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mamueluthmamueluth
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undo prefix_ -> prefix (HWInfo) and Command-/StateIntefaceSharedPtr
1 parent 6b214a2 commit 8ea003b

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10 files changed

+54
-53
lines changed

10 files changed

+54
-53
lines changed

‎hardware_interface/include/hardware_interface/actuator.hpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -65,10 +65,10 @@ class Actuator final
6565
const rclcpp_lifecycle::State & error();
6666

6767
HARDWARE_INTERFACE_PUBLIC
68-
std::vector<StateInterfaceSharedPtr> export_state_interfaces();
68+
std::vector<std::shared_ptr<StateInterface>> export_state_interfaces();
6969

7070
HARDWARE_INTERFACE_PUBLIC
71-
std::vector<CommandInterfaceSharedPtr> export_command_interfaces();
71+
std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces();
7272

7373
HARDWARE_INTERFACE_PUBLIC
7474
return_type prepare_command_mode_switch(

‎hardware_interface/include/hardware_interface/actuator_interface.hpp‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -148,7 +148,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
148148
* \return vector of state interfaces
149149
*/
150150
[[deprecated(
151-
"Replaced by vector<StateInterfaceSharedPtr> on_export_state_interfaces() method. "
151+
"Replaced by vector<std::shared_ptr<StateInterface>> on_export_state_interfaces() method. "
152152
"Exporting is "
153153
"handled "
154154
"by the Framework.")]] virtual std::vector<StateInterface>
@@ -166,9 +166,9 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
166166
*
167167
* \return vector of shared pointers to the created and stored StateInterfaces
168168
*/
169-
virtual std::vector<StateInterfaceSharedPtr> on_export_state_interfaces()
169+
virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
170170
{
171-
std::vector<StateInterfaceSharedPtr> state_interfaces;
171+
std::vector<std::shared_ptr<StateInterface>> state_interfaces;
172172
state_interfaces.reserve(joint_state_interfaces_.size());
173173

174174
for (const auto & [name, descr] : joint_state_interfaces_)
@@ -193,7 +193,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
193193
* \return vector of state interfaces
194194
*/
195195
[[deprecated(
196-
"Replaced by vector<CommandInterfaceSharedPtr> on_export_command_interfaces() method. "
196+
"Replaced by vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces() method. "
197197
"Exporting is "
198198
"handled "
199199
"by the Framework.")]] virtual std::vector<CommandInterface>
@@ -211,9 +211,9 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
211211
*
212212
* \return vector of shared pointers to the created and stored CommandInterfaces
213213
*/
214-
virtual std::vector<CommandInterfaceSharedPtr> on_export_command_interfaces()
214+
virtual std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
215215
{
216-
std::vector<CommandInterfaceSharedPtr> command_interfaces;
216+
std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
217217
command_interfaces.reserve(joint_command_interfaces_.size());
218218

219219
for (const auto & [name, descr] : joint_command_interfaces_)
@@ -330,8 +330,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
330330
std::map<std::string, InterfaceDescription> joint_state_interfaces_;
331331
std::map<std::string, InterfaceDescription> joint_command_interfaces_;
332332

333-
std::unordered_map<std::string, StateInterfaceSharedPtr> actuator_states_;
334-
std::unordered_map<std::string, CommandInterfaceSharedPtr> actuator_commands_;
333+
std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
334+
std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;
335335

336336
rclcpp_lifecycle::State lifecycle_state_;
337337
};

‎hardware_interface/include/hardware_interface/handle.hpp‎

Lines changed: 1 addition & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -44,7 +44,7 @@ class Handle
4444
}
4545

4646
explicit Handle(const InterfaceDescription & interface_description)
47-
: prefix_name_(interface_description.prefix_name_),
47+
: prefix_name_(interface_description.prefix_name),
4848
interface_name_(interface_description.interface_info.name)
4949
{
5050
// As soon as multiple datatypes are used in HANDLE_DATATYPE
@@ -136,8 +136,6 @@ class StateInterface : public Handle
136136
using Handle::Handle;
137137
};
138138

139-
using StateInterfaceSharedPtr = std::shared_ptr<StateInterface>;
140-
141139
class CommandInterface : public Handle
142140
{
143141
public:
@@ -158,8 +156,6 @@ class CommandInterface : public Handle
158156
using Handle::Handle;
159157
};
160158

