cleanup

StoglRobotics-forks · Dec 20, 2023 · 626412b · 626412b
1 parent 6144b74
commit 626412b
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Showing 2 changed files with 28 additions and 21 deletions.
diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
@@ -33,7 +33,7 @@ typedef std::variant<double> HANDLE_DATATYPE;
 class Handle
 {
 public:
- [[deprecated("Use InterfaceDescription for initializing the Command-/StateIntefaces.")]]
+ [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
  Handle(
  const std::string & prefix_name, const std::string & interface_name,
@@ -52,14 +52,14 @@ class Handle
  value_ptr_ = std::get_if<double>(&value_);
  }
 
- [[deprecated("Use InterfaceDescription for initializing the Command-/StateIntefaces.")]]
+ [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
  explicit Handle(const std::string & interface_name)
  : interface_name_(interface_name), value_ptr_(nullptr)
  {
  }
 
- [[deprecated("Use InterfaceDescription for initializing the Command-/StateIntefaces.")]]
+ [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
  explicit Handle(const char * interface_name)
  : interface_name_(interface_name), value_ptr_(nullptr)
@@ -93,23 +93,30 @@ class Handle
  const std::string & get_prefix_name() const { return prefix_name_; }
 
  double get_value() const
- {
+ { // BEGIN (Handle export change): for backward compatibility
+ // TODO(Manuel) return value_ if old functionality is removed
  THROW_ON_NULLPTR(value_ptr_);
  return *value_ptr_;
+ // END
  }
 
  void set_value(double value)
  {
+ // BEGIN (Handle export change): for backward compatibility
+ // TODO(Manuel) set value_ directly if old functionality is removed
  THROW_ON_NULLPTR(this->value_ptr_);
  *this->value_ptr_ = value;
+ // END
  }
 
 protected:
  std::string prefix_name_;
  std::string interface_name_;
  HANDLE_DATATYPE value_;
+ // BEGIN (Handle export change): for backward compatibility
  // TODO(Manuel) redeclare as HANDLE_DATATYPE * value_ptr_ if old functionality is removed
  double * value_ptr_;
+ // END
 };
 
 class StateInterface : public Handle

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -442,8 +442,8 @@ class ResourceStorage
  }
  }
 
- // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_state_interfaces()
- // method is removed
+ // BEGIN (Handle export change): for backward compatibility, can be removed if
+ // export_state_interfaces() method is removed
  void insert_state_interface(const StateInterface & state_interface)
  {
  const auto [it, success] = state_interface_map_.emplace(std::make_pair(
@@ -456,7 +456,7 @@ class ResourceStorage
  throw std::runtime_error(msg);
  }
  }
- // TODO(Manuel) END: for backward compatibility
+ // END: for backward compatibility
 
  template <class HardwareT>
  void import_state_interfaces(HardwareT & hardware)
@@ -467,7 +467,7 @@ class ResourceStorage
  // a) there is nothing to export -> on_export_state_interfaces() does return nothing as well
  // b) default implementation for export_state_interfaces() is used -> new functionality ->
  // Framework exports and creates everything
- if (interfaces.size() == 0)
+ if (interfaces.empty())
  {
  std::vector<std::shared_ptr<StateInterface>> interface_ptrs =
  hardware.on_export_state_interfaces();
@@ -478,8 +478,8 @@ class ResourceStorage
  interface_names.push_back(interface->get_name());
  }
  }
- // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_state_interfaces()
- // method is removed
+ // BEGIN (Handle export change): for backward compatibility, can be removed if
+ // export_state_interfaces() method is removed
  else
  {
  interface_names.reserve(interfaces.size());
@@ -489,7 +489,7 @@ class ResourceStorage
  interface_names.push_back(interface.get_name());
  }
  }
- // TODO(Manuel) END: for backward compatibility
+ // END: for backward compatibility
 
  hardware_info_map_[hardware.get_name()].state_interfaces = interface_names;
  available_state_interfaces_.reserve(
@@ -509,8 +509,8 @@ class ResourceStorage
  }
  }
 
- // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_command_interfaces()
- // method is removed
+ // BEGIN (Handle export change): for backward compatibility, can be removed if
+ // export_command_interfaces() method is removed
  void insert_command_interface(CommandInterface && command_interface)
  {
  std::string key = command_interface.get_name();
@@ -524,7 +524,7 @@ class ResourceStorage
  throw std::runtime_error(msg);
  }
  }
- // TODO(Manuel) END: for backward compatibility
+ // END: for backward compatibility
 
  template <class HardwareT>
  void import_command_interfaces(HardwareT & hardware)
@@ -534,21 +534,21 @@ class ResourceStorage
  // a) there is nothing to export -> on_export_command_interfaces() does return nothing as well
  // b) default implementation for export_command_interfaces() is used -> new functionality ->
  // Framework exports and creates everything
- if (interfaces.size() == 0)
+ if (interfaces.empty())
  {
  std::vector<std::shared_ptr<CommandInterface>> interface_ptrs =
  hardware.on_export_command_interfaces();
  hardware_info_map_[hardware.get_name()].command_interfaces =
  add_command_interfaces(interface_ptrs);
  }
- // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_command_interfaces()
- // method is removed
+ // BEGIN (Handle export change): for backward compatibility, can be removed if
+ // export_command_interfaces() method is removed
  else
  {
  hardware_info_map_[hardware.get_name()].command_interfaces =
  add_command_interfaces(interfaces);
  }
- // TODO(Manuel) END: for backward compatibility
+ // END: for backward compatibility
  }
 
  /// Adds exported command interfaces into internal storage.
@@ -562,8 +562,8 @@ class ResourceStorage
  * \returns list of interface names that are added into internal storage. The output is used to
  * avoid additional iterations to cache interface names, e.g., for initializing info structures.
  */
- // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_command_interfaces()
- // method is removed
+ // BEGIN (Handle export change): for backward compatibility, can be removed if
+ // export_command_interfaces() method is removed
  std::vector<std::string> add_command_interfaces(std::vector<CommandInterface> & interfaces)
  {
  std::vector<std::string> interface_names;
@@ -580,7 +580,7 @@ class ResourceStorage
 
  return interface_names;
  }
- // TODO(Manuel) END: for backward compatibility
+ // END: for backward compatibility
 
  std::vector<std::string> add_command_interfaces(
  std::vector<std::shared_ptr<CommandInterface>> & interfaces)