undo prefix_ -> prefix (HWInfo) and Command-/StateIntefaceSharedPtr

hardware_interface/include/hardware_interface/actuator.hpp

@@ -65,10 +65,10 @@ class Actuator final
   const rclcpp_lifecycle::State & error();
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<StateInterfaceSharedPtr> export_state_interfaces();
+  std::vector<std::shared_ptr<StateInterface>> export_state_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<CommandInterfaceSharedPtr> export_command_interfaces();
+  std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
   return_type prepare_command_mode_switch(

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -148,7 +148,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    * \return vector of state interfaces
    */
   [[deprecated(
-    "Replaced by vector<StateInterfaceSharedPtr> on_export_state_interfaces() method. "
+    "Replaced by vector<std::shared_ptr<StateInterface>> on_export_state_interfaces() method. "
     "Exporting is "
     "handled "
     "by the Framework.")]] virtual std::vector<StateInterface>
@@ -166,9 +166,9 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    *
    * \return vector of shared pointers to the created and stored StateInterfaces
    */
-  virtual std::vector<StateInterfaceSharedPtr> on_export_state_interfaces()
+  virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
   {
-    std::vector<StateInterfaceSharedPtr> state_interfaces;
+    std::vector<std::shared_ptr<StateInterface>> state_interfaces;
     state_interfaces.reserve(joint_state_interfaces_.size());
 
     for (const auto & [name, descr] : joint_state_interfaces_)
@@ -193,7 +193,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    * \return vector of state interfaces
    */
   [[deprecated(
-    "Replaced by vector<CommandInterfaceSharedPtr> on_export_command_interfaces() method. "
+    "Replaced by vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces() method. "
     "Exporting is "
     "handled "
     "by the Framework.")]] virtual std::vector<CommandInterface>
@@ -211,9 +211,9 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    *
    * \return vector of shared pointers to the created and stored CommandInterfaces
    */
-  virtual std::vector<CommandInterfaceSharedPtr> on_export_command_interfaces()
+  virtual std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
   {
-    std::vector<CommandInterfaceSharedPtr> command_interfaces;
+    std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
     command_interfaces.reserve(joint_command_interfaces_.size());
 
     for (const auto & [name, descr] : joint_command_interfaces_)
@@ -330,8 +330,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   std::map<std::string, InterfaceDescription> joint_state_interfaces_;
   std::map<std::string, InterfaceDescription> joint_command_interfaces_;
 
-  std::unordered_map<std::string, StateInterfaceSharedPtr> actuator_states_;
-  std::unordered_map<std::string, CommandInterfaceSharedPtr> actuator_commands_;
+  std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
+  std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;
 
   rclcpp_lifecycle::State lifecycle_state_;
 };

hardware_interface/include/hardware_interface/handle.hpp

@@ -44,7 +44,7 @@ class Handle
   }
 
   explicit Handle(const InterfaceDescription & interface_description)
-  : prefix_name_(interface_description.prefix_name_),
+  : prefix_name_(interface_description.prefix_name),
     interface_name_(interface_description.interface_info.name)
   {
     // As soon as multiple datatypes are used in HANDLE_DATATYPE
@@ -136,8 +136,6 @@ class StateInterface : public Handle
   using Handle::Handle;
 };
 
-using StateInterfaceSharedPtr = std::shared_ptr<StateInterface>;
-
 class CommandInterface : public Handle
 {
 public:
@@ -158,8 +156,6 @@ class CommandInterface : public Handle
   using Handle::Handle;
 };
 
-using CommandInterfaceSharedPtr = std::shared_ptr<CommandInterface>;
-
 }  // namespace hardware_interface
 
 #endif  // HARDWARE_INTERFACE__HANDLE_HPP_

hardware_interface/include/hardware_interface/hardware_info.hpp

@@ -108,15 +108,15 @@ struct TransmissionInfo
  */
 struct InterfaceDescription
 {
-  InterfaceDescription(const std::string & prefix_name, const InterfaceInfo & interface_info_in)
-  : prefix_name_(prefix_name), interface_info(interface_info_in)
+  InterfaceDescription(const std::string & prefix_name_in, const InterfaceInfo & interface_info_in)
+  : prefix_name(prefix_name_in), interface_info(interface_info_in)
   {
   }
 
   /**
    * Name of the interface defined by the user.
    */
-  std::string prefix_name_;
+  std::string prefix_name;
 
   /**
    * What type of component is exported: joint, sensor or gpio
@@ -128,7 +128,7 @@ struct InterfaceDescription
    */
   InterfaceInfo interface_info;
 
