    return true;
+  }
+
+}  // namespace littlebot_base