make states and commands of component interfaces private

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -160,13 +160,14 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 
  /**
  * Override this method to export custom StateInterfaces which are not defined in the URDF file.
+ * Those interfaces will be added to the unlisted_state_interfaces_ map.
  *
  * Note method name is going to be changed to export_state_interfaces() as soon as the deprecated
  * version is removed.
  *
- * \return vector of shared pointers to the created and stored StateInterfaces
+ * \return vector of descriptions to the unlisted StateInterfaces
  */
- virtual std::vector<std::shared_ptr<StateInterface>> export_state_interfaces_2()
+ virtual std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2()
  {
  // return empty vector by default.
  return {};
@@ -181,8 +182,24 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
  */
  virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
  {
- std::vector<std::shared_ptr<StateInterface>> state_interfaces = export_state_interfaces_2();
- state_interfaces.reserve(joint_state_interfaces_.size());
+ // import the unlisted interfaces
+ std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
+ export_state_interfaces_2();
+
+ std::vector<std::shared_ptr<StateInterface>> state_interfaces;
+ state_interfaces.reserve(
+ unlisted_interface_descriptions.size() + joint_state_interfaces_.size());
+
+ // add InterfaceDescriptions and create the StateInterfaces from the descriptions and add to
+ // maps.
+ for (const auto & description : unlisted_interface_descriptions)
+ {
+ auto name = description.get_name();
+ unlisted_state_interfaces_.insert(std::make_pair(name, description));
+ auto state_interface = std::make_shared<StateInterface>(description);
+ actuator_states_.insert(std::make_pair(name, state_interface));
+ state_interfaces.push_back(state_interface);
+ }
 
  for (const auto & [name, descr] : joint_state_interfaces_)
  {
@@ -219,13 +236,14 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 
  /**
  * Override this method to export custom CommandInterfaces which are not defined in the URDF file.
+ * Those interfaces will be added to the unlisted_command_interfaces_ map.
  *
  * Note method name is going to be changed to export_command_interfaces() as soon as the
  * deprecated version is removed.
  *
- * \return vector of shared pointers to the created and stored StateInterfaces
+ * \return vector of descriptions to the unlisted CommandInterfaces
  */
- virtual std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces_2()
+ virtual std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2()
  {
  // return empty vector by default.
  return {};
@@ -240,9 +258,24 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
  */
  virtual std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
  {
- std::vector<std::shared_ptr<CommandInterface>> command_interfaces =
+ // import the unlisted interfaces
+ std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
  export_command_interfaces_2();
- command_interfaces.reserve(joint_command_interfaces_.size());
+
+ std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
+ command_interfaces.reserve(
+ unlisted_interface_descriptions.size() + joint_command_interfaces_.size());
+
+ // add InterfaceDescriptions and create the CommandInterfaces from the descriptions and add to
+ // maps.
+ for (const auto & description : unlisted_interface_descriptions)
+ {
+ auto name = description.get_name();
+ unlisted_command_interfaces_.insert(std::make_pair(name, description));
+ auto command_interface = std::make_shared<CommandInterface>(description);
+ actuator_commands_.insert(std::make_pair(name, command_interface));
+ command_interfaces.push_back(command_interface);
+ }
 
  for (const auto & [name, descr] : joint_command_interfaces_)
  {
@@ -358,10 +391,14 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
  std::unordered_map<std::string, InterfaceDescription> joint_state_interfaces_;
  std::unordered_map<std::string, InterfaceDescription> joint_command_interfaces_;
 
- std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
- std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;
+ std::unordered_map<std::string, InterfaceDescription> unlisted_state_interfaces_;
+ std::unordered_map<std::string, InterfaceDescription> unlisted_command_interfaces_;
 
  rclcpp_lifecycle::State lifecycle_state_;
+
+private:
+ std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
+ std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;
 };
 
 } // namespace hardware_interface

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -144,13 +144,14 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
  /**
  * Override this method to export custom StateInterfaces which are not defined in the URDF file.
+ * Those interfaces will be added to the unlisted_state_interfaces_ map.
  *
  * Note method name is going to be changed to export_state_interfaces() as soon as the deprecated
  * version is removed.
  *
- * \return vector of shared pointers to the created and stored StateInterfaces
+ * \return vector of descriptions to the unlisted StateInterfaces
  */
- virtual std::vector<std::shared_ptr<StateInterface>> export_state_interfaces_2()
+ virtual std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2()
  {
  // return empty vector by default.
  return {};
@@ -165,8 +166,24 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  */
  virtual std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
  {
- std::vector<std::shared_ptr<StateInterface>> state_interfaces = export_state_interfaces_2();
- state_interfaces.reserve(sensor_state_interfaces_.size());
+ // import the unlisted interfaces
+ std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
+ export_state_interfaces_2();
+
+ std::vector<std::shared_ptr<StateInterface>> state_interfaces;
+ state_interfaces.reserve(
+ unlisted_interface_descriptions.size() + sensor_state_interfaces_.size());
+
+ // add InterfaceDescriptions and create the StateInterfaces from the descriptions and add to
+ // maps.
+ for (const auto & description : unlisted_interface_descriptions)
+ {
+ auto name = description.get_name();
+ unlisted_state_interfaces_.insert(std::make_pair(name, description));
+ auto state_interface = std::make_shared<StateInterface>(description);
+ sensor_states_.insert(std::make_pair(name, state_interface));
+ state_interfaces.push_back(state_interface);
+ }
 
