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fix multiple system unconfigured rise cleanup #1175

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fix multiple system unconfigured rise cleanup #1175

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63b725d
fix multiple system rise cleanup
anscipione Nov 20, 2023
5ad0199
Merge branch 'master' into fix_multiple_cleanup_on_unconfigured_compo…
anscipione Dec 12, 2023
653f2d0
Merge branch 'ros-controls:master' into fix_multiple_cleanup_on_uncon…
anscipione Dec 13, 2023
5184402
Merge branch 'master' into fix_multiple_cleanup_on_unconfigured_compo…
anscipione Dec 14, 2023
40a3d14
Merge branch 'master' into fix_multiple_cleanup_on_unconfigured_compo…
anscipione Dec 22, 2023
1c238f0
Apply suggestions from code review
anscipione Jan 7, 2024
7f39020
Merge branch 'master' into fix_multiple_cleanup_on_unconfigured_compo…
anscipione Jan 7, 2024
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10 changes: 8 additions & 2 deletions hardware_interface/src/actuator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,7 +218,10 @@ const rclcpp_lifecycle::State & Actuator::get_state() const { return impl_->get_

return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & period)
{
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}
return_type result = return_type::ERROR;
if (
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
Expand All @@ -235,7 +238,10 @@ return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & p

return_type Actuator::write(const rclcpp::Time & time, const rclcpp::Duration & period)
{
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}
return_type result = return_type::ERROR;
if (
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
Expand Down
5 changes: 5 additions & 0 deletions hardware_interface/src/sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -197,6 +197,11 @@ return_type Sensor::read(const rclcpp::Time & time, const rclcpp::Duration & per
{
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
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Suggested change
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

return_type result = return_type::ERROR;
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

Comment on lines +200 to +204
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Suggested change
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

if (
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
Expand Down
10 changes: 10 additions & 0 deletions hardware_interface/src/system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,6 +216,11 @@ return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & per
{
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
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Suggested change
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

return_type result = return_type::ERROR;
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

Comment on lines +219 to +223
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Suggested change
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

if (
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
Expand All @@ -233,6 +238,11 @@ return_type System::write(const rclcpp::Time & time, const rclcpp::Duration & pe
{
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
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Suggested change
// TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

return_type result = return_type::ERROR;
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

Comment on lines +241 to +245
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Suggested change
if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
return return_type::OK;
}

if (
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
Expand Down
12 changes: 6 additions & 6 deletions hardware_interface/test/test_component_interfaces.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -446,17 +446,17 @@ TEST(TestComponentInterfaces, dummy_actuator)

double velocity_value = 1.0;
command_interfaces[0].set_value(velocity_value); // velocity
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));

// Noting should change because it is UNCONFIGURED
for (auto step = 0u; step < 10; ++step)
{
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD));
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));

ASSERT_TRUE(std::isnan(state_interfaces[0].get_value())); // position value
ASSERT_TRUE(std::isnan(state_interfaces[1].get_value())); // velocity

ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
}

state = actuator_hw.configure();
Expand Down Expand Up @@ -587,12 +587,12 @@ TEST(TestComponentInterfaces, dummy_system)
command_interfaces[0].set_value(velocity_value); // velocity
command_interfaces[1].set_value(velocity_value); // velocity
command_interfaces[2].set_value(velocity_value); // velocity
ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD));
ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD));

// Noting should change because it is UNCONFIGURED
for (auto step = 0u; step < 10; ++step)
{
ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD));
ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD));

ASSERT_TRUE(std::isnan(state_interfaces[0].get_value())); // position value
ASSERT_TRUE(std::isnan(state_interfaces[1].get_value())); // velocity
Expand All @@ -601,7 +601,7 @@ TEST(TestComponentInterfaces, dummy_system)
ASSERT_TRUE(std::isnan(state_interfaces[4].get_value())); // position value
ASSERT_TRUE(std::isnan(state_interfaces[5].get_value())); // velocity

ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD));
ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD));
}

state = system_hw.configure();
Expand Down
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