make states and commands of component interfaces private

Author: mamueluth

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -182,13 +182,14 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 
   /**
    * Override this method to export custom StateInterfaces which are not defined in the URDF file.
+   * Those interfaces will be added to the unlisted_state_interfaces_ map.
    *
    *  Note method name is going to be changed to export_state_interfaces() as soon as the deprecated
    * version is removed.
    *
-   * \return vector of shared pointers to the created and stored StateInterfaces
+   * \return vector of descriptions to the unlisted StateInterfaces
    */
-  virtual std::vector<std::shared_ptr<StateInterface>> export_state_interfaces_2()
+  virtual std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2()
   {
     // return empty vector by default.
     return {};
@@ -203,8 +204,24 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    */
   virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
   {
-    std::vector<std::shared_ptr<StateInterface>> state_interfaces = export_state_interfaces_2();
-    state_interfaces.reserve(joint_state_interfaces_.size());
+    // import the unlisted interfaces
+    std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
+      export_state_interfaces_2();
+
+    std::vector<std::shared_ptr<StateInterface>> state_interfaces;
+    state_interfaces.reserve(
+      unlisted_interface_descriptions.size() + joint_state_interfaces_.size());
+
+    // add InterfaceDescriptions and create the StateInterfaces from the descriptions and add to
+    // maps.
+    for (const auto & description : unlisted_interface_descriptions)
+    {
+      auto name = description.get_name();
+      unlisted_state_interfaces_.insert(std::make_pair(name, description));
+      auto state_interface = std::make_shared<StateInterface>(description);
+      actuator_states_.insert(std::make_pair(name, state_interface));
+      state_interfaces.push_back(state_interface);
+    }
 
     for (const auto & [name, descr] : joint_state_interfaces_)
     {
@@ -241,13 +258,14 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 
   /**
    * Override this method to export custom CommandInterfaces which are not defined in the URDF file.
+   * Those interfaces will be added to the unlisted_command_interfaces_ map.
    *
    *  Note method name is going to be changed to export_command_interfaces() as soon as the
    * deprecated version is removed.
    *
-   * \return vector of shared pointers to the created and stored StateInterfaces
+   * \return vector of descriptions to the unlisted CommandInterfaces
    */
-  virtual std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces_2()
+  virtual std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2()
   {
     // return empty vector by default.
     return {};
@@ -262,9 +280,24 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    */
   virtual std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
   {
-    std::vector<std::shared_ptr<CommandInterface>> command_interfaces =
+    // import the unlisted interfaces
+    std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
       export_command_interfaces_2();
-    command_interfaces.reserve(joint_command_interfaces_.size());
+
+    std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
+    command_interfaces.reserve(
+      unlisted_interface_descriptions.size() + joint_command_interfaces_.size());
+
+    // add InterfaceDescriptions and create the CommandInterfaces from the descriptions and add to
+    // maps.
+    for (const auto & description : unlisted_interface_descriptions)
+    {
+      auto name = description.get_name();
+      unlisted_command_interfaces_.insert(std::make_pair(name, description));
+      auto command_interface = std::make_shared<CommandInterface>(description);
+      actuator_commands_.insert(std::make_pair(name, command_interface));
+      command_interfaces.push_back(command_interface);
+    }
 
     for (const auto & [name, descr] : joint_command_interfaces_)
     {
@@ -398,14 +431,16 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   std::unordered_map<std::string, InterfaceDescription> joint_state_interfaces_;
   std::unordered_map<std::string, InterfaceDescription> joint_command_interfaces_;
 
-  std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
-  std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;
+  std::unordered_map<std::string, InterfaceDescription> unlisted_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> unlisted_command_interfaces_;
 
   rclcpp_lifecycle::State lifecycle_state_;
 
 private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
   rclcpp::Logger actuator_logger_;
+  std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
+  std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;
 };
 
 }  // namespace hardware_interface

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -166,13 +166,14 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
   /**
    * Override this method to export custom StateInterfaces which are not defined in the URDF file.
+   * Those interfaces will be added to the unlisted_state_interfaces_ map.
    *
    *  Note method name is going to be changed to export_state_interfaces() as soon as the deprecated
    * version is removed.
    *
-   * \return vector of shared pointers to the created and stored StateInterfaces
+   * \return vector of descriptions to the unlisted StateInterfaces
    */
-  virtual std::vector<std::shared_ptr<StateInterface>> export_state_interfaces_2()
+  virtual std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2()
   {
     // return empty vector by default.
     return {};
@@ -187,8 +188,24 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
   {
-    std::vector<std::shared_ptr<StateInterface>> state_interfaces = export_state_interfaces_2();
-    state_interfaces.reserve(sensor_state_interfaces_.size());
+    // import the unlisted interfaces
+    std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
+      export_state_interfaces_2();
+
+    std::vector<std::shared_ptr<StateInterface>> state_interfaces;
+    state_interfaces.reserve(
+      unlisted_interface_descriptions.size() + sensor_state_interfaces_.size());
+
+    // add InterfaceDescriptions and create the StateInterfaces from the descriptions and add to
+    // maps.
+    for (const auto & description : unlisted_interface_descriptions)
+    {
+      auto name = description.get_name();
+      unlisted_state_interfaces_.insert(std::make_pair(name, description));
+      auto state_interface = std::make_shared<StateInterface>(description);
+      sensor_states_.insert(std::make_pair(name, state_interface));
+      state_interfaces.push_back(state_interface);
+    }
 