161-
using CommandInterfaceSharedPtr = std::shared_ptr<CommandInterface>;
162-
163159
} // namespace hardware_interface
164160

165161
#endif // HARDWARE_INTERFACE__HANDLE_HPP_

‎hardware_interface/include/hardware_interface/hardware_info.hpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -128,15 +128,15 @@ struct TransmissionInfo
128128
*/
129129
struct InterfaceDescription
130130
{
131-
InterfaceDescription(const std::string & prefix_name, const InterfaceInfo & interface_info_in)
132-
: prefix_name_(prefix_name), interface_info(interface_info_in)
131+
InterfaceDescription(const std::string & prefix_name_in, const InterfaceInfo & interface_info_in)
132+
: prefix_name(prefix_name_in), interface_info(interface_info_in)
133133
{
134134
}
135135

136136
/**
137137
* Name of the interface defined by the user.
138138
*/
139-
std::string prefix_name_;
139+
std::string prefix_name;
140140

141141
/**
142142
* What type of component is exported: joint, sensor or gpio
@@ -148,7 +148,7 @@ struct InterfaceDescription
148148
*/
149149
InterfaceInfo interface_info;
150150

151-
std::string get_name() const { return prefix_name_ + "/" + interface_info.name; }
151+
std::string get_name() const { return prefix_name + "/" + interface_info.name; }
152152

153153
std::string get_interface_type() const { return interface_info.name; }
154154
};

‎hardware_interface/include/hardware_interface/sensor.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -66,7 +66,7 @@ class Sensor final
6666
const rclcpp_lifecycle::State & error();
6767

6868
HARDWARE_INTERFACE_PUBLIC
69-
std::vector<StateInterfaceSharedPtr> export_state_interfaces();
69+
std::vector<std::shared_ptr<StateInterface>> export_state_interfaces();
7070

7171
HARDWARE_INTERFACE_PUBLIC
7272
std::string get_name() const;

‎hardware_interface/include/hardware_interface/sensor_interface.hpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -133,7 +133,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
133133
* \return vector of state interfaces
134134
*/
135135
[[deprecated(
136-
"Replaced by vector<StateInterfaceSharedPtr> on_export_state_interfaces() method. "
136+
"Replaced by vector<std::shared_ptr<StateInterface>> on_export_state_interfaces() method. "
137137
"Exporting is handled "
138138
"by the Framework.")]] virtual std::vector<StateInterface>
139139
export_state_interfaces()
@@ -150,9 +150,9 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
150150
*
151151
* \return vector of shared pointers to the created and stored StateInterfaces
152152
*/
153-
virtual std::vector<StateInterfaceSharedPtr> on_export_state_interfaces()
153+
virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
154154
{
155-
std::vector<StateInterfaceSharedPtr> state_interfaces;
155+
std::vector<std::shared_ptr<StateInterface>> state_interfaces;
156156
state_interfaces.reserve(sensor_state_interfaces_.size());
157157

158158
for (const auto & [name, descr] : sensor_state_interfaces_)
@@ -212,7 +212,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
212212

213213
std::map<std::string, InterfaceDescription> sensor_state_interfaces_;
214214

215-
std::unordered_map<std::string, StateInterfaceSharedPtr> sensor_states_;
215+
std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
216216

217217
rclcpp_lifecycle::State lifecycle_state_;
218218
};

‎hardware_interface/include/hardware_interface/system.hpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -66,10 +66,10 @@ class System final
6666
const rclcpp_lifecycle::State & error();
6767

6868
HARDWARE_INTERFACE_PUBLIC
69-
std::vector<StateInterfaceSharedPtr> export_state_interfaces();
69+
std::vector<std::shared_ptr<StateInterface>> export_state_interfaces();
7070

7171
HARDWARE_INTERFACE_PUBLIC
72-
std::vector<CommandInterfaceSharedPtr> export_command_interfaces();
72+
std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces();
7373

