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ejalaa12
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ejalaa12
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Apart from that I think that's would be a useful addition.
| 1. extension of `hardware_interface/component_parser.cpp` to understand `one_shot` and `async` arguments on (command) interfaces | ||
| 1. extension of `hardware_interface/handle.hpp` to add this attribute into command interface handle (read/write handle) | ||
| 1. extension of `hardware_interface/handle.hpp` with getters on the interface to automatically reset value to "NaN" when interface is read | ||
| 1. propose extension of hardware interfaces to use "handle" and do not access directly to the values as it is currently done. |
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Do you mean that hardware interface would use Handle instead of double pointer?
Do you also propose to make the State/Command Interface use the handle as well?
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No, they are now “Handles” that support only double types. There are few options how to support other types, which we will do in general in the future.
| # Purpose and Use | ||
| The proposed functionality has two purposes: | ||
| - adding additional information in the hardware if and when a command has changed; and | ||
| - signaling to a controller that hardware interface has read and used a variable (async commands). |
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By resetting the values. The explained concepts enables that.
ejalaa12
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ejalaa12
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Overall this document lgtm.
I like the idea of async, so that interfaces that take a while to apply a command don't block the main control loop.
| <param name="initial_position">2.78</param> | ||
| </joint> | ||
| <gpio name="flange_analog_IOs"> | ||
| <command_interface name="analog_output1" data_type="double" sync="true"/> |
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didn't you mean "async" here?
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Resolves ros-controls/ros2_control#600
QUESTION: Should we actually make all the commands to be one-shot per default?