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Propose additional primitive types for interface-handles. #39

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Propose additional primitive types for interface-handles. #39

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Propose additional privitive types for interface-handles.
destogl Feb 23, 2021
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bmagyar Mar 23, 2021
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bmagyar Mar 23, 2021
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16 changes: 16 additions & 0 deletions design_drafts/types_of_command_and_state_interfaces.md
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# Extension of types used for command and state interfaces

For introduction the file about general [purpose inputs/outputs in ros2_control](non_joint_command_interfaces.md).
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? need more detail

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Link does not work for me?


## Motivation
Many GPIO values used in modern robots are logical and not numeric values.
For example vacuum valve at the robot has "on" (true) and "off" (false) states.
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## Problem
The ros2_control supports only `double` variable type to exchnage data between hardware and controllers.
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This is confusing for users and it would be clearer if also boolean and integer values can be transported.

## Possible solution
Extend [`ReadOnlyHandle`](https://github.com/ros-controls/ros2_control/blob/93b15787f1d2e16dd41d202cebff5fdbef56e19d/hardware_interface/include/hardware_interface/handle.hpp#L31) to aceept other privitive types like `bool`, `int`, and `uint`.
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This could be simply done by templating the class, or to keep it restricted implementing constructors, getters and setters for those types.
The latter could become complex to keep track about specific types.
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Since we are at it, I'd look for a solution that works for any type instead of adding support for a few hard coded ones.

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The link is to the file in PR #38