From 1d685a3e5432b2dd66f8549010a6175f64568454 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 13 Nov 2023 18:18:28 +0100
Subject: [PATCH] throw exception trying to access interfaces in unconfigured
 state

---
 .../test_chainable_controller.cpp             | 24 +++++++++++++++++--
 .../test/test_controller/test_controller.cpp  | 24 +++++++++++++++++--
 2 files changed, 44 insertions(+), 4 deletions(-)

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
index b02c2e65ef..d21957a0b4 100644
--- a/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
+++ b/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
@@ -32,13 +32,33 @@ TestChainableController::TestChainableController()
 controller_interface::InterfaceConfiguration
 TestChainableController::command_interface_configuration() const
 {
-  return cmd_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return cmd_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get command interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::InterfaceConfiguration
 TestChainableController::state_interface_configuration() const
 {
-  return state_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return state_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get state interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::return_type TestChainableController::update_reference_from_subscribers(
diff --git a/controller_manager/test/test_controller/test_controller.cpp b/controller_manager/test/test_controller/test_controller.cpp
index 97670e9a7a..06f76bd044 100644
--- a/controller_manager/test/test_controller/test_controller.cpp
+++ b/controller_manager/test/test_controller/test_controller.cpp
@@ -31,12 +31,32 @@ TestController::TestController()
 
 controller_interface::InterfaceConfiguration TestController::command_interface_configuration() const
 {
-  return cmd_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return cmd_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get command interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::InterfaceConfiguration TestController::state_interface_configuration() const
 {
-  return state_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return state_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get state interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::return_type TestController::update(