  for (const auto & [name, descr] : sensor_state_interfaces_)
  {
@@ -224,10 +241,12 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  HardwareInfo info_;
 
  std::unordered_map<std::string, InterfaceDescription> sensor_state_interfaces_;
-
- std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
+ std::unordered_map<std::string, InterfaceDescription> unlisted_state_interfaces_;
 
  rclcpp_lifecycle::State lifecycle_state_;
+
+private:
+ std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
 };
 
 } // namespace hardware_interface

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -179,13 +179,14 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
  /**
  * Override this method to export custom StateInterfaces which are not defined in the URDF file.
+ * Those interfaces will be added to the unlisted_state_interfaces_ map.
  *
  * Note method name is going to be changed to export_state_interfaces() as soon as the deprecated
  * version is removed.
  *
- * \return vector of shared pointers to the created and stored StateInterfaces
+ * \return vector of descriptions to the unlisted StateInterfaces
  */
- virtual std::vector<std::shared_ptr<StateInterface>> export_state_interfaces_2()
+ virtual std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2()
  {
  // return empty vector by default.
  return {};
@@ -200,10 +201,25 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  */
  std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
  {
- std::vector<std::shared_ptr<StateInterface>> state_interfaces = export_state_interfaces_2();
+ // import the unlisted interfaces
+ std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
+ export_state_interfaces_2();
+
+ std::vector<std::shared_ptr<StateInterface>> state_interfaces;
  state_interfaces.reserve(
- joint_state_interfaces_.size() + sensor_state_interfaces_.size() +
- gpio_state_interfaces_.size());
+ unlisted_interface_descriptions.size() + joint_state_interfaces_.size() +
+ sensor_state_interfaces_.size() + gpio_state_interfaces_.size());
+
+ // add InterfaceDescriptions and create the StateInterfaces from the descriptions and add to
+ // maps.
+ for (const auto & description : unlisted_interface_descriptions)
+ {
+ auto name = description.get_name();
+ unlisted_state_interfaces_.insert(std::make_pair(name, description));
+ auto state_interface = std::make_shared<StateInterface>(description);
+ system_states_.insert(std::make_pair(name, state_interface));
+ state_interfaces.push_back(state_interface);
+ }
 
  for (const auto & [name, descr] : joint_state_interfaces_)
  {
@@ -252,13 +268,14 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
  /**
  * Override this method to export custom CommandInterfaces which are not defined in the URDF file.
+ * Those interfaces will be added to the unlisted_command_interfaces_ map.
  *
  * Note method name is going to be changed to export_command_interfaces() as soon as the
  * deprecated version is removed.
  *
- * \return vector of shared pointers to the created and stored StateInterfaces
+ * \return vector of descriptions to the unlisted CommandInterfaces
  */
- virtual std::vector<std::shared_ptr<CommandInterface>> export_command_interfaces_2()
+ virtual std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2()
  {
  // return empty vector by default.
  return {};
@@ -273,9 +290,25 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  */
  std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()
  {
- std::vector<std::shared_ptr<CommandInterface>> command_interfaces =
+ // import the unlisted interfaces
+ std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
  export_command_interfaces_2();
- command_interfaces.reserve(joint_command_interfaces_.size() + gpio_command_interfaces_.size());
+
+ std::vector<std::shared_ptr<CommandInterface>> command_interfaces;
+ command_interfaces.reserve(
+ unlisted_interface_descriptions.size() + joint_command_interfaces_.size() +
+ gpio_command_interfaces_.size());
+
+ // add InterfaceDescriptions and create the CommandInterfaces from the descriptions and add to
+ // maps.
+ for (const auto & description : unlisted_interface_descriptions)
+ {
+ auto name = description.get_name();
+ unlisted_command_interfaces_.insert(std::make_pair(name, description));
+ auto command_interface = std::make_shared<CommandInterface>(description);
+ system_commands_.insert(std::make_pair(name, command_interface));
+ command_interfaces.push_back(command_interface);
+ }
 
  for (const auto & [name, descr] : joint_command_interfaces_)
  {
@@ -403,10 +436,14 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  std::unordered_map<std::string, InterfaceDescription> gpio_state_interfaces_;
  std::unordered_map<std::string, InterfaceDescription> gpio_command_interfaces_;
 
- std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
- std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;
+ std::unordered_map<std::string, InterfaceDescription> unlisted_state_interfaces_;
+ std::unordered_map<std::string, InterfaceDescription> unlisted_command_interfaces_;
 
  rclcpp_lifecycle::State lifecycle_state_;
+
+private:
+ std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
+ std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;
 };
 
