From 55610db90a59f110220b9c1cf602dd68d01528ac Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Wed, 14 Feb 2024 20:14:08 +0100
Subject: [PATCH] readd activate_all_components method to not break API (#1392)

---
 .../hardware_interface/resource_manager.hpp   | 12 ++++++++++
 hardware_interface/src/resource_manager.cpp   | 22 +++++++++++++++++++
 2 files changed, 34 insertions(+)

diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
index 01c837259f..e94bf5f6ab 100644
--- a/hardware_interface/include/hardware_interface/resource_manager.hpp
+++ b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -387,6 +387,18 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
    */
   HardwareReadWriteStatus write(const rclcpp::Time & time, const rclcpp::Duration & period);
 
+  /// Activates all available hardware components in the system.
+  /**
+   * All available hardware components int the ros2_control framework are activated.
+   * This is used to preserve default behavior from previous versions where all hardware components
+   * are activated per default.
+   */
+  [[deprecated(
+    "The method 'activate_all_components' is deprecated. "
+    "Use the new 'hardware_components_initial_state' parameter structure to setup the "
+    "components")]] void
+  activate_all_components();
+
   /// Checks whether a command interface is registered under the given key.
   /**
    * \param[in] key string identifying the interface to check.
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index 2c6fd8a305..e585571d35 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -1387,6 +1387,28 @@ void ResourceManager::validate_storage(
     throw std::runtime_error(err_msg);
   }
 }
+
+// Temporary method to keep old interface and reduce framework changes in the PRs
+void ResourceManager::activate_all_components()
+{
+  using lifecycle_msgs::msg::State;
+  rclcpp_lifecycle::State active_state(
+    State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
+
+  for (auto & component : resource_storage_->actuators_)
+  {
+    set_component_state(component.get_name(), active_state);
+  }
+  for (auto & component : resource_storage_->sensors_)
+  {
+    set_component_state(component.get_name(), active_state);
+  }
+  for (auto & component : resource_storage_->systems_)
+  {
+    set_component_state(component.get_name(), active_state);
+  }
+}
+
 // END: private methods
 
 }  // namespace hardware_interface