rename StatePublisherDescription to PublisherDescription

Author: mamueluth

controller_manager_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@ set(msg_files
   msg/HandleName.msg
   msg/HardwareComponentState.msg
   msg/HardwareInterface.msg
-  msg/StatePublisherDescription.msg
+  msg/PublisherDescription.msg
 )
 set(srv_files
   srv/ConfigureController.srv

controller_manager_msgs/msg/PublisherDescription.msg

@@ -0,0 +1,3 @@
+string ns # the namespace the Publisher is in
+controller_manager_msgs/HandleName name # the full qualified name (prefix_name + interface_name) of the Publishers interface
+string publisher_topic # the topic via which the values/commands are published.

controller_manager_msgs/msg/StatePublisherDescription.msg

@@ -13,6 +13,8 @@
 
 string sub_controller_manager_namespace
 string sub_controller_manager_name
-controller_manager_msgs/StatePublisherDescription[] state_publishers
+controller_manager_msgs/PublisherDescription[] state_publishers
+controller_manager_msgs/PublisherDescription[] command_state_publishers
 ---
+controller_manager_msgs/PublisherDescription[] command_state_publishers
 bool ok

controller_manager_msgs/srv/RegisterSubControllerManager.srv

@@ -1,32 +1,32 @@
 #ifndef DISTRIBUTED_CONTROL__STATE_PUBLISHER_DESCRIPTION_HPP_
 #define DISTRIBUTED_CONTROL__STATE_PUBLISHER_DESCRIPTION_HPP_
 
-#include "controller_manager_msgs/msg/state_publisher_description.hpp"
+#include "controller_manager_msgs/msg/publisher_description.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 
 namespace distributed_control
 {
 
-class StatePublisherDescription final
+class PublisherDescription final
 {
 public:
-  explicit StatePublisherDescription(
-    const controller_manager_msgs::msg::StatePublisherDescription & description)
+  explicit PublisherDescription(
+    const controller_manager_msgs::msg::PublisherDescription & description)
   : namespace_(description.ns),
     prefix_name_(description.name.prefix_name),
     interface_name_(description.name.interface_name),
-    topic_name_(description.state_publisher_topic)
+    topic_name_(description.publisher_topic)
   {
   }
 
-  StatePublisherDescription() = delete;
+  PublisherDescription() = delete;
 
-  StatePublisherDescription(const StatePublisherDescription & other) = default;
+  PublisherDescription(const PublisherDescription & other) = default;
 
-  StatePublisherDescription(StatePublisherDescription && other) = default;
+  PublisherDescription(PublisherDescription && other) = default;
 
-  ~StatePublisherDescription() {}
+  ~PublisherDescription() {}
 
   std::string get_namespace() const { return namespace_; }
 

hardware_interface/include/hardware_interface/distributed_control_interface/state_publisher_description.hpp renamed to hardware_interface/include/hardware_interface/distributed_control_interface/publisher_description.hpp

@@ -9,7 +9,7 @@
 
 #include "hardware_interface/loaned_state_interface.hpp"
 
-#include "controller_manager_msgs/msg/state_publisher_description.hpp"
+#include "controller_manager_msgs/msg/publisher_description.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
@@ -19,7 +19,7 @@
 namespace distributed_control
 {
 
-class StatePublisher final 
+class StatePublisher final
 {
 public:
   explicit StatePublisher(
@@ -50,7 +50,7 @@ class StatePublisher final
   std::string state_interface_interface_name() const;
 
   STATE_PUBLISHER_PUBLIC
-  controller_manager_msgs::msg::StatePublisherDescription create_description_msg() const;
+  controller_manager_msgs::msg::PublisherDescription create_description_msg() const;
 
 private:
   void publish_value_on_timer();

hardware_interface/include/hardware_interface/distributed_control_interface/state_publisher.hpp

@@ -5,9 +5,9 @@
 #include <string>
 #include <vector>
 
-#include "controller_manager_msgs/msg/state_publisher_description.hpp"
+#include "controller_manager_msgs/msg/publisher_description.hpp"
 
-#include "hardware_interface/distributed_control_interface/state_publisher_description.hpp"
+#include "hardware_interface/distributed_control_interface/publisher_description.hpp"
 
 namespace distributed_control
 {
@@ -17,7 +17,7 @@ class SubControllerManagerWrapper final
 public:
   explicit SubControllerManagerWrapper(
     const std::string & ns, const std::string & name,
-    const std::vector<controller_manager_msgs::msg::StatePublisherDescription> & state_publishers)
+    const std::vector<controller_manager_msgs::msg::PublisherDescription> & state_publishers)
   : NAMESPACE_(ns),
     NAME_(name),
     state_publisher_descriptions_({state_publishers.begin(), state_publishers.end()})
@@ -36,7 +36,7 @@ class SubControllerManagerWrapper final
 
   std::string get_name() const { return get_namespace() + "/" + get_controller_manager_name(); }
 
