From 8a82145cc3e6d79b933eaaccab49c310780830f7 Mon Sep 17 00:00:00 2001
From: Sanjeev Kumar <kumar.san96@gmail.com>
Date: Thu, 19 Dec 2024 21:38:14 +0100
Subject: [PATCH] Refactor: Moved TriggerType enum to dedicated file to avoid
 repetition across classes

---
 .../hardware_interface/actuator_interface.hpp |  6 +---
 .../hardware_interface/system_interface.hpp   |  6 +---
 .../types/hardware_interface_trigger_type.hpp | 28 +++++++++++++++++++
 3 files changed, 30 insertions(+), 10 deletions(-)
 create mode 100644 hardware_interface/include/hardware_interface/types/hardware_interface_trigger_type.hpp

diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
index 6ca478231f..1f96744f7d 100644
--- a/hardware_interface/include/hardware_interface/actuator_interface.hpp
+++ b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -26,6 +26,7 @@
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/types/hardware_interface_trigger_type.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/duration.hpp"
@@ -546,11 +547,6 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   // interface names to Handle accessed through getters/setters
   std::unordered_map<std::string, StateInterface::SharedPtr> actuator_states_;
   std::unordered_map<std::string, CommandInterface::SharedPtr> actuator_commands_;
-  enum class TriggerType
-  {
-    READ,
-    WRITE
-  };
   std::atomic<TriggerType> next_trigger_ = TriggerType::READ;
 };
 
diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
index ec649b0225..a8c34e5a06 100644
--- a/hardware_interface/include/hardware_interface/system_interface.hpp
+++ b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -26,6 +26,7 @@
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/types/hardware_interface_trigger_type.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
@@ -585,11 +586,6 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   // interface names to Handle accessed through getters/setters
   std::unordered_map<std::string, StateInterface::SharedPtr> system_states_;
   std::unordered_map<std::string, CommandInterface::SharedPtr> system_commands_;
-  enum class TriggerType
-  {
-    READ,
-    WRITE
-  };
   std::atomic<TriggerType> next_trigger_ = TriggerType::READ;
 };
 
diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_trigger_type.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_trigger_type.hpp
new file mode 100644