text: // Copyright 2020 ros2_control Development Team
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  
  #ifndef ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
  #define ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
  
  #include <memory>
  #include <string>
  #include <vector>
  
  #include "rclcpp/macros.hpp"
  
  #include "hardware_interface/base_interface.hpp"
  #include "hardware_interface/system_interface.hpp"
  #include "hardware_interface/handle.hpp"
  #include "hardware_interface/hardware_info.hpp"
  #include "hardware_interface/types/hardware_interface_return_values.hpp"
  #include "hardware_interface/types/hardware_interface_status_values.hpp"
  #include "ros2_control_demo_hardware/visibility_control.h"
  
  using hardware_interface::return_type;
  
  namespace ros2_control_demo_hardware
  {
  class RRBotSystemPositionOnlyHardware : public
    hardware_interface::BaseInterface<hardware_interface::SystemInterface>
  {
  public:
    RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware);
  
    ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
    return_type configure(const hardware_interface::HardwareInfo & info) override;
  
    ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
    std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
  
    ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
    std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
  
    ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
    return_type start() override;
  
    ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
    return_type stop() override;
  
    ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
    return_type read() override;
  
    ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
    return_type write() override;
  
  private:
    // Parameters for the RRBot simulation
    double hw_start_sec_;
    double hw_stop_sec_;
    double hw_slowdown_;
  
    // Store the command for the simulated robot
    std::vector<double> hw_commands_;
    std::vector<double> hw_states_;
  };
  
  }  // namespace ros2_control_demo_hardware
  
  #endif  // ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
  