-  std::vector<StatePublisherDescription> get_state_publisher_descriptions() const
+  std::vector<PublisherDescription> get_state_publisher_descriptions() const
   {
     return state_publisher_descriptions_;
   }
@@ -46,7 +46,7 @@ class SubControllerManagerWrapper final
 private:
   const std::string NAMESPACE_;
   const std::string NAME_;
-  std::vector<StatePublisherDescription> state_publisher_descriptions_;
+  std::vector<PublisherDescription> state_publisher_descriptions_;
 };
 
 }  // namespace distributed_control

hardware_interface/include/hardware_interface/distributed_control_interface/sub_controller_manager_wrapper.hpp

@@ -18,7 +18,7 @@
 #include <string>
 #include <utility>
 
-#include "hardware_interface/distributed_control_interface/state_publisher_description.hpp"
+#include "hardware_interface/distributed_control_interface/publisher_description.hpp"
 #include "hardware_interface/macros.hpp"
 #include "hardware_interface/visibility_control.h"
 
@@ -151,41 +151,14 @@ class ReadOnlyHandle : public HandleInterface, ReadHandleInterface
   }
 };
 
-class ReadWriteHandle : public HandleInterface, ReadHandleInterface, WriteHandleInterface
+class StateInterface : public ReadOnlyHandle
 {
 public:
-  ReadWriteHandle(
-    const std::string & prefix_name, const std::string & interface_name,
-    double * value_ptr = nullptr)
-  : HandleInterface(prefix_name, interface_name, value_ptr)
-  {
-  }
-
-  explicit ReadWriteHandle(const std::string & interface_name) : HandleInterface(interface_name) {}
-
-  explicit ReadWriteHandle(const char * interface_name) : HandleInterface(interface_name) {}
-
-  ReadWriteHandle(const ReadWriteHandle & other) = default;
-
-  ReadWriteHandle(ReadWriteHandle && other) = default;
-
-  ReadWriteHandle & operator=(const ReadWriteHandle & other) = default;
-
-  ReadWriteHandle & operator=(ReadWriteHandle && other) = default;
-
-  virtual ~ReadWriteHandle() = default;
+  StateInterface(const StateInterface & other) = default;
 
-  double get_value() const override
-  {
-    THROW_ON_NULLPTR(value_ptr_);
-    return *value_ptr_;
-  }
+  StateInterface(StateInterface && other) = default;
 
-  void set_value(double value) override
-  {
-    THROW_ON_NULLPTR(this->value_ptr_);
-    *this->value_ptr_ = value;
-  }
+  using ReadOnlyHandle::ReadOnlyHandle;
 };
 
 class DistributedReadOnlyHandle : public ReadOnlyHandle
@@ -194,8 +167,7 @@ class DistributedReadOnlyHandle : public ReadOnlyHandle
   // TODO(Manuel): We should pass the initial value via service call, so that the value_ of ReadOnlyHandle
   // is initialized with a feasible value.
   DistributedReadOnlyHandle(
-    const distributed_control::StatePublisherDescription & description,
-    const std::string & ns = "/")
+    const distributed_control::PublisherDescription & description, const std::string & ns = "/")
   : ReadOnlyHandle(description.prefix_name(), description.interface_name(), &value_),
     topic_name_(description.topic_name()),
     namespace_(ns),
@@ -303,24 +275,51 @@ class DistributedReadOnlyHandle : public ReadOnlyHandle
   double value_;
 };
 
-class StateInterface : public ReadOnlyHandle
+class DistributedStateInterface : public DistributedReadOnlyHandle
 {
 public:
-  StateInterface(const StateInterface & other) = default;
+  DistributedStateInterface(const DistributedStateInterface & other) = default;
 
-  StateInterface(StateInterface && other) = default;
+  DistributedStateInterface(DistributedStateInterface && other) = default;
 
-  using ReadOnlyHandle::ReadOnlyHandle;
+  using DistributedReadOnlyHandle::DistributedReadOnlyHandle;
 };
 
-class DistributedStateInterface : public DistributedReadOnlyHandle
+class ReadWriteHandle : public HandleInterface, ReadHandleInterface, WriteHandleInterface
 {
 public:
-  DistributedStateInterface(const DistributedStateInterface & other) = default;
+  ReadWriteHandle(
+    const std::string & prefix_name, const std::string & interface_name,
+    double * value_ptr = nullptr)
+  : HandleInterface(prefix_name, interface_name, value_ptr)
+  {
+  }
 
