Merge branch 'master' into improve/memory_allocation/buffer_variables

.pre-commit-config.yaml

@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.19.0
+    rev: v3.19.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -63,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.4
+    rev: v19.1.5
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']

controller_interface/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.23.0 (2024-12-29)
+-------------------
+* Remove boilerplate visibility macros (`#1972 <https://github.com/ros-controls/ros2_control/issues/1972>`_)
+* Semantic components cleanup (`#1940 <https://github.com/ros-controls/ros2_control/issues/1940>`_)
+* Contributors: Bence Magyar, Wiktor Bajor
+
 4.22.0 (2024-12-20)
 -------------------
 * Fixed typo. Added s to state_interfaces\_ (`#1930 <https://github.com/ros-controls/ros2_control/issues/1930>`_)

controller_interface/CMakeLists.txt

@@ -6,6 +6,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
           -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   hardware_interface
   rclcpp_lifecycle
@@ -29,9 +33,6 @@ target_include_directories(controller_interface PUBLIC
   $<INSTALL_INTERFACE:include/controller_interface>
 )
 ament_target_dependencies(controller_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(controller_interface PRIVATE "CONTROLLER_INTERFACE_BUILDING_DLL")
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)

controller_interface/include/controller_interface/chainable_controller_interface.hpp

@@ -21,7 +21,6 @@
 #include <vector>
 
 #include "controller_interface/controller_interface_base.hpp"
-#include "controller_interface/visibility_control.h"
 #include "hardware_interface/handle.hpp"
 
 namespace controller_interface
@@ -37,10 +36,8 @@ namespace controller_interface
 class ChainableControllerInterface : public ControllerInterfaceBase
 {
 public:
-  CONTROLLER_INTERFACE_PUBLIC
   ChainableControllerInterface();
 
-  CONTROLLER_INTERFACE_PUBLIC
   virtual ~ChainableControllerInterface() = default;
 
   /**
@@ -52,22 +49,16 @@ class ChainableControllerInterface : public ControllerInterfaceBase
    * \param[in] period The measured time taken by the last control loop iteration
    * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) final;
 
-  CONTROLLER_INTERFACE_PUBLIC
   bool is_chainable() const final;
 
-  CONTROLLER_INTERFACE_PUBLIC
   std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;
 
-  CONTROLLER_INTERFACE_PUBLIC
   std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;
 
-  CONTROLLER_INTERFACE_PUBLIC
   bool set_chained_mode(bool chained_mode) final;
 
-  CONTROLLER_INTERFACE_PUBLIC
   bool is_in_chained_mode() const final;
 
 protected:

controller_interface/include/controller_interface/controller_interface.hpp

@@ -19,58 +19,50 @@
 #include <vector>
 
 #include "controller_interface/controller_interface_base.hpp"
-#include "controller_interface/visibility_control.h"
 #include "hardware_interface/handle.hpp"
 
 namespace controller_interface
 {
 class ControllerInterface : public controller_interface::ControllerInterfaceBase
 {
 public:
-  CONTROLLER_INTERFACE_PUBLIC
   ControllerInterface();
 
-  CONTROLLER_INTERFACE_PUBLIC
   virtual ~ControllerInterface() = default;
 
   /**
    * Controller is not chainable.
    *
    * \returns false.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   bool is_chainable() const final;
 
   /**
    * A non-chainable controller doesn't export any state interfaces.
    *
    * \returns empty list.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;
 
   /**
    * Controller has no reference interfaces.
    *
    * \returns empty list.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;
 
   /**
    * Controller is not chainable, therefore no chained mode can be set.
    *
    * \returns false.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   bool set_chained_mode(bool chained_mode) final;
 
   /**
    * Controller can not be in chained mode.
    *
    * \returns false.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   bool is_in_chained_mode() const final;
 };
 

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -20,7 +20,6 @@
 #include <utility>
 #include <vector>
 
-#include "controller_interface/visibility_control.h"
 #include "realtime_tools/async_function_handler.hpp"
 
 #include "hardware_interface/handle.hpp"
@@ -98,10 +97,8 @@ struct ControllerUpdateStatus
 class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 {
 public:
-  CONTROLLER_INTERFACE_PUBLIC
   ControllerInterfaceBase() = default;
 
