add interface for warning, error and report #13
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destogl
requested changes
Jan 12, 2024
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You are proposing to go with variants immediately. This is OK, but then we should do it properly. Variant support should be anyway done separately.
That is the reason why I would not go with variants at first, but map everything to doubles.
Also, I am missing tests here to see how this actually works.
hardware_interface/include/hardware_interface/actuator_interface.hpp
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hardware_interface/include/hardware_interface/loaned_state_interface.hpp
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add test skelleton file
mamueluth
commented
Jan 12, 2024
hardware_interface/include/hardware_interface/types/hardware_interface_error_signals.hpp
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Add report interfaces for emergency stop, error and warning:
The component interface (actuator_inteface, sensor_intefrace, system_inteface) creates and stores them locally. The interfaces are named like <hardware_name>/<report_interface_type>. E.g. if hardware is called rrbot -> interface for WARNING_SIGNAL is called: rrbot/WARNING_SIGNAL. Later with variant support the interfaces will hold following datatypes:
Where the <error/warn>message_interfaces holds the error/warn message at position X for the <error/warn>interface's error signal at position X .