 } // namespace hardware_interface

hardware_interface/src/component_parser.cpp

@@ -756,21 +756,4 @@ std::vector<InterfaceDescription> parse_command_interface_descriptions_from_hard
  return component_command_interface_descriptions;
 }
 
-std::vector<InterfaceDescription> parse_gpio_command_interface_descriptions_from_hardware_info(
- const HardwareInfo & hw_info)
-{
- std::vector<InterfaceDescription> gpio_command_interface_descriptions;
- gpio_command_interface_descriptions.reserve(hw_info.gpios.size());
-
- for (const auto & gpio : hw_info.gpios)
- {
- for (const auto & command_interface : gpio.command_interfaces)
- {
- gpio_command_interface_descriptions.emplace_back(
- InterfaceDescription(gpio.name, command_interface));
- }
- }
- return gpio_command_interface_descriptions;
-}
-
 } // namespace hardware_interface

hardware_interface/test/test_component_interfaces_custom_export.cpp

@@ -57,27 +57,23 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
 {
  std::string get_name() const override { return "DummyActuatorDefault"; }
 
- std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces_2()
- override
+ std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2() override
  {
- std::vector<std::shared_ptr<hardware_interface::StateInterface>> interfaces;
- auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
- info_.joints[0].name, "some_unlisted_interface", nullptr);
- actuator_states_.insert(
- std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+ std::vector<hardware_interface::InterfaceDescription> interfaces;
+ hardware_interface::InterfaceInfo info;
+ info.name = "some_unlisted_interface";
+ hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
  interfaces.push_back(unlisted_state_interface);
 
  return interfaces;
  }
 
- std::vector<std::shared_ptr<hardware_interface::CommandInterface>> export_command_interfaces_2()
- override
+ std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2() override
  {
- std::vector<std::shared_ptr<hardware_interface::CommandInterface>> interfaces;
- auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(
- info_.joints[0].name, "some_unlisted_interface", nullptr);
- actuator_commands_.insert(
- std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+ std::vector<hardware_interface::InterfaceDescription> interfaces;
+ hardware_interface::InterfaceInfo info;
+ info.name = "some_unlisted_interface";
+ hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
  interfaces.push_back(unlisted_state_interface);
 
  return interfaces;
@@ -100,14 +96,12 @@ class DummySensorDefault : public hardware_interface::SensorInterface
 {
  std::string get_name() const override { return "DummySensorDefault"; }
 
- std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces_2()
- override
+ std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2() override
  {
- std::vector<std::shared_ptr<hardware_interface::StateInterface>> interfaces;
- auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
- info_.sensors[0].name, "some_unlisted_interface", nullptr);
- sensor_states_.insert(
- std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+ std::vector<hardware_interface::InterfaceDescription> interfaces;
+ hardware_interface::InterfaceInfo info;
+ info.name = "some_unlisted_interface";
+ hardware_interface::InterfaceDescription unlisted_state_interface(info_.sensors[0].name, info);
  interfaces.push_back(unlisted_state_interface);
 
  return interfaces;
@@ -124,27 +118,23 @@ class DummySystemDefault : public hardware_interface::SystemInterface
 {
  std::string get_name() const override { return "DummySystemDefault"; }
 
- std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces_2()
- override
+ std::vector<hardware_interface::InterfaceDescription> export_state_interfaces_2() override
  {
- std::vector<std::shared_ptr<hardware_interface::StateInterface>> interfaces;
- auto unlisted_state_interface = std::make_shared<hardware_interface::StateInterface>(
- info_.joints[0].name, "some_unlisted_interface", nullptr);
- system_states_.insert(
- std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+ std::vector<hardware_interface::InterfaceDescription> interfaces;
+ hardware_interface::InterfaceInfo info;
+ info.name = "some_unlisted_interface";
+ hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
  interfaces.push_back(unlisted_state_interface);
 
  return interfaces;
  }
 
- std::vector<std::shared_ptr<hardware_interface::CommandInterface>> export_command_interfaces_2()
- override
+ std::vector<hardware_interface::InterfaceDescription> export_command_interfaces_2() override
  {
- std::vector<std::shared_ptr<hardware_interface::CommandInterface>> interfaces;
- auto unlisted_state_interface = std::make_shared<hardware_interface::CommandInterface>(
- info_.joints[0].name, "some_unlisted_interface", nullptr);
- system_commands_.insert(
- std::make_pair(unlisted_state_interface->get_name(), unlisted_state_interface));
+ std::vector<hardware_interface::InterfaceDescription> interfaces;
+ hardware_interface::InterfaceInfo info;
+ info.name = "some_unlisted_interface";
+ hardware_interface::InterfaceDescription unlisted_state_interface(info_.joints[0].name, info);
  interfaces.push_back(unlisted_state_interface);
 
  return interfaces;