-  std::string get_name() const { return prefix_name_ + "/" + interface_info.name; }
+  std::string get_name() const { return prefix_name + "/" + interface_info.name; }
 
   std::string get_interface_type() const { return interface_info.name; }
 };

hardware_interface/include/hardware_interface/sensor.hpp

@@ -66,7 +66,7 @@ class Sensor final
   const rclcpp_lifecycle::State & error();
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<StateInterfaceSharedPtr> export_state_interfaces();
+  std::vector<std::shared_ptr<StateInterface>> export_state_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
   std::string get_name() const;

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -133,7 +133,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    * \return vector of state interfaces
    */
   [[deprecated(
-    "Replaced by vector<StateInterfaceSharedPtr> on_export_state_interfaces() method. "
+    "Replaced by vector<std::shared_ptr<StateInterface>> on_export_state_interfaces() method. "
     "Exporting is handled "
     "by the Framework.")]] virtual std::vector<StateInterface>
   export_state_interfaces()
@@ -150,9 +150,9 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    *
    * \return vector of shared pointers to the created and stored StateInterfaces
    */
-  virtual std::vector<StateInterfaceSharedPtr> on_export_state_interfaces()
+  virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
   {
-    std::vector<StateInterfaceSharedPtr> state_interfaces;
+    std::vector<std::shared_ptr<StateInterface>> state_interfaces;
     state_interfaces.reserve(sensor_state_interfaces_.size());
 
     for (const auto & [name, descr] : sensor_state_interfaces_)
@@ -212,7 +212,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
   std::map<std::string, InterfaceDescription> sensor_state_interfaces_;
 
-  std::unordered_map<std::string, StateInterfaceSharedPtr> sensor_states_;
+  std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
 
   rclcpp_lifecycle::State lifecycle_state_;
 };

hardware_interface/include/hardware_interface/system.hpp

@@ -66,10 +66,10 @@ class System final
   const rclcpp_lifecycle::State & error();
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<StateInterfaceSharedPtr> export_state_interfaces();
+  std::vector<std::shared_ptr<StateInterface>> export_state_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<CommandInterfaceSharedPtr> export_command_interfaces();
+  std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
   return_type prepare_command_mode_switch(

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -168,7 +168,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    * \return vector of state interfaces
    */
   [[deprecated(
-    "Replaced by vector<StateInterfaceSharedPtr> on_export_state_interfaces() method. "
+    "Replaced by vector<std::shared_ptr<StateInterface>> on_export_state_interfaces() method. "
     "Exporting is handled "
     "by the Framework.")]] virtual std::vector<StateInterface>
   export_state_interfaces()
@@ -185,9 +185,9 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    *
    * \return vector of shared pointers to the created and stored StateInterfaces
    */
-  virtual std::vector<StateInterfaceSharedPtr> on_export_state_interfaces()
+  virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
   {
-    std::vector<StateInterfaceSharedPtr> state_interfaces;
+    std::vector<std::shared_ptr<StateInterface>> state_interfaces;
     state_interfaces.reserve(
       joint_state_interfaces_.size() + sensor_state_interfaces_.size() +
       gpio_state_interfaces_.size());
@@ -226,7 +226,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    * \return vector of state interfaces
    */
   [[deprecated(
-    "Replaced by vector<CommandInterfaceSharedPtr> on_export_command_interfaces() method. "
+    "Replaced by vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces() method. "
     "Exporting is "
     "handled "
     "by the Framework.")]] virtual std::vector<CommandInterface>
@@ -244,9 +244,9 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    *
    * \return vector of shared pointers to the created and stored CommandInterfaces
    */
-  virtual std::vector<CommandInterfaceSharedPtr> on_export_command_interfaces()
+  virtual std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
   {
-    std::vector<CommandInterfaceSharedPtr> command_interfaces;
+    std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
     command_interfaces.reserve(joint_command_interfaces_.size() + gpio_command_interfaces_.size());
 
     for (const auto & [name, descr] : joint_command_interfaces_)
@@ -375,8 +375,8 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   std::map<std::string, InterfaceDescription> gpio_state_interfaces_;
   std::map<std::string, InterfaceDescription> gpio_command_interfaces_;
 
-  std::unordered_map<std::string, StateInterfaceSharedPtr> system_states_;
-  std::unordered_map<std::string, CommandInterfaceSharedPtr> system_commands_;
+  std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
+  std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;
 
   rclcpp_lifecycle::State lifecycle_state_;
 };

hardware_interface/test/test_component_interfaces_custom_export.cpp

@@ -56,7 +56,8 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
 {
   std::string get_name() const override { return "DummyActuatorDefault"; }
 