-  DistributedStateInterface(DistributedStateInterface && other) = default;
+  explicit ReadWriteHandle(const std::string & interface_name) : HandleInterface(interface_name) {}
 
-  using DistributedReadOnlyHandle::DistributedReadOnlyHandle;
+  explicit ReadWriteHandle(const char * interface_name) : HandleInterface(interface_name) {}
+
+  ReadWriteHandle(const ReadWriteHandle & other) = default;
+
+  ReadWriteHandle(ReadWriteHandle && other) = default;
+
+  ReadWriteHandle & operator=(const ReadWriteHandle & other) = default;
+
+  ReadWriteHandle & operator=(ReadWriteHandle && other) = default;
+
+  virtual ~ReadWriteHandle() = default;
+
+  double get_value() const override
+  {
+    THROW_ON_NULLPTR(value_ptr_);
+    return *value_ptr_;
+  }
+
+  void set_value(double value) override
+  {
+    THROW_ON_NULLPTR(this->value_ptr_);
+    *this->value_ptr_ = value;
+  }
 };
 
 class CommandInterface : public ReadWriteHandle
@@ -338,6 +337,65 @@ class CommandInterface : public ReadWriteHandle
 
   using ReadWriteHandle::ReadWriteHandle;
 };
+
+class DistributedReadWriteHandle : public ReadWriteHandle
+{
+public:
+  DistributedReadWriteHandle(
+    const std::string & prefix_name, const std::string & interface_name,
+    double * value_ptr = nullptr)
+  : ReadWriteHandle(prefix_name, interface_name, value_ptr)
+  {
+  }
+
+  explicit DistributedReadWriteHandle(const std::string & interface_name)
+  : ReadWriteHandle(interface_name)
+  {
+  }
+
+  explicit DistributedReadWriteHandle(const char * interface_name) : ReadWriteHandle(interface_name)
+  {
+  }
+
+  DistributedReadWriteHandle(const DistributedReadWriteHandle & other) = default;
+
+  DistributedReadWriteHandle(DistributedReadWriteHandle && other) = default;
+
+  DistributedReadWriteHandle & operator=(const DistributedReadWriteHandle & other) = default;
+
+  DistributedReadWriteHandle & operator=(DistributedReadWriteHandle && other) = default;
+
+  virtual ~DistributedReadWriteHandle() = default;
+
+  double get_value() const override
+  {
+    THROW_ON_NULLPTR(value_ptr_);
+    return *value_ptr_;
+  }
+
+  void set_value(double value) override
+  {
+    THROW_ON_NULLPTR(this->value_ptr_);
+    *this->value_ptr_ = value;
+  }
+};
+
+class DistributedCommandInterface : public DistributedReadWriteHandle
+{
+public:
+  /// CommandInterface copy constructor is actively deleted.
+  /**
+   * Command interfaces are having a unique ownership and thus
+   * can't be copied in order to avoid simultaneous writes to
+   * the same resource.
+   */
+  DistributedCommandInterface(const DistributedCommandInterface & other) = delete;
+
+  DistributedCommandInterface(DistributedCommandInterface && other) = default;
+
+  using DistributedReadWriteHandle::DistributedReadWriteHandle;
+};
+
 }  // namespace hardware_interface
 
 #endif  // HARDWARE_INTERFACE__HANDLE_HPP_

hardware_interface/include/hardware_interface/handle.hpp

@@ -62,17 +62,16 @@ std::string StatePublisher::state_interface_interface_name() const
   return loaned_state_interface_ptr_->get_interface_name();
 }
 
-controller_manager_msgs::msg::StatePublisherDescription StatePublisher::create_description_msg()
-  const
+controller_manager_msgs::msg::PublisherDescription StatePublisher::create_description_msg() const
 {
-  auto msg = controller_manager_msgs::msg::StatePublisherDescription();
+  auto msg = controller_manager_msgs::msg::PublisherDescription();
   // we want a unique name for every StatePublisher. This gets relevant in the central ControllerManager
   // where multiple sub ControllerManager are registering. Therefor we add the namespace to the prefix.
   // However since that e.g. joint1/positions becomes /sub_namespace/joint1/position
   msg.ns = get_namespace();
   msg.name.prefix_name = state_interface_prefix_name();
   msg.name.interface_name = state_interface_interface_name();
-  msg.state_publisher_topic = topic_name_relative_to_namespace();
+  msg.publisher_topic = topic_name_relative_to_namespace();
 
   return msg;
 }