     for (const auto & [name, descr] : sensor_state_interfaces_)
     {
@@ -264,14 +281,14 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   HardwareInfo info_;
 
   std::unordered_map<std::string, InterfaceDescription> sensor_state_interfaces_;
-
-  std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
+  std::unordered_map<std::string, InterfaceDescription> unlisted_state_interfaces_;
 
   rclcpp_lifecycle::State lifecycle_state_;
 
 private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
   rclcpp::Logger sensor_logger_;
+  std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
 };
 
 }  // namespace hardware_interface

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -201,13 +201,14 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
   /**
    * Override this method to export custom StateInterfaces which are not defined in the URDF file.
+   * Those interfaces will be added to the unlisted_state_interfaces_ map.
    *
    *  Note method name is going to be changed to export_state_interfaces() as soon as the deprecated
    * version is removed.
    *
-   * \return vector of shared pointers to the created and stored StateInterfaces
+   * \return vector of descriptions to the unlisted StateInterfaces
    */
-  virtual std::vector<std::shared_ptr<StateInterface>> export_state_interfaces_2()
+  virtual std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2()
   {
     // return empty vector by default.
     return {};
@@ -222,10 +223,25 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
   {
-    std::vector<std::shared_ptr<StateInterface>> state_interfaces = export_state_interfaces_2();
+    // import the unlisted interfaces
+    std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
+      export_state_interfaces_2();
+
+    std::vector<std::shared_ptr<StateInterface>> state_interfaces;
     state_interfaces.reserve(
-      joint_state_interfaces_.size() + sensor_state_interfaces_.size() +
-      gpio_state_interfaces_.size());
+      unlisted_interface_descriptions.size() + joint_state_interfaces_.size() +
+      sensor_state_interfaces_.size() + gpio_state_interfaces_.size());
+
+    // add InterfaceDescriptions and create the StateInterfaces from the descriptions and add to
+    // maps.
+    for (const auto & description : unlisted_interface_descriptions)
+    {
+      auto name = description.get_name();
+      unlisted_state_interfaces_.insert(std::make_pair(name, description));
+      auto state_interface = std::make_shared<StateInterface>(description);
+      system_states_.insert(std::make_pair(name, state_interface));
+      state_interfaces.push_back(state_interface);
+    }
 
     for (const auto & [name, descr] : joint_state_interfaces_)
     {
@@ -274,13 +290,14 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
   /**
    * Override this method to export custom CommandInterfaces which are not defined in the URDF file.
+   * Those interfaces will be added to the unlisted_command_interfaces_ map.
    *
    *  Note method name is going to be changed to export_command_interfaces() as soon as the
    * deprecated version is removed.
    *
-   * \return vector of shared pointers to the created and stored StateInterfaces
+   * \return vector of descriptions to the unlisted CommandInterfaces
    */
-  virtual std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces_2()
+  virtual std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2()
   {
     // return empty vector by default.
     return {};
@@ -295,9 +312,25 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
   {
-    std::vector<std::shared_ptr<CommandInterface>> command_interfaces =
+    // import the unlisted interfaces
+    std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
       export_command_interfaces_2();
-    command_interfaces.reserve(joint_command_interfaces_.size() + gpio_command_interfaces_.size());
+
+    std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
+    command_interfaces.reserve(
+      unlisted_interface_descriptions.size() + joint_command_interfaces_.size() +
+      gpio_command_interfaces_.size());
+
+    // add InterfaceDescriptions and create the CommandInterfaces from the descriptions and add to
+    // maps.
+    for (const auto & description : unlisted_interface_descriptions)
+    {
+      auto name = description.get_name();
+      unlisted_command_interfaces_.insert(std::make_pair(name, description));
+      auto command_interface = std::make_shared<CommandInterface>(description);
+      system_commands_.insert(std::make_pair(name, command_interface));
+      command_interfaces.push_back(command_interface);
+    }
 
     for (const auto & [name, descr] : joint_command_interfaces_)
     {
@@ -443,14 +476,16 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   std::unordered_map<std::string, InterfaceDescription> gpio_state_interfaces_;
   std::unordered_map<std::string, InterfaceDescription> gpio_command_interfaces_;
 