-  std::vector<hardware_interface::StateInterfaceSharedPtr> on_export_state_interfaces() override
+  std::vector<std::shared_ptr<hardware_interface::StateInterface>> on_export_state_interfaces()
+    override
   {
     auto interfaces = hardware_interface::ActuatorInterface::on_export_state_interfaces();
     auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
@@ -68,7 +69,8 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
     return interfaces;
   }
 
-  std::vector<hardware_interface::CommandInterfaceSharedPtr> on_export_command_interfaces() override
+  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> on_export_command_interfaces()
+    override
   {
     auto interfaces = hardware_interface::ActuatorInterface::on_export_command_interfaces();
     auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(
@@ -97,7 +99,8 @@ class DummySensorDefault : public hardware_interface::SensorInterface
 {
   std::string get_name() const override { return "DummySensorDefault"; }
 
-  std::vector<hardware_interface::StateInterfaceSharedPtr> on_export_state_interfaces() override
+  std::vector<std::shared_ptr<hardware_interface::StateInterface>> on_export_state_interfaces()
+    override
   {
     auto interfaces = hardware_interface::SensorInterface::on_export_state_interfaces();
     auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
@@ -120,7 +123,8 @@ class DummySystemDefault : public hardware_interface::SystemInterface
 {
   std::string get_name() const override { return "DummySystemDefault"; }
 
-  std::vector<hardware_interface::StateInterfaceSharedPtr> on_export_state_interfaces() override
+  std::vector<std::shared_ptr<hardware_interface::StateInterface>> on_export_state_interfaces()
+    override
   {
     auto interfaces = hardware_interface::SystemInterface::on_export_state_interfaces();
     auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
@@ -132,7 +136,8 @@ class DummySystemDefault : public hardware_interface::SystemInterface
     return interfaces;
   }
 
-  std::vector<hardware_interface::CommandInterfaceSharedPtr> on_export_command_interfaces() override
+  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> on_export_command_interfaces()
+    override
   {
     auto interfaces = hardware_interface::SystemInterface::on_export_command_interfaces();
     auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(

hardware_interface/test/test_component_parser.cpp

@@ -685,11 +685,11 @@ TEST_F(TestComponentParser, parse_joint_state_interface_descriptions_from_hardwa
 
   const auto joint_state_descriptions =
     parse_joint_state_interface_descriptions_from_hardware_info(control_hardware[0]);
-  EXPECT_EQ(joint_state_descriptions[0].prefix_name_, "joint1");
+  EXPECT_EQ(joint_state_descriptions[0].prefix_name, "joint1");
   EXPECT_EQ(joint_state_descriptions[0].get_interface_type(), "position");
   EXPECT_EQ(joint_state_descriptions[0].get_name(), "joint1/position");
 
-  EXPECT_EQ(joint_state_descriptions[1].prefix_name_, "joint2");
+  EXPECT_EQ(joint_state_descriptions[1].prefix_name, "joint2");
   EXPECT_EQ(joint_state_descriptions[1].get_interface_type(), "position");
   EXPECT_EQ(joint_state_descriptions[1].get_name(), "joint2/position");
 }
@@ -704,13 +704,13 @@ TEST_F(TestComponentParser, parse_joint_command_interface_descriptions_from_hard
 
   const auto joint_command_descriptions =
     parse_joint_command_interface_descriptions_from_hardware_info(control_hardware[0]);
-  EXPECT_EQ(joint_command_descriptions[0].prefix_name_, "joint1");
+  EXPECT_EQ(joint_command_descriptions[0].prefix_name, "joint1");
   EXPECT_EQ(joint_command_descriptions[0].get_interface_type(), "position");
   EXPECT_EQ(joint_command_descriptions[0].get_name(), "joint1/position");
   EXPECT_EQ(joint_command_descriptions[0].interface_info.min, "-1");
   EXPECT_EQ(joint_command_descriptions[0].interface_info.max, "1");
 
-  EXPECT_EQ(joint_command_descriptions[1].prefix_name_, "joint2");
+  EXPECT_EQ(joint_command_descriptions[1].prefix_name, "joint2");
   EXPECT_EQ(joint_command_descriptions[1].get_interface_type(), "position");
   EXPECT_EQ(joint_command_descriptions[1].get_name(), "joint2/position");
   EXPECT_EQ(joint_command_descriptions[1].interface_info.min, "-1");
@@ -726,17 +726,17 @@ TEST_F(TestComponentParser, parse_sensor_state_interface_descriptions_from_hardw
 