7474
HARDWARE_INTERFACE_PUBLIC
7575
return_type prepare_command_mode_switch(

‎hardware_interface/include/hardware_interface/system_interface.hpp‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -168,7 +168,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
168168
* \return vector of state interfaces
169169
*/
170170
[[deprecated(
171-
"Replaced by vector<StateInterfaceSharedPtr> on_export_state_interfaces() method. "
171+
"Replaced by vector<std::shared_ptr<StateInterface>> on_export_state_interfaces() method. "
172172
"Exporting is handled "
173173
"by the Framework.")]] virtual std::vector<StateInterface>
174174
export_state_interfaces()
@@ -185,9 +185,9 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
185185
*
186186
* \return vector of shared pointers to the created and stored StateInterfaces
187187
*/
188-
virtual std::vector<StateInterfaceSharedPtr> on_export_state_interfaces()
188+
virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
189189
{
190-
std::vector<StateInterfaceSharedPtr> state_interfaces;
190+
std::vector<std::shared_ptr<StateInterface>> state_interfaces;
191191
state_interfaces.reserve(
192192
joint_state_interfaces_.size() + sensor_state_interfaces_.size() +
193193
gpio_state_interfaces_.size());
@@ -226,7 +226,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
226226
* \return vector of state interfaces
227227
*/
228228
[[deprecated(
229-
"Replaced by vector<CommandInterfaceSharedPtr> on_export_command_interfaces() method. "
229+
"Replaced by vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces() method. "
230230
"Exporting is "
231231
"handled "
232232
"by the Framework.")]] virtual std::vector<CommandInterface>
@@ -244,9 +244,9 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
244244
*
245245
* \return vector of shared pointers to the created and stored CommandInterfaces
246246
*/
247-
virtual std::vector<CommandInterfaceSharedPtr> on_export_command_interfaces()
247+
virtual std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
248248
{
249-
std::vector<CommandInterfaceSharedPtr> command_interfaces;
249+
std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
250250
command_interfaces.reserve(joint_command_interfaces_.size() + gpio_command_interfaces_.size());
251251

252252
for (const auto & [name, descr] : joint_command_interfaces_)
@@ -375,8 +375,8 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
375375
std::map<std::string, InterfaceDescription> gpio_state_interfaces_;
376376
std::map<std::string, InterfaceDescription> gpio_command_interfaces_;
377377

378-
std::unordered_map<std::string, StateInterfaceSharedPtr> system_states_;
379-
std::unordered_map<std::string, CommandInterfaceSharedPtr> system_commands_;
378+
std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
379+
std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;
380380

381381
rclcpp_lifecycle::State lifecycle_state_;
382382
};

‎hardware_interface/test/test_component_interfaces_custom_export.cpp‎

Lines changed: 10 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -56,7 +56,8 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
5656
{
5757
std::string get_name() const override { return "DummyActuatorDefault"; }
5858

59-
std::vector<hardware_interface::StateInterfaceSharedPtr> on_export_state_interfaces() override
59+
std::vector<std::shared_ptr<hardware_interface::StateInterface>> on_export_state_interfaces()
60+
override
6061
{
6162
auto interfaces = hardware_interface::ActuatorInterface::on_export_state_interfaces();
6263
auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
@@ -68,7 +69,8 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
6869
return interfaces;
6970
}
7071

71-
std::vector<hardware_interface::CommandInterfaceSharedPtr> on_export_command_interfaces() override
72+
std::vector<std::shared_ptr<hardware_interface::CommandInterface>> on_export_command_interfaces()
73+
override
7274
{
7375
auto interfaces = hardware_interface::ActuatorInterface::on_export_command_interfaces();
7476
auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(
@@ -97,7 +99,8 @@ class DummySensorDefault : public hardware_interface::SensorInterface
9799
{
98100
std::string get_name() const override { return "DummySensorDefault"; }
99101

100-
std::vector<hardware_interface::StateInterfaceSharedPtr> on_export_state_interfaces() override
102+
std::vector<std::shared_ptr<hardware_interface::StateInterface>> on_export_state_interfaces()
103+
override
101104
{
102105
auto interfaces = hardware_interface::SensorInterface::on_export_state_interfaces();
103106
auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
@@ -120,7 +123,8 @@ class DummySystemDefault : public hardware_interface::SystemInterface
120123
{
121124
std::string get_name() const override { return "DummySystemDefault"; }
122125

