Calling on_deactivate in dtr (#679) (#704)

mergify[bot] · firesurfer · web-flow · commit 01b3ebf9be09 · 2023-06-02T15:02:43.000+02:00
* added on_deactivate call in dtr * Code formatting --------- Co-authored-by: Lennart Nachtigall <firesurfer@firesurfer.de> Co-authored-by: Felix Exner <exner@fzi.de> (cherry picked from commit 39bb31d) Co-authored-by: Lennart Nachtigall <firesurfer127@gmail.com>
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -88,6 +88,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(URPositionHardwareInterface);
+  virtual ~URPositionHardwareInterface();
 
   hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& system_info) final;
 
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -54,6 +54,14 @@ namespace rtde = urcl::rtde_interface;
 
 namespace ur_robot_driver
 {
+
+URPositionHardwareInterface::~URPositionHardwareInterface()
+{
+  // If the controller manager is shutdown via Ctrl + C the on_deactivate methods won't be called.
+  // We therefore need to make sure to actually deactivate the communication
+  on_deactivate(rclcpp_lifecycle::State());
+}
+
 hardware_interface::CallbackReturn
 URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& system_info)
 {

Original file line number	Diff line number	Diff line change
`@@ -88,6 +88,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface`
`88`	`88`	`{`
`89`	`89`	`public:`
`90`	`90`	`RCLCPP_SHARED_PTR_DEFINITIONS(URPositionHardwareInterface);`
	`91`	`+ virtual ~URPositionHardwareInterface();`
`91`	`92`
`92`	`93`	`hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& system_info) final;`
`93`	`94`
Original file line number	Diff line number	Diff line change
`@@ -54,6 +54,14 @@ namespace rtde = urcl::rtde_interface;`
`54`	`54`
`55`	`55`	`namespace ur_robot_driver`
`56`	`56`	`{`
	`57`	`+`
	`58`	`+URPositionHardwareInterface::~URPositionHardwareInterface()`
	`59`	`+{`
	`60`	`+ // If the controller manager is shutdown via Ctrl + C the on_deactivate methods won't be called.`
	`61`	`+ // We therefore need to make sure to actually deactivate the communication`
	`62`	`+ on_deactivate(rclcpp_lifecycle::State());`
	`63`	`+}`
	`64`	`+`
`57`	`65`	`hardware_interface::CallbackReturn`
`58`	`66`	`URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& system_info)`
`59`	`67`	`{`