Fix the controller sorting bug when the interfaces are not configured (…

…fixes #1164) (#1165) (cherry picked from commit 75e7efd)
ros-controls · Nov 14, 2023 · a8782f0 · a8782f0
1 parent b9cdcfe
commit a8782f0
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Showing 3 changed files with 57 additions and 4 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -154,6 +154,9 @@ std::vector<std::string> get_following_controller_names(
 
     return following_controllers;
   }
+  // If the controller is not configured, return empty
+  if (!(is_controller_active(controller_it->c) || is_controller_inactive(controller_it->c)))
+    return following_controllers;
   const auto cmd_itfs = controller_it->c->command_interface_configuration().names;
   for (const auto & itf : cmd_itfs)
   {
@@ -212,6 +215,8 @@ std::vector<std::string> get_preceding_controller_names(
   }
   for (const auto & ctrl : controllers)
   {
+    // If the controller is not configured, then continue
+    if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c))) continue;
     auto cmd_itfs = ctrl.c->command_interface_configuration().names;
     for (const auto & itf : cmd_itfs)
     {
@@ -2273,6 +2278,14 @@ bool ControllerManager::controller_sorting(
   const ControllerSpec & ctrl_a, const ControllerSpec & ctrl_b,
   const std::vector<controller_manager::ControllerSpec> & controllers)
 {
+  // If the neither of the controllers are configured, then return false
+  if (!((is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) &&
+        (is_controller_active(ctrl_b.c) || is_controller_inactive(ctrl_b.c))))
+  {
+    if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) return true;
+    return false;
+  }
+
   const std::vector<std::string> cmd_itfs = ctrl_a.c->command_interface_configuration().names;
   const std::vector<std::string> state_itfs = ctrl_a.c->state_interface_configuration().names;
   if (cmd_itfs.empty() || !ctrl_a.c->is_chainable())

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
@@ -32,13 +32,33 @@ TestChainableController::TestChainableController()
 controller_interface::InterfaceConfiguration
 TestChainableController::command_interface_configuration() const
 {
-  return cmd_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return cmd_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get command interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::InterfaceConfiguration
 TestChainableController::state_interface_configuration() const
 {
-  return state_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return state_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get state interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::return_type TestChainableController::update_reference_from_subscribers()

diff --git a/controller_manager/test/test_controller/test_controller.cpp b/controller_manager/test/test_controller/test_controller.cpp
@@ -29,12 +29,32 @@ TestController::TestController()
 
 controller_interface::InterfaceConfiguration TestController::command_interface_configuration() const
 {
-  return cmd_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return cmd_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get command interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::InterfaceConfiguration TestController::state_interface_configuration() const
 {
-  return state_iface_cfg_;
+  if (
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
+    get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  {
+    return state_iface_cfg_;
+  }
+  else
+  {
+    throw std::runtime_error(
+      "Can not get state interface configuration until the controller is configured.");
+  }
 }
 
 controller_interface::return_type TestController::update(