Add constructor using sharedptr, deprecated reference-based ones

ros-controls · Oct 7, 2024 · 9c16a79 · 9c16a79
1 parent f4ec3d6
commit 9c16a79
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Showing 3 changed files with 20 additions and 6 deletions.
diff --git a/hardware_interface/include/hardware_interface/loaned_command_interface.hpp b/hardware_interface/include/hardware_interface/loaned_command_interface.hpp
@@ -28,16 +28,23 @@ class LoanedCommandInterface
 public:
   using Deleter = std::function<void(void)>;
 
-  explicit LoanedCommandInterface(CommandInterface & command_interface)
+  [[deprecated("Replaced by the new version using shared_ptr")]] explicit LoanedCommandInterface(
+    CommandInterface & command_interface)
   : LoanedCommandInterface(command_interface, nullptr)
   {
   }
 
-  LoanedCommandInterface(CommandInterface & command_interface, Deleter && deleter)
+  [[deprecated("Replaced by the new version using shared_ptr")]] LoanedCommandInterface(
+    CommandInterface & command_interface, Deleter && deleter)
   : command_interface_(command_interface), deleter_(std::forward<Deleter>(deleter))
   {
   }
 
+  LoanedCommandInterface(CommandInterface::SharedPtr command_interface, Deleter && deleter)
+  : command_interface_(*command_interface), deleter_(std::forward<Deleter>(deleter))
+  {
+  }
+
   LoanedCommandInterface(const LoanedCommandInterface & other) = delete;
 
   LoanedCommandInterface(LoanedCommandInterface && other) = default;

diff --git a/hardware_interface/include/hardware_interface/loaned_state_interface.hpp b/hardware_interface/include/hardware_interface/loaned_state_interface.hpp
@@ -28,16 +28,23 @@ class LoanedStateInterface
 public:
   using Deleter = std::function<void(void)>;
 
-  explicit LoanedStateInterface(StateInterface & state_interface)
+  [[deprecated("Replaced by the new version using shared_ptr")]] explicit LoanedStateInterface(
+    StateInterface & state_interface)
   : LoanedStateInterface(state_interface, nullptr)
   {
   }
 
-  LoanedStateInterface(StateInterface & state_interface, Deleter && deleter)
+  [[deprecated("Replaced by the new version using shared_ptr")]] LoanedStateInterface(
+    StateInterface & state_interface, Deleter && deleter)
   : state_interface_(state_interface), deleter_(std::forward<Deleter>(deleter))
   {
   }
 
+  LoanedStateInterface(StateInterface::SharedPtr state_interface, Deleter && deleter)
+  : state_interface_(*state_interface), deleter_(std::forward<Deleter>(deleter))
+  {
+  }
+
   LoanedStateInterface(const LoanedStateInterface & other) = delete;
 
   LoanedStateInterface(LoanedStateInterface && other) = default;

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -1207,7 +1207,7 @@ LoanedStateInterface ResourceManager::claim_state_interface(const std::string &
   }
 
   std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
-  return LoanedStateInterface(*(resource_storage_->state_interface_map_.at(key)));
+  return LoanedStateInterface(resource_storage_->state_interface_map_.at(key));
 }
 
 // CM API: Called in "callback/slow"-thread
@@ -1440,7 +1440,7 @@ LoanedCommandInterface ResourceManager::claim_command_interface(const std::strin
   resource_storage_->claimed_command_interface_map_[key] = true;
   std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
   return LoanedCommandInterface(
-    *(resource_storage_->command_interface_map_.at(key)),
+    resource_storage_->command_interface_map_.at(key),
     std::bind(&ResourceManager::release_command_interface, this, key));
 }