Add ControllerInterfaceBase class and use it in Controller Manager.

ros-controls · May 16, 2022 · 648d039 · 648d039
1 parent ed0d8d6
commit 648d039
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Showing 11 changed files with 16 additions and 14 deletions.
diff --git a/controller_interface/include/controller_interface/controller_interface.hpp b/controller_interface/include/controller_interface/controller_interface.hpp
@@ -53,7 +53,7 @@ class ControllerInterface : public controller_interface::ControllerInterfaceBase
   /**
    * Controller is not chainable, therefore no chained mode can be set.
    *
-   * \returns false;
+   * \returns false.
    */
   CONTROLLER_INTERFACE_PUBLIC
   bool set_chained_mode(bool chained_mode) final;

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
@@ -186,4 +186,4 @@ void TestChainableController::set_reference_interface_names(
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  test_chainable_controller::TestChainableController, controller_interface::ControllerInterface)
+  test_chainable_controller::TestChainableController, controller_interface::ControllerInterfaceBase)
diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.xml b/controller_manager/test/test_chainable_controller/test_chainable_controller.xml
@@ -2,7 +2,7 @@
 
   <class name="controller_manager/test_chainable_controller"
          type="test_chainable_controller::TestChainableController"
-         base_class_type="controller_interface::ControllerInterface">
+         base_class_type="controller_interface::ControllerInterfaceBase">
     <description>
       Controller used for testing
     </description>

diff --git a/controller_manager/test/test_controller/test_controller.cpp b/controller_manager/test/test_controller/test_controller.cpp
@@ -111,4 +111,5 @@ void TestController::set_state_interface_configuration(
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(test_controller::TestController, controller_interface::ControllerInterface)
+PLUGINLIB_EXPORT_CLASS(
+  test_controller::TestController, controller_interface::ControllerInterfaceBase)
diff --git a/controller_manager/test/test_controller/test_controller.xml b/controller_manager/test/test_controller/test_controller.xml
@@ -1,6 +1,6 @@
 <library path="test_controller">
 
-  <class name="controller_manager/test_controller" type="test_controller::TestController" base_class_type="controller_interface::ControllerInterface">
+  <class name="controller_manager/test_controller" type="test_controller::TestController" base_class_type="controller_interface::ControllerInterfaceBase">
     <description>
       Controller used for testing
     </description>

diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp
@@ -49,4 +49,5 @@ controller_interface::return_type TestControllerFailedInit::update(
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  test_controller_failed_init::TestControllerFailedInit, controller_interface::ControllerInterface)
+  test_controller_failed_init::TestControllerFailedInit,
+  controller_interface::ControllerInterfaceBase)
diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.xml b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.xml
@@ -1,6 +1,6 @@
 <library path="test_controller_failed_init">
 
-  <class name="controller_manager/test_controller_failed_init" type="test_controller_failed_init::TestControllerFailedInit" base_class_type="controller_interface::ControllerInterface">
+  <class name="controller_manager/test_controller_failed_init" type="test_controller_failed_init::TestControllerFailedInit" base_class_type="controller_interface::ControllerInterfaceBase">
     <description>
       Controller used for testing
     </description>

diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -48,7 +48,7 @@ TEST_F(TestControllerManagerSrvs, list_controller_types)
   ASSERT_EQ(controller_types, result->base_classes.size());
   ASSERT_THAT(result->types, ::testing::Contains(test_controller::TEST_CONTROLLER_CLASS_NAME));
   ASSERT_THAT(
-    result->base_classes, ::testing::Contains("controller_interface::ControllerInterface"));
+    result->base_classes, ::testing::Contains("controller_interface::ControllerInterfaceBase"));
 }
 
 TEST_F(TestControllerManagerSrvs, list_controllers_srv)

diff --git a/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.cpp b/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.cpp
@@ -56,4 +56,4 @@ TestControllerWithInterfaces::on_cleanup(const rclcpp_lifecycle::State & /*previ
 
 PLUGINLIB_EXPORT_CLASS(
   test_controller_with_interfaces::TestControllerWithInterfaces,
-  controller_interface::ControllerInterface)
+  controller_interface::ControllerInterfaceBase)
diff --git a/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.xml b/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.xml
@@ -1,6 +1,6 @@
 <library path="test_controller_with_interfaces">
 
-  <class name="controller_manager/test_controller_with_interfaces" type="test_controller_with_interfaces::TestControllerWithInterfaces" base_class_type="controller_interface::ControllerInterface">
+  <class name="controller_manager/test_controller_with_interfaces" type="test_controller_with_interfaces::TestControllerWithInterfaces" base_class_type="controller_interface::ControllerInterfaceBase">
     <description>
       Controller used for testing
     </description>

diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -216,7 +216,7 @@ class TestControllerChainingWithControllerManager
 
   template <
     typename T, typename std::enable_if<
-                  std::is_convertible<T *, controller_interface::ControllerInterface *>::value,
+                  std::is_convertible<T *, controller_interface::ControllerInterfaceBase *>::value,
                   T>::type * = nullptr>
   void SetToChainedModeAndMakeReferenceInterfacesAvailable(
     std::shared_ptr<T> & controller, const std::string & controller_name,
@@ -236,7 +236,7 @@ class TestControllerChainingWithControllerManager
 
   template <
     typename T, typename std::enable_if<
-                  std::is_convertible<T *, controller_interface::ControllerInterface *>::value,
+                  std::is_convertible<T *, controller_interface::ControllerInterfaceBase *>::value,
                   T>::type * = nullptr>
   void check_after_de_activate(
     std::shared_ptr<T> & controller, const std::vector<std::string> & claimed_command_itfs,
@@ -273,7 +273,7 @@ class TestControllerChainingWithControllerManager
 
   template <
     typename T, typename std::enable_if<
-                  std::is_convertible<T *, controller_interface::ControllerInterface *>::value,
+                  std::is_convertible<T *, controller_interface::ControllerInterfaceBase *>::value,
                   T>::type * = nullptr>
   void ActivateAndCheckController(
     std::shared_ptr<T> & controller, const std::string & controller_name,
@@ -288,7 +288,7 @@ class TestControllerChainingWithControllerManager
 
   template <
     typename T, typename std::enable_if<
-                  std::is_convertible<T *, controller_interface::ControllerInterface *>::value,
+                  std::is_convertible<T *, controller_interface::ControllerInterfaceBase *>::value,
                   T>::type * = nullptr>
   void DeactivateAndCheckController(
     std::shared_ptr<T> & controller, const std::string & controller_name,