123-
std::vector<hardware_interface::StateInterfaceSharedPtr> on_export_state_interfaces() override
126+
std::vector<std::shared_ptr<hardware_interface::StateInterface>> on_export_state_interfaces()
127+
override
124128
{
125129
auto interfaces = hardware_interface::SystemInterface::on_export_state_interfaces();
126130
auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
@@ -132,7 +136,8 @@ class DummySystemDefault : public hardware_interface::SystemInterface
132136
return interfaces;
133137
}
134138

135-
std::vector<hardware_interface::CommandInterfaceSharedPtr> on_export_command_interfaces() override
139+
std::vector<std::shared_ptr<hardware_interface::CommandInterface>> on_export_command_interfaces()
140+
override
136141
{
137142
auto interfaces = hardware_interface::SystemInterface::on_export_command_interfaces();
138143
auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(

‎hardware_interface/test/test_component_parser.cpp‎

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -811,11 +811,11 @@ TEST_F(TestComponentParser, parse_joint_state_interface_descriptions_from_hardwa
811811

812812
const auto joint_state_descriptions =
813813
parse_joint_state_interface_descriptions_from_hardware_info(control_hardware[0]);
814-
EXPECT_EQ(joint_state_descriptions[0].prefix_name_, "joint1");
814+
EXPECT_EQ(joint_state_descriptions[0].prefix_name, "joint1");
815815
EXPECT_EQ(joint_state_descriptions[0].get_interface_type(), "position");
816816
EXPECT_EQ(joint_state_descriptions[0].get_name(), "joint1/position");
817817

818-
EXPECT_EQ(joint_state_descriptions[1].prefix_name_, "joint2");
818+
EXPECT_EQ(joint_state_descriptions[1].prefix_name, "joint2");
819819
EXPECT_EQ(joint_state_descriptions[1].get_interface_type(), "position");
820820
EXPECT_EQ(joint_state_descriptions[1].get_name(), "joint2/position");
821821
}
@@ -830,13 +830,13 @@ TEST_F(TestComponentParser, parse_joint_command_interface_descriptions_from_hard
830830

831831
const auto joint_command_descriptions =
832832
parse_joint_command_interface_descriptions_from_hardware_info(control_hardware[0]);
833-
EXPECT_EQ(joint_command_descriptions[0].prefix_name_, "joint1");
833+
EXPECT_EQ(joint_command_descriptions[0].prefix_name, "joint1");
834834
EXPECT_EQ(joint_command_descriptions[0].get_interface_type(), "position");
835835
EXPECT_EQ(joint_command_descriptions[0].get_name(), "joint1/position");
836836
EXPECT_EQ(joint_command_descriptions[0].interface_info.min, "-1");
837837
EXPECT_EQ(joint_command_descriptions[0].interface_info.max, "1");
838838

839-
EXPECT_EQ(joint_command_descriptions[1].prefix_name_, "joint2");
839+
EXPECT_EQ(joint_command_descriptions[1].prefix_name, "joint2");
840840
EXPECT_EQ(joint_command_descriptions[1].get_interface_type(), "position");
841841
EXPECT_EQ(joint_command_descriptions[1].get_name(), "joint2/position");
842842
EXPECT_EQ(joint_command_descriptions[1].interface_info.min, "-1");
@@ -852,17 +852,17 @@ TEST_F(TestComponentParser, parse_sensor_state_interface_descriptions_from_hardw
852852

853853
const auto sensor_state_descriptions =
854854
parse_sensor_state_interface_descriptions_from_hardware_info(control_hardware[0]);
855-
EXPECT_EQ(sensor_state_descriptions[0].prefix_name_, "sensor1");
855+
EXPECT_EQ(sensor_state_descriptions[0].prefix_name, "sensor1");
856856
EXPECT_EQ(sensor_state_descriptions[0].get_interface_type(), "roll");
857857
EXPECT_EQ(sensor_state_descriptions[0].get_name(), "sensor1/roll");
858-
EXPECT_EQ(sensor_state_descriptions[1].prefix_name_, "sensor1");
858+
EXPECT_EQ(sensor_state_descriptions[1].prefix_name, "sensor1");
859859
EXPECT_EQ(sensor_state_descriptions[1].get_interface_type(), "pitch");
860860
EXPECT_EQ(sensor_state_descriptions[1].get_name(), "sensor1/pitch");
861-
EXPECT_EQ(sensor_state_descriptions[2].prefix_name_, "sensor1");
861+
EXPECT_EQ(sensor_state_descriptions[2].prefix_name, "sensor1");
862862
EXPECT_EQ(sensor_state_descriptions[2].get_interface_type(), "yaw");
863863
EXPECT_EQ(sensor_state_descriptions[2].get_name(), "sensor1/yaw");
864864

