adjust to usage of get_/set_state or command functions

StoglRobotics-forks · Dec 20, 2023 · abfc300 · abfc300
1 parent 714f0f0
commit abfc300
Showing 1 changed file with 7 additions and 8 deletions.
diff --git a/example_1/hardware/rrbot.cpp b/example_1/hardware/rrbot.cpp
@@ -103,11 +103,11 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_configure
  // reset values always when configuring hardware
  for (const auto & [name, descr] : joint_state_interfaces_)
  {
- joint_state_set_value(descr, 0.0);
+ set_state(name, 0.0);
  }
  for (const auto & [name, descr] : joint_command_interfaces_)
  {
- joint_command_set_value(descr, 0.0);
+ set_command(name, 0.0);
  }
  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully configured!");
 
@@ -133,7 +133,7 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_activate(
  // command and state should be equal when starting
  for (const auto & [name, descr] : joint_state_interfaces_)
  {
- joint_command_set_value(descr, joint_state_get_value(descr));
+ set_command(name, get_state(name));
  }
 
  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully activated!");
@@ -170,13 +170,12 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::read(
 
  for (const auto & [name, descr] : joint_state_interfaces_)
  {
- auto new_value = joint_state_get_value(descr) +
- (joint_command_get_value(descr) - joint_state_get_value(descr)) / hw_slowdown_;
- joint_state_set_value(descr, new_value);
+ auto new_value = get_state(name) + (get_command(name) - get_state(name)) / hw_slowdown_;
+ set_state(name, new_value);
  // Simulate RRBot's movement
  RCLCPP_INFO_STREAM(
  rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
- "Got state " << joint_state_get_value(descr) << " for joint: " << descr.get_name() << "!");
+ "Got state " << get_state(name) << " for joint: " << name << "!");
  }
  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully read!");
  // END: This part here is for exemplary purposes - Please do not copy to your production code
@@ -195,7 +194,7 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::write(
  // Simulate sending commands to the hardware
  RCLCPP_INFO_STREAM(
  rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
- "Got command" << joint_command_get_value(descr) << " for joint: " << descr.get_name() << "!");
+ "Got command" << get_command(name) << " for joint: " << name << "!");
  }
  RCLCPP_INFO(
  rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully written!");