-  std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
-  std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;
+  std::unordered_map<std::string, InterfaceDescription> unlisted_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> unlisted_command_interfaces_;
 
   rclcpp_lifecycle::State lifecycle_state_;
 
 private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
   rclcpp::Logger system_logger_;
+  std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
+  std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;
 };
 
 }  // namespace hardware_interface

hardware_interface/src/component_parser.cpp

@@ -939,21 +939,4 @@ std::vector<InterfaceDescription> parse_command_interface_descriptions_from_hard
   return component_command_interface_descriptions;
 }
 
-std::vector<InterfaceDescription> parse_gpio_command_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info)
-{
-  std::vector<InterfaceDescription> gpio_command_interface_descriptions;
-  gpio_command_interface_descriptions.reserve(hw_info.gpios.size());
-
-  for (const auto & gpio : hw_info.gpios)
-  {
-    for (const auto & command_interface : gpio.command_interfaces)
-    {
-      gpio_command_interface_descriptions.emplace_back(
-        InterfaceDescription(gpio.name, command_interface));
-    }
-  }
-  return gpio_command_interface_descriptions;
-}
-
 }  // namespace hardware_interface

hardware_interface/test/test_component_interfaces_custom_export.cpp

@@ -57,27 +57,23 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
 {
   std::string get_name() const override { return "DummyActuatorDefault"; }
 
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces_2()
-    override
+  std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2() override
   {
-    std::vector<std::shared_ptr<hardware_interface::StateInterface>> interfaces;
-    auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
-      info_.joints[0].name, "some_unlisted_interface", nullptr);
-    actuator_states_.insert(
-      std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+    std::vector<hardware_interface::InterfaceDescription> interfaces;
+    hardware_interface::InterfaceInfo info;
+    info.name = "some_unlisted_interface";
+    hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
     interfaces.push_back(unlisted_state_interface);
 
     return interfaces;
   }
 
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> export_command_interfaces_2()
-    override
+  std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2() override
   {
-    std::vector<std::shared_ptr<hardware_interface::CommandInterface>> interfaces;
-    auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(
-      info_.joints[0].name, "some_unlisted_interface", nullptr);
-    actuator_commands_.insert(
-      std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+    std::vector<hardware_interface::InterfaceDescription> interfaces;
+    hardware_interface::InterfaceInfo info;
+    info.name = "some_unlisted_interface";
+    hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
     interfaces.push_back(unlisted_state_interface);
 
     return interfaces;
@@ -100,14 +96,12 @@ class DummySensorDefault : public hardware_interface::SensorInterface
 {
   std::string get_name() const override { return "DummySensorDefault"; }
 
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces_2()
-    override
+  std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2() override
   {
-    std::vector<std::shared_ptr<hardware_interface::StateInterface>> interfaces;
-    auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
-      info_.sensors[0].name, "some_unlisted_interface", nullptr);
-    sensor_states_.insert(
-      std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+    std::vector<hardware_interface::InterfaceDescription> interfaces;
+    hardware_interface::InterfaceInfo info;
+    info.name = "some_unlisted_interface";
+    hardware_interface::InterfaceDescription unlisted_state_interface(info_.sensors[0].name, info);
     interfaces.push_back(unlisted_state_interface);
 
     return interfaces;
@@ -124,27 +118,23 @@ class DummySystemDefault : public hardware_interface::SystemInterface
 {
   std::string get_name() const override { return "DummySystemDefault"; }
 
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces_2()
-    override
+  std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2() override
   {
-    std::vector<std::shared_ptr<hardware_interface::StateInterface>> interfaces;
-    auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
-      info_.joints[0].name, "some_unlisted_interface", nullptr);
-    system_states_.insert(
-      std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+    std::vector<hardware_interface::InterfaceDescription> interfaces;
+    hardware_interface::InterfaceInfo info;
+    info.name = "some_unlisted_interface";
+    hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
     interfaces.push_back(unlisted_state_interface);
 
     return interfaces;
   }
 
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> export_command_interfaces_2()
-    override
+  std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2() override
   {
-    std::vector<std::shared_ptr<hardware_interface::CommandInterface>> interfaces;
-    auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(
-      info_.joints[0].name, "some_unlisted_interface", nullptr);
-    system_commands_.insert(
-      std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+    std::vector<hardware_interface::InterfaceDescription> interfaces;
+    hardware_interface::InterfaceInfo info;
+    info.name = "some_unlisted_interface";
+    hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
     interfaces.push_back(unlisted_state_interface);
 
     return interfaces;