-  CONTROLLER_INTERFACE_PUBLIC
   virtual ~ControllerInterfaceBase() = default;
 
   /// Get configuration for controller's required command interfaces.
@@ -116,7 +113,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * \returns configuration of command interfaces.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual InterfaceConfiguration command_interface_configuration() const = 0;
 
   /// Get configuration for controller's required state interfaces.
@@ -133,7 +129,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * \returns configuration of state interfaces.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual InterfaceConfiguration state_interface_configuration() const = 0;
 
   /// Method that assigns the Loaned interfaces to the controller.
@@ -145,7 +140,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * \param[in] command_interfaces vector of command interfaces to be assigned to the controller.
    * \param[in] state_interfaces vector of state interfaces to be assigned to the controller.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual void assign_interfaces(
     std::vector<hardware_interface::LoanedCommandInterface> && command_interfaces,
     std::vector<hardware_interface::LoanedStateInterface> && state_interfaces);
@@ -154,10 +148,8 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   /**
    * Method used by the controller_manager to release the interfaces from the controller.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual void release_interfaces();
 
-  CONTROLLER_INTERFACE_PUBLIC
   return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
     const std::string & node_namespace, const rclcpp::NodeOptions & node_options);
@@ -166,11 +158,9 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   /*
    * Override default implementation for configure of LifecycleNode to get parameters.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & configure();
 
   /// Extending interface with initialization method which is individual for each controller
-  CONTROLLER_INTERFACE_PUBLIC
   virtual CallbackReturn on_init() = 0;
 
   /**
@@ -182,7 +172,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * \param[in] period The measured time since the last control loop iteration
    * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
   /**
@@ -197,25 +186,18 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * \returns ControllerUpdateStatus. The status contains information if the update was triggered
    * successfully, the result of the update method and the execution duration of the update method.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   ControllerUpdateStatus trigger_update(const rclcpp::Time & time, const rclcpp::Duration & period);
 
-  CONTROLLER_INTERFACE_PUBLIC
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> get_node();
 
-  CONTROLLER_INTERFACE_PUBLIC
   std::shared_ptr<const rclcpp_lifecycle::LifecycleNode> get_node() const;
 
-  CONTROLLER_INTERFACE_PUBLIC
   const rclcpp_lifecycle::State & get_lifecycle_state() const;
 
-  CONTROLLER_INTERFACE_PUBLIC
   unsigned int get_update_rate() const;
 
-  CONTROLLER_INTERFACE_PUBLIC
   bool is_async() const;
 
-  CONTROLLER_INTERFACE_PUBLIC
   const std::string & get_robot_description() const;
 
   /**
@@ -229,7 +211,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * @returns NodeOptions required for the configuration of the controller lifecycle node
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual rclcpp::NodeOptions define_custom_node_options() const
   {
     rclcpp::NodeOptions node_options;
@@ -272,7 +253,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * \returns true is controller is chainable and false if it is not.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual bool is_chainable() const = 0;
 
   /**
@@ -281,7 +261,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * \returns list of command interfaces for preceding controllers.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual std::vector<hardware_interface::CommandInterface::SharedPtr>
   export_reference_interfaces() = 0;
 
@@ -291,7 +270,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * \returns list of state interfaces for preceding controllers.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual std::vector<hardware_interface::StateInterface::ConstSharedPtr>
   export_state_interfaces() = 0;
 
@@ -303,7 +281,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * \returns true if mode is switched successfully and false if not.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual bool set_chained_mode(bool chained_mode) = 0;
 
   /// Get information if a controller is currently in chained mode.
@@ -314,7 +291,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    *
    * \returns true is controller is in chained mode and false if it is not.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   virtual bool is_in_chained_mode() const = 0;
 
   /**
@@ -327,7 +303,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * If the controller is running in async mode, the method will wait for the current async update
    * to finish. If the controller is not running in async mode, the method will do nothing.
    */
-  CONTROLLER_INTERFACE_PUBLIC
   void wait_for_trigger_update_to_finish();
 
 protected: