class Interface¶

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#161

brief ROS 2 Interface node for commanding and subscribing to buoy controllers and sensors.

This template class uses the Curiously Recurring Template Pattern (CRTP) to provide a compile-time polymorphic interface for creating node-based controllers. By using CRTP, derived classes can override callback methods and parameter-setting behavior without incurring the overhead of virtual dispatch. The derived class must pass itself as the template parameter to Interface, enabling the base class to call into user-defined implementations.

Provides service clients and functions to send commands to and receive telemetry from the MBARI WEC controllers:

AHRS
Power
Spring
Battery
Trefoil

If the user has overridden one of these callbacks in their derived class, the corresponding topic subscriber will be set up and routed to their implementation. If not, that topic will not be subscribed to. The relevant callbacks include:

ahrs_callback
battery_callback
spring_callback
power_callback
trefoil_callback
powerbuoy_callback

Template argument: ControllerImplCRTP The concrete controller class that inherits from this interface. It must implement any callbacks or parameter-setting routines it needs.

How to Use:

Include the header for Interface:
```
#include <buoy_api/interface.hpp>
```

Forward-declare any policies or helper classes you will use:

struct PBTorqueControlPolicy;  // defined by user in torque_control_policy.hpp

Define your controller class by inheriting from buoy_api::Interface<YourClass> making sure to add friend CRTP:

class PBTorqueController final : public buoy_api::Interface<PBTorqueController>

{

public:

  explicit PBTorqueController(const std::string & node_name);

  ~PBTorqueController() = default;



private:

  friend CRTP;  // Enables base to access overrides.

  void set_params() final;

  void power_callback(const buoy_interfaces::msg::PCRecord & data);

  std::unique_ptr<PBTorqueControlPolicy> policy_;

};

Implement set_params() to declare or update ROS2 parameters to update your policy class.
Override any telemetry callbacks to process incoming data.
Construct your controller in your main() function, passing in the desired node name. The base Interface handles common setup: parameters, services, publishers, and subscribers.

Benefits of CRTP in This Context:

Zero-cost abstraction: No virtual table; callbacks are resolved at compile time.
Flexible overrides: Only override what you use.
Simplified boilerplate: Base class manages ROS2 setup.

Inherits from ROS 2 Node

Functions¶

Interface<ControllerImplCRTP>¶

public void Interface<ControllerImplCRTP>(const std::string & node_name)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#166

Interface<ControllerImplCRTP>¶

public void Interface<ControllerImplCRTP>(const std::string & node_name, const bool wait_for_services, const bool check_for_services)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#178

brief Initialize the Interface node.

node_name Name of the ROS2 node.
wait_for_services If true and check_for_services, block until services are available.
check_for_services If true, attempt to verify service availability before use.

use_sim_time¶

public void use_sim_time(bool enable)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#409

brief Enable/Disable using sim time in Node clock from /clock.

enable True to use /clock, False to use system time.

set_pc_pack_rate¶

public void set_pc_pack_rate(const uint8_t & rate_hz)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#422

brief Set publish rate of PC Microcontroller telemetry.

rate_hz Desired publish rate in Hz.

set_sc_pack_rate¶

public void set_sc_pack_rate(const uint8_t & rate_hz)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#439

brief Set publish rate of SC Microcontroller telemetry.

rate_hz Desired publish rate in Hz.

set_pc_pack_rate_param¶

public void set_pc_pack_rate_param(const double & rate_hz)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#456

brief Set publish rate of PC Microcontroller telemetry via parameter server.

rate_hz Desired publish rate in Hz.

set_sc_pack_rate_param¶

public void set_sc_pack_rate_param(const double & rate_hz)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#477

brief Set publish rate of SC Microcontroller telemetry via parameter server.

rate_hz Desired publish rate in Hz.

send_valve_command¶

public shared_future send_valve_command(const uint16_t & duration_sec)

Defined at buoy_api_cpp/include/buoy_api/interface.hpp#553

brief Turn valve on for a duration to lower mean piston position.

duration_sec Valve on duration in seconds.