add new API naming changes

ros-controls · Sep 17, 2024 · f6ffb30 · f6ffb30
1 parent 655428a
commit f6ffb30
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Showing 3 changed files with 10 additions and 10 deletions.
diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -113,10 +113,10 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
  write_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
  read_async_handler_->init(
  std::bind(&ActuatorInterface::read, this, std::placeholders::_1, std::placeholders::_2));
- read_async_handler_->start_async_update_thread();
+ read_async_handler_->start_thread();
  write_async_handler_->init(
  std::bind(&ActuatorInterface::write, this, std::placeholders::_1, std::placeholders::_2));
- write_async_handler_->start_async_update_thread();
+ write_async_handler_->start_thread();
  }
  return on_init(hardware_info);
  };
@@ -228,7 +228,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
  info_.name.c_str());
  return return_type::OK;
  }
- std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
+ std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
  if (!trigger_status)
  {
  RCLCPP_WARN(
@@ -293,7 +293,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
  info_.name.c_str());
  return return_type::OK;
  }
- std::tie(trigger_status, result) = write_async_handler_->trigger_async_update(time, period);
+ std::tie(trigger_status, result) = write_async_handler_->trigger_async_callback(time, period);
  if (!trigger_status)
  {
  RCLCPP_WARN(

diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -112,7 +112,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  read_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
  read_async_handler_->init(
  std::bind(&SensorInterface::read, this, std::placeholders::_1, std::placeholders::_2));
- read_async_handler_->start_async_update_thread();
+ read_async_handler_->start_thread();
  }
  return on_init(hardware_info);
  };
@@ -155,7 +155,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  if (info_.is_async)
  {
  bool trigger_status = true;
- std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
+ std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
  if (!trigger_status)
  {
  RCLCPP_WARN(

diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -115,10 +115,10 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  write_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
  read_async_handler_->init(
  std::bind(&SystemInterface::read, this, std::placeholders::_1, std::placeholders::_2));
- read_async_handler_->start_async_update_thread();
+ read_async_handler_->start_thread();
  write_async_handler_->init(
  std::bind(&SystemInterface::write, this, std::placeholders::_1, std::placeholders::_2));
- write_async_handler_->start_async_update_thread();
+ write_async_handler_->start_thread();
  }
  return on_init(hardware_info);
  };
@@ -230,7 +230,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  info_.name.c_str());
  return return_type::OK;
  }
- std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
+ std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
  if (!trigger_status)
  {
  RCLCPP_WARN(
@@ -295,7 +295,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
  info_.name.c_str());
  return return_type::OK;
  }
- std::tie(trigger_status, result) = write_async_handler_->trigger_async_update(time, period);
+ std::tie(trigger_status, result) = write_async_handler_->trigger_async_callback(time, period);
  if (!trigger_status)
  {
  RCLCPP_WARN(