From 4f97b54fb8f6701e9c1acbd38b7f75ba6520ea93 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Thu, 20 Jun 2024 10:51:01 +0200
Subject: [PATCH] remove one of the redundant checks with the new approach

---
 .../src/chainable_controller_interface.cpp    | 27 -------------------
 .../test_chainable_controller_interface.cpp   | 21 ---------------
 2 files changed, 48 deletions(-)

diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
index 4bf9fe0101..9f4a171ec3 100644
--- a/controller_interface/src/chainable_controller_interface.cpp
+++ b/controller_interface/src/chainable_controller_interface.cpp
@@ -48,18 +48,6 @@ std::vector<hardware_interface::StateInterface>
 ChainableControllerInterface::export_state_interfaces()
 {
   auto state_interfaces = on_export_state_interfaces();
-  // check if the "state_interfaces_values_" variable is resized to number of interfaces
-  if (state_interfaces_values_.size() != state_interfaces.size())
-  {
-    RCLCPP_FATAL(
-      get_node()->get_logger(),
-      "The internal storage for exported state values 'state_interfaces_values_' variable has size "
-      "'%zu', but it is expected to have the size '%zu' equal to the number of exported state "
-      "interfaces. No state interface will be exported. Please correct and recompile "
-      "the controller with name '%s' and try again.",
-      state_interfaces_values_.size(), state_interfaces.size(), get_node()->get_name());
-    state_interfaces.clear();
-  }
 
   // check if the names of the controller state interfaces begin with the controller's name
   for (const auto & interface : state_interfaces)
@@ -85,21 +73,6 @@ ChainableControllerInterface::export_reference_interfaces()
 {
   auto reference_interfaces = on_export_reference_interfaces();
 
-  // check if the "reference_interfaces_" variable is resized to number of interfaces
-  if (reference_interfaces_.size() != reference_interfaces.size())
-  {
-    // TODO(destogl): Should here be "FATAL"? It is fatal in terms of controller but not for the
-    // framework
-    RCLCPP_FATAL(
-      get_node()->get_logger(),
-      "The internal storage for reference values 'reference_interfaces_' variable has size '%zu', "
-      "but it is expected to have the size '%zu' equal to the number of exported reference "
-      "interfaces. No reference interface will be exported. Please correct and recompile "
-      "the controller with name '%s' and try again.",
-      reference_interfaces_.size(), reference_interfaces.size(), get_node()->get_name());
-    reference_interfaces.clear();
-  }
-
   // check if the names of the reference interfaces begin with the controller's name
   for (const auto & interface : reference_interfaces)
   {
diff --git a/controller_interface/test/test_chainable_controller_interface.cpp b/controller_interface/test/test_chainable_controller_interface.cpp
index 7380b222e1..2f04273f3e 100644
--- a/controller_interface/test/test_chainable_controller_interface.cpp
+++ b/controller_interface/test/test_chainable_controller_interface.cpp
@@ -74,27 +74,6 @@ TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces)
   EXPECT_EQ(reference_interfaces[0].get_value(), INTERFACE_VALUE);
 }
 
-TEST_F(ChainableControllerInterfaceTest, interfaces_storage_not_correct_size)
-{
-  TestableChainableControllerInterface controller;
-
-  // initialize, create node
-  const auto node_options = controller.define_custom_node_options();
-  ASSERT_EQ(
-    controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
-    controller_interface::return_type::OK);
-  ASSERT_NO_THROW(controller.get_node());
-
-  // expect empty return because storage is not resized
-  controller.reference_interfaces_.clear();
-  auto reference_interfaces = controller.export_reference_interfaces();
-  ASSERT_THAT(reference_interfaces, IsEmpty());
-  // expect empty return because storage is not resized
-  controller.state_interfaces_values_.clear();
-  auto exported_state_interfaces = controller.export_state_interfaces();
-  ASSERT_THAT(exported_state_interfaces, IsEmpty());
-}
-
 TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
 {
   TestableChainableControllerInterface controller;