865-
EXPECT_EQ(sensor_state_descriptions[3].prefix_name_, "sensor2");
865+
EXPECT_EQ(sensor_state_descriptions[3].prefix_name, "sensor2");
866866
EXPECT_EQ(sensor_state_descriptions[3].get_interface_type(), "image");
867867
EXPECT_EQ(sensor_state_descriptions[3].get_name(), "sensor2/image");
868868
}
@@ -877,17 +877,17 @@ TEST_F(TestComponentParser, parse_gpio_state_interface_descriptions_from_hardwar
877877

878878
const auto gpio_state_descriptions =
879879
parse_gpio_state_interface_descriptions_from_hardware_info(control_hardware[0]);
880-
EXPECT_EQ(gpio_state_descriptions[0].prefix_name_, "flange_analog_IOs");
880+
EXPECT_EQ(gpio_state_descriptions[0].prefix_name, "flange_analog_IOs");
881881
EXPECT_EQ(gpio_state_descriptions[0].get_interface_type(), "analog_output1");
882882
EXPECT_EQ(gpio_state_descriptions[0].get_name(), "flange_analog_IOs/analog_output1");
883-
EXPECT_EQ(gpio_state_descriptions[1].prefix_name_, "flange_analog_IOs");
883+
EXPECT_EQ(gpio_state_descriptions[1].prefix_name, "flange_analog_IOs");
884884
EXPECT_EQ(gpio_state_descriptions[1].get_interface_type(), "analog_input1");
885885
EXPECT_EQ(gpio_state_descriptions[1].get_name(), "flange_analog_IOs/analog_input1");
886-
EXPECT_EQ(gpio_state_descriptions[2].prefix_name_, "flange_analog_IOs");
886+
EXPECT_EQ(gpio_state_descriptions[2].prefix_name, "flange_analog_IOs");
887887
EXPECT_EQ(gpio_state_descriptions[2].get_interface_type(), "analog_input2");
888888
EXPECT_EQ(gpio_state_descriptions[2].get_name(), "flange_analog_IOs/analog_input2");
889889

890-
EXPECT_EQ(gpio_state_descriptions[3].prefix_name_, "flange_vacuum");
890+
EXPECT_EQ(gpio_state_descriptions[3].prefix_name, "flange_vacuum");
891891
EXPECT_EQ(gpio_state_descriptions[3].get_interface_type(), "vacuum");
892892
EXPECT_EQ(gpio_state_descriptions[3].get_name(), "flange_vacuum/vacuum");
893893
}
@@ -902,11 +902,11 @@ TEST_F(TestComponentParser, parse_gpio_command_interface_descriptions_from_hardw
902902

903903
const auto gpio_state_descriptions =
904904
parse_gpio_command_interface_descriptions_from_hardware_info(control_hardware[0]);
905-
EXPECT_EQ(gpio_state_descriptions[0].prefix_name_, "flange_analog_IOs");
905+
EXPECT_EQ(gpio_state_descriptions[0].prefix_name, "flange_analog_IOs");
906906
EXPECT_EQ(gpio_state_descriptions[0].get_interface_type(), "analog_output1");
907907
EXPECT_EQ(gpio_state_descriptions[0].get_name(), "flange_analog_IOs/analog_output1");
908908

909-
EXPECT_EQ(gpio_state_descriptions[1].prefix_name_, "flange_vacuum");
909+
EXPECT_EQ(gpio_state_descriptions[1].prefix_name, "flange_vacuum");
910910
EXPECT_EQ(gpio_state_descriptions[1].get_interface_type(), "vacuum");
911911
EXPECT_EQ(gpio_state_descriptions[1].get_name(), "flange_vacuum/vacuum");
912912
}

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