merge parser functions

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -114,7 +114,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   virtual void import_state_interface_descriptions(const HardwareInfo & hardware_info)
   {
     auto joint_state_interface_descriptions =
-      parse_joint_state_interface_descriptions_from_hardware_info(hardware_info);
+      parse_state_interface_descriptions_from_hardware_info(hardware_info.joints);
     for (const auto & description : joint_state_interface_descriptions)
     {
       joint_state_interfaces_.insert(std::make_pair(description.get_name(), description));
@@ -128,7 +128,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   virtual void import_command_interface_descriptions(const HardwareInfo & hardware_info)
   {
     auto joint_command_interface_descriptions =
-      parse_joint_command_interface_descriptions_from_hardware_info(hardware_info);
+      parse_command_interface_descriptions_from_hardware_info(hardware_info.joints);
     for (const auto & description : joint_command_interface_descriptions)
     {
       joint_command_interfaces_.insert(std::make_pair(description.get_name(), description));

hardware_interface/include/hardware_interface/component_parser.hpp

@@ -34,49 +34,22 @@ HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
 /**
- * \param[in] hw_info the hardware description
- * \return vector filled with information about robot's SommandInterfaces for the joints
+ * \param[in] component_info information about a component (gpio, joint, sensor)
+ * \return vector filled with information about hardware's StateInterfaces for the component
  * which are exported
  */
 HARDWARE_INTERFACE_PUBLIC
-std::vector<InterfaceDescription> parse_joint_state_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info);
+std::vector<InterfaceDescription> parse_state_interface_descriptions_from_hardware_info(
+  const std::vector<ComponentInfo> & component_info);
 
 /**
- * \param[in] hw_info the hardware description
- * \return vector filled with information about robot's SommandInterfaces for the sensors
+ * \param[in] component_info information about a component (gpio, joint, sensor)
+ * \return vector filled with information about hardware's CommandInterfaces for the component
  * which are exported
  */
 HARDWARE_INTERFACE_PUBLIC
-std::vector<InterfaceDescription> parse_sensor_state_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info);
-
-/**
- * \param[in] hw_info the hardware description
- * \return vector filled with information about robot's SommandInterfaces for the gpios
- * which are exported
- */
-HARDWARE_INTERFACE_PUBLIC
-std::vector<InterfaceDescription> parse_gpio_state_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info);
-
-/**
- * \param[in] hw_info the hardware description
- * \return vector filled with information about robot's CommandInterfaces for the joints
- * which are exported
- */
-HARDWARE_INTERFACE_PUBLIC
-std::vector<InterfaceDescription> parse_joint_command_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info);
-
-/**
- * \param[in] hw_info the hardware description
- * \return vector filled with information about robot's CommandInterfaces for the gpios
- * which are exported
- */
-HARDWARE_INTERFACE_PUBLIC
-std::vector<InterfaceDescription> parse_gpio_command_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info);
+std::vector<InterfaceDescription> parse_command_interface_descriptions_from_hardware_info(
+  const std::vector<ComponentInfo> & component_info);
 
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -113,7 +113,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   virtual void import_state_interface_descriptions(const HardwareInfo & hardware_info)
   {
     auto sensor_state_interface_descriptions =
-      parse_sensor_state_interface_descriptions_from_hardware_info(hardware_info);
+      parse_state_interface_descriptions_from_hardware_info(hardware_info.sensors);
     for (const auto & description : sensor_state_interface_descriptions)
     {
       sensor_state_interfaces_.insert(std::make_pair(description.get_name(), description));

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -116,19 +116,19 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   void import_state_interface_descriptions(const HardwareInfo & hardware_info)
   {
     auto joint_state_interface_descriptions =
-      parse_joint_state_interface_descriptions_from_hardware_info(hardware_info);
+      parse_state_interface_descriptions_from_hardware_info(hardware_info.joints);
     for (const auto & description : joint_state_interface_descriptions)
     {
       joint_state_interfaces_.insert(std::make_pair(description.get_name(), description));
     }
     auto sensor_state_interface_descriptions =
-      parse_sensor_state_interface_descriptions_from_hardware_info(hardware_info);
+      parse_state_interface_descriptions_from_hardware_info(hardware_info.sensors);
     for (const auto & description : sensor_state_interface_descriptions)
     {
       sensor_state_interfaces_.insert(std::make_pair(description.get_name(), description));
     }
     auto gpio_state_interface_descriptions =
-      parse_gpio_state_interface_descriptions_from_hardware_info(hardware_info);
+      parse_state_interface_descriptions_from_hardware_info(hardware_info.gpios);
     for (const auto & description : gpio_state_interface_descriptions)
     {
       gpio_state_interfaces_.insert(std::make_pair(description.get_name(), description));
@@ -142,13 +142,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   void import_command_interface_descriptions(const HardwareInfo & hardware_info)
   {
     auto joint_command_interface_descriptions =
-      parse_joint_command_interface_descriptions_from_hardware_info(hardware_info);
+      parse_command_interface_descriptions_from_hardware_info(hardware_info.joints);
     for (const auto & description : joint_command_interface_descriptions)
     {
       joint_command_interfaces_.insert(std::make_pair(description.get_name(), description));
     }
     auto gpio_command_interface_descriptions =
-      parse_gpio_command_interface_descriptions_from_hardware_info(hardware_info);
+      parse_command_interface_descriptions_from_hardware_info(hardware_info.gpios);
     for (const auto & description : gpio_command_interface_descriptions)
     {
       gpio_command_interfaces_.insert(std::make_pair(description.get_name(), description));

hardware_interface/src/component_parser.cpp

@@ -614,74 +614,38 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
   return hardware_info;
 }
 
