add prepare_for_activation for resetting the variables

Author: saikishor

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -527,6 +527,18 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    */
   const HardwareInfo & get_hardware_info() const { return info_; }
 
+  /// Prepare for the activation of the hardware.
+  /**
+   * This method is called before the hardware is activated by the resource manager.
+   */
+  void prepare_for_activation()
+  {
+    read_return_info_.store(return_type::OK, std::memory_order_release);
+    read_execution_time_.store(std::chrono::nanoseconds::zero(), std::memory_order_release);
+    write_return_info_.store(return_type::OK, std::memory_order_release);
+    write_execution_time_.store(std::chrono::nanoseconds::zero(), std::memory_order_release);
+  }
+
   /// Enable or disable introspection of the hardware.
   /**
    * \param[in] enable Enable introspection if true, disable otherwise.

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -556,6 +556,18 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   const HardwareInfo & get_hardware_info() const { return info_; }
 
+  /// Prepare for the activation of the hardware.
+  /**
+   * This method is called before the hardware is activated by the resource manager.
+   */
+  void prepare_for_activation()
+  {
+    read_return_info_.store(return_type::OK, std::memory_order_release);
+    read_execution_time_.store(std::chrono::nanoseconds::zero(), std::memory_order_release);
+    write_return_info_.store(return_type::OK, std::memory_order_release);
+    write_execution_time_.store(std::chrono::nanoseconds::zero(), std::memory_order_release);
+  }
+
   /// Enable or disable introspection of the hardware.
   /**
    * \param[in] enable Enable introspection if true, disable otherwise.

hardware_interface/src/actuator.cpp

@@ -147,6 +147,7 @@ const rclcpp_lifecycle::State & Actuator::activate()
   write_statistics_.reset_statistics();
   if (impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->prepare_for_activation();
     switch (impl_->on_activate(impl_->get_lifecycle_state()))
     {
       case CallbackReturn::SUCCESS:

hardware_interface/src/system.cpp

@@ -145,6 +145,7 @@ const rclcpp_lifecycle::State & System::activate()
   write_statistics_.reset_statistics();
   if (impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->prepare_for_activation();
     switch (impl_->on_activate(impl_->get_lifecycle_state()))
     {
       case CallbackReturn::SUCCESS: