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Make variable name clearer: rename 'request' to 'controller_name'.
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@destogl
destogl committed Dec 18, 2023
1 parent 855ad76 commit d9b6735
Showing 1 changed file with 20 additions and 18 deletions.
38 changes: 20 additions & 18 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1337,17 +1337,17 @@ void ControllerManager::deactivate_controllers(
const std::vector<std::string> controllers_to_deactivate)
{
// deactivate controllers
for (const auto & request : controllers_to_deactivate)
for (const auto & controller_name : controllers_to_deactivate)
{
auto found_it = std::find_if(
rt_controller_list.begin(), rt_controller_list.end(),
std::bind(controller_name_compare, std::placeholders::_1, request));
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == rt_controller_list.end())
{
RCLCPP_ERROR(
get_logger(),
"Got request to deactivate controller '%s' but it is not in the realtime controller list",
request.c_str());
controller_name.c_str());
continue;
}
auto controller = found_it->c;
Expand All @@ -1358,13 +1358,13 @@ void ControllerManager::deactivate_controllers(
// if it is a chainable controller, make the reference interfaces unavailable on deactivation
if (controller->is_chainable())
{
resource_manager_->make_controller_reference_interfaces_unavailable(request);
resource_manager_->make_controller_reference_interfaces_unavailable(controller_name);
}
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_ERROR(
get_logger(), "After deactivating, controller '%s' is in state '%s', expected Inactive",
request.c_str(), new_state.label().c_str());
controller_name.c_str(), new_state.label().c_str());
}
}
}
Expand All @@ -1376,26 +1376,26 @@ void ControllerManager::switch_chained_mode(
std::vector<ControllerSpec> & rt_controller_list =
rt_controllers_wrapper_.update_and_get_used_by_rt_list();

for (const auto & request : chained_mode_switch_list)
for (const auto & controller_name : chained_mode_switch_list)
{
auto found_it = std::find_if(
rt_controller_list.begin(), rt_controller_list.end(),
std::bind(controller_name_compare, std::placeholders::_1, request));
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == rt_controller_list.end())
{
RCLCPP_FATAL(
get_logger(),
"Got request to turn %s chained mode for controller '%s', but controller is not in the "
"realtime controller list. (This should never happen!)",
(to_chained_mode ? "ON" : "OFF"), request.c_str());
(to_chained_mode ? "ON" : "OFF"), controller_name.c_str());
continue;
}
auto controller = found_it->c;
if (!is_controller_active(*controller))
{
// if it is a chainable controller, make the reference interfaces available on preactivation
// (This is needed when you activate a couple of chainable controller altogether)
resource_manager_->make_controller_reference_interfaces_available(request);
resource_manager_->make_controller_reference_interfaces_available(controller_name);
if (!controller->set_chained_mode(to_chained_mode))
{
RCLCPP_ERROR(
Expand All @@ -1404,7 +1404,7 @@ void ControllerManager::switch_chained_mode(
"it! The control will probably not work as expected. Try to restart all controllers. "
"If "
"the error persist check controllers' individual configuration.",
(to_chained_mode ? "ON" : "OFF"), request.c_str());
(to_chained_mode ? "ON" : "OFF"), controller_name.c_str());
}
}
else
Expand All @@ -1413,7 +1413,7 @@ void ControllerManager::switch_chained_mode(
get_logger(),
"Got request to turn %s chained mode for controller '%s', but this can not happen if "
"controller is in '%s' state. (This should never happen!)",
(to_chained_mode ? "ON" : "OFF"), request.c_str(),
(to_chained_mode ? "ON" : "OFF"), controller_name.c_str(),
hardware_interface::lifecycle_state_names::ACTIVE);
}
}
Expand All @@ -1423,17 +1423,17 @@ void ControllerManager::activate_controllers(
const std::vector<ControllerSpec> & rt_controller_list,
const std::vector<std::string> controllers_to_activate)
{
for (const auto & request : controllers_to_activate)
for (const auto & controller_name : controllers_to_activate)
{
auto found_it = std::find_if(
rt_controller_list.begin(), rt_controller_list.end(),
std::bind(controller_name_compare, std::placeholders::_1, request));
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == rt_controller_list.end())
{
RCLCPP_ERROR(
get_logger(),
"Got request to activate controller '%s' but it is not in the realtime controller list",
request.c_str());
controller_name.c_str());
continue;
}
auto controller = found_it->c;
Expand Down Expand Up @@ -1466,7 +1466,7 @@ void ControllerManager::activate_controllers(
RCLCPP_ERROR(
get_logger(),
"Resource conflict for controller '%s'. Command interface '%s' is already claimed.",
request.c_str(), command_interface.c_str());
controller_name.c_str(), command_interface.c_str());
assignment_successful = false;
break;
}
Expand All @@ -1476,7 +1476,8 @@ void ControllerManager::activate_controllers(
}
catch (const std::exception & e)
{
RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what());
RCLCPP_ERROR(
get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
assignment_successful = false;
break;
}
Expand Down Expand Up @@ -1510,7 +1511,8 @@ void ControllerManager::activate_controllers(
}
catch (const std::exception & e)
{
RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what());
RCLCPP_ERROR(
get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
assignment_successful = false;
break;
}
Expand All @@ -1536,7 +1538,7 @@ void ControllerManager::activate_controllers(
// if it is a chainable controller, make the reference interfaces available on activation
if (controller->is_chainable())
{
resource_manager_->make_controller_reference_interfaces_available(request);
resource_manager_->make_controller_reference_interfaces_available(controller_name);
}

if (controller->is_async())
Expand Down

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