-std::vector<InterfaceDescription> parse_joint_state_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info)
+std::vector<InterfaceDescription> parse_state_interface_descriptions_from_hardware_info(
+  const std::vector<ComponentInfo> & component_info)
 {
-  std::vector<InterfaceDescription> joint_state_interface_descriptions;
-  joint_state_interface_descriptions.reserve(hw_info.joints.size());
+  std::vector<InterfaceDescription> component_state_interface_descriptions;
+  component_state_interface_descriptions.reserve(component_info.size());
 
-  for (const auto & joint : hw_info.joints)
+  for (const auto & component : component_info)
   {
-    for (const auto & state_interface : joint.state_interfaces)
+    for (const auto & state_interface : component.state_interfaces)
     {
-      joint_state_interface_descriptions.emplace_back(
-        InterfaceDescription(joint.name, state_interface));
+      component_state_interface_descriptions.emplace_back(
+        InterfaceDescription(component.name, state_interface));
     }
   }
-  return joint_state_interface_descriptions;
+  return component_state_interface_descriptions;
 }
 
-std::vector<InterfaceDescription> parse_sensor_state_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info)
-{
-  std::vector<InterfaceDescription> sensor_state_interface_descriptions;
-  sensor_state_interface_descriptions.reserve(hw_info.sensors.size());
-
-  for (const auto & sensor : hw_info.sensors)
-  {
-    for (const auto & state_interface : sensor.state_interfaces)
-    {
-      sensor_state_interface_descriptions.emplace_back(
-        InterfaceDescription(sensor.name, state_interface));
-    }
-  }
-  return sensor_state_interface_descriptions;
-}
-
-std::vector<InterfaceDescription> parse_gpio_state_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info)
-{
-  std::vector<InterfaceDescription> gpio_state_interface_descriptions;
-  gpio_state_interface_descriptions.reserve(hw_info.gpios.size());
-
-  for (const auto & gpio : hw_info.gpios)
-  {
-    for (const auto & state_interface : gpio.state_interfaces)
-    {
-      gpio_state_interface_descriptions.emplace_back(
-        InterfaceDescription(gpio.name, state_interface));
-    }
-  }
-  return gpio_state_interface_descriptions;
-}
-
-std::vector<InterfaceDescription> parse_joint_command_interface_descriptions_from_hardware_info(
-  const HardwareInfo & hw_info)
+std::vector<InterfaceDescription> parse_command_interface_descriptions_from_hardware_info(
+  const std::vector<ComponentInfo> & component_info)
 {
-  std::vector<InterfaceDescription>
-    gpio_state_intejoint_command_interface_descriptionsrface_descriptions;
-  gpio_state_intejoint_command_interface_descriptionsrface_descriptions.reserve(
-    hw_info.joints.size());
+  std::vector<InterfaceDescription> component_command_interface_descriptions;
+  component_command_interface_descriptions.reserve(component_info.size());
 
-  for (const auto & joint : hw_info.joints)
+  for (const auto & component : component_info)
   {
-    for (const auto & command_interface : joint.command_interfaces)
+    for (const auto & command_interface : component.command_interfaces)
     {
-      gpio_state_intejoint_command_interface_descriptionsrface_descriptions.emplace_back(
-        InterfaceDescription(joint.name, command_interface));
+      component_command_interface_descriptions.emplace_back(
+        InterfaceDescription(component.name, command_interface));
     }
   }
-  return gpio_state_intejoint_command_interface_descriptionsrface_descriptions;
+  return component_command_interface_descriptions;
 }
 
 std::vector<InterfaceDescription> parse_gpio_command_interface_descriptions_from_hardware_info(

hardware_interface/test/test_component_parser.cpp

@@ -684,7 +684,7 @@ TEST_F(TestComponentParser, parse_joint_state_interface_descriptions_from_hardwa
   const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
 
   const auto joint_state_descriptions =
-    parse_joint_state_interface_descriptions_from_hardware_info(control_hardware[0]);
+    parse_state_interface_descriptions_from_hardware_info(control_hardware[0].joints);
   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");
@@ -703,7 +703,7 @@ TEST_F(TestComponentParser, parse_joint_command_interface_descriptions_from_hard
   const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
 
   const auto joint_command_descriptions =
-    parse_joint_command_interface_descriptions_from_hardware_info(control_hardware[0]);
+    parse_command_interface_descriptions_from_hardware_info(control_hardware[0].joints);
   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");
@@ -725,7 +725,7 @@ TEST_F(TestComponentParser, parse_sensor_state_interface_descriptions_from_hardw
   const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
 
   const auto sensor_state_descriptions =
-    parse_sensor_state_interface_descriptions_from_hardware_info(control_hardware[0]);
+    parse_state_interface_descriptions_from_hardware_info(control_hardware[0].sensors);
   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");
@@ -750,7 +750,7 @@ TEST_F(TestComponentParser, parse_gpio_state_interface_descriptions_from_hardwar
   const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
 
   const auto gpio_state_descriptions =
-    parse_gpio_state_interface_descriptions_from_hardware_info(control_hardware[0]);
+    parse_state_interface_descriptions_from_hardware_info(control_hardware[0].gpios);
   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");
@@ -775,7 +775,7 @@ TEST_F(TestComponentParser, parse_gpio_command_interface_descriptions_from_hardw
   const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
 
   const auto gpio_state_descriptions =
-    parse_gpio_command_interface_descriptions_from_hardware_info(control_hardware[0]);
+    parse_command_interface_descriptions_from_hardware_info(control_hardware[0].gpios);
   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");