From 8dc4ed291420ed5c26b5360f458ef7c51acefdb3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stoglrobotics.de>
Date: Tue, 6 Dec 2022 21:06:03 +0100
Subject: [PATCH] Update hardware templates. (#86)

---
 .../dummy_package_namespace/robot_hardware_interface.hpp  | 4 ++++
 .../ros2_control/hardware/robot_hardware_interface.cpp    | 8 ++++++++
 2 files changed, 12 insertions(+)

diff --git a/templates/ros2_control/hardware/dummy_package_namespace/robot_hardware_interface.hpp b/templates/ros2_control/hardware/dummy_package_namespace/robot_hardware_interface.hpp
index be0c275c..e020882d 100644
--- a/templates/ros2_control/hardware/dummy_package_namespace/robot_hardware_interface.hpp
+++ b/templates/ros2_control/hardware/dummy_package_namespace/robot_hardware_interface.hpp
@@ -35,6 +35,10 @@ class DummyClassName : public hardware_interface::Dummy_Interface_TypeInterface
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;
 
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
   TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
diff --git a/templates/ros2_control/hardware/robot_hardware_interface.cpp b/templates/ros2_control/hardware/robot_hardware_interface.cpp
index 359d5954..263c63a0 100644
--- a/templates/ros2_control/hardware/robot_hardware_interface.cpp
+++ b/templates/ros2_control/hardware/robot_hardware_interface.cpp
@@ -35,6 +35,14 @@ hardware_interface::CallbackReturn DummyClassName::on_init(
   return CallbackReturn::SUCCESS;
 }
 
+hardware_interface::CallbackReturn DummyClassName::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  // TODO(anyone): prepare the robot to be ready for read calls and write calls of some interfaces
+
+  return CallbackReturn::SUCCESS;
+}
+
 std::vector<hardware_interface::StateInterface> DummyClassName::export_state_interfaces()
 {
   std::vector<hardware_interface::StateInterface> state_interfaces;