   const auto sensor_state_descriptions =
     parse_sensor_state_interface_descriptions_from_hardware_info(control_hardware[0]);
-  EXPECT_EQ(sensor_state_descriptions[0].prefix_name_, "sensor1");
+  EXPECT_EQ(sensor_state_descriptions[0].prefix_name, "sensor1");
   EXPECT_EQ(sensor_state_descriptions[0].get_interface_type(), "roll");
   EXPECT_EQ(sensor_state_descriptions[0].get_name(), "sensor1/roll");
-  EXPECT_EQ(sensor_state_descriptions[1].prefix_name_, "sensor1");
+  EXPECT_EQ(sensor_state_descriptions[1].prefix_name, "sensor1");
   EXPECT_EQ(sensor_state_descriptions[1].get_interface_type(), "pitch");
   EXPECT_EQ(sensor_state_descriptions[1].get_name(), "sensor1/pitch");
-  EXPECT_EQ(sensor_state_descriptions[2].prefix_name_, "sensor1");
+  EXPECT_EQ(sensor_state_descriptions[2].prefix_name, "sensor1");
   EXPECT_EQ(sensor_state_descriptions[2].get_interface_type(), "yaw");
   EXPECT_EQ(sensor_state_descriptions[2].get_name(), "sensor1/yaw");
 
-  EXPECT_EQ(sensor_state_descriptions[3].prefix_name_, "sensor2");
+  EXPECT_EQ(sensor_state_descriptions[3].prefix_name, "sensor2");
   EXPECT_EQ(sensor_state_descriptions[3].get_interface_type(), "image");
   EXPECT_EQ(sensor_state_descriptions[3].get_name(), "sensor2/image");
 }
@@ -751,17 +751,17 @@ TEST_F(TestComponentParser, parse_gpio_state_interface_descriptions_from_hardwar
 
   const auto gpio_state_descriptions =
     parse_gpio_state_interface_descriptions_from_hardware_info(control_hardware[0]);
-  EXPECT_EQ(gpio_state_descriptions[0].prefix_name_, "flange_analog_IOs");
+  EXPECT_EQ(gpio_state_descriptions[0].prefix_name, "flange_analog_IOs");
   EXPECT_EQ(gpio_state_descriptions[0].get_interface_type(), "analog_output1");
   EXPECT_EQ(gpio_state_descriptions[0].get_name(), "flange_analog_IOs/analog_output1");
-  EXPECT_EQ(gpio_state_descriptions[1].prefix_name_, "flange_analog_IOs");
+  EXPECT_EQ(gpio_state_descriptions[1].prefix_name, "flange_analog_IOs");
   EXPECT_EQ(gpio_state_descriptions[1].get_interface_type(), "analog_input1");
   EXPECT_EQ(gpio_state_descriptions[1].get_name(), "flange_analog_IOs/analog_input1");
-  EXPECT_EQ(gpio_state_descriptions[2].prefix_name_, "flange_analog_IOs");
+  EXPECT_EQ(gpio_state_descriptions[2].prefix_name, "flange_analog_IOs");
   EXPECT_EQ(gpio_state_descriptions[2].get_interface_type(), "analog_input2");
   EXPECT_EQ(gpio_state_descriptions[2].get_name(), "flange_analog_IOs/analog_input2");
 
-  EXPECT_EQ(gpio_state_descriptions[3].prefix_name_, "flange_vacuum");
+  EXPECT_EQ(gpio_state_descriptions[3].prefix_name, "flange_vacuum");
   EXPECT_EQ(gpio_state_descriptions[3].get_interface_type(), "vacuum");
   EXPECT_EQ(gpio_state_descriptions[3].get_name(), "flange_vacuum/vacuum");
 }
@@ -776,11 +776,11 @@ TEST_F(TestComponentParser, parse_gpio_command_interface_descriptions_from_hardw
 
   const auto gpio_state_descriptions =
     parse_gpio_command_interface_descriptions_from_hardware_info(control_hardware[0]);
-  EXPECT_EQ(gpio_state_descriptions[0].prefix_name_, "flange_analog_IOs");
+  EXPECT_EQ(gpio_state_descriptions[0].prefix_name, "flange_analog_IOs");
   EXPECT_EQ(gpio_state_descriptions[0].get_interface_type(), "analog_output1");
   EXPECT_EQ(gpio_state_descriptions[0].get_name(), "flange_analog_IOs/analog_output1");
 
-  EXPECT_EQ(gpio_state_descriptions[1].prefix_name_, "flange_vacuum");
+  EXPECT_EQ(gpio_state_descriptions[1].prefix_name, "flange_vacuum");
   EXPECT_EQ(gpio_state_descriptions[1].get_interface_type(), "vacuum");
   EXPECT_EQ(gpio_state_descriptions[1].get_name(), "flange_vacuum/vacuum");
 }