Merge pull request #217 from ros-controls/prepare-switch

Prepare switch
ros-controls · Nov 13, 2015 · a5067ae · a5067ae
2 parents b1a758c + d19eeac
commit a5067ae
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Showing 2 changed files with 14 additions and 3 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -472,7 +472,7 @@ bool ControllerManager::switchController(const std::vector<std::string>& start_c
     return false;
   }
 
-  if (!robot_hw_->canSwitch(start_list, stop_list))
+  if (!robot_hw_->prepareSwitch(start_list, stop_list))
   {
     ROS_ERROR("Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.");
     stop_request_.clear();

diff --git a/hardware_interface/include/hardware_interface/robot_hw.h b/hardware_interface/include/hardware_interface/robot_hw.h
@@ -101,14 +101,25 @@ class RobotHW : public InterfaceManager
    * Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW
    * with regard to necessary hardware interface switches. Start and stop list are disjoint.
    * This is just a check, the actual switch is done in doSwitch()
+   * @deprecated: Implement prepareSwitch() instead
    */
-  virtual bool canSwitch(const std::list<ControllerInfo>& /*start_list*/, const std::list<ControllerInfo>& /*stop_list*/) const { return true; }
+  virtual bool canSwitch(const std::list<ControllerInfo>& /*start_list*/,
+                         const std::list<ControllerInfo>& /*stop_list*/) const { return true; }
+
+  /**
+   * Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW
+   * with regard to necessary hardware interface switches and prepare the switching. Start and stop list are disjoint.
+   * This handles the check and preparation, the actual switch is commited in doSwitch()
+   */
+  virtual bool prepareSwitch(const std::list<ControllerInfo>& start_list,
+                             const std::list<ControllerInfo>& stop_list) { return canSwitch(start_list, stop_list); }
 
   /**
    * Perform (in non-realtime) all necessary hardware interface switches in order to start and stop the given controllers.
    * Start and stop list are disjoint. The feasability was checked in canSwitch() beforehand.
    */
-  virtual void doSwitch(const std::list<ControllerInfo>& /*start_list*/, const std::list<ControllerInfo>& /*stop_list*/) {}
+  virtual void doSwitch(const std::list<ControllerInfo>& /*start_list*/,
+                        const std::list<ControllerInfo>& /*stop_list*/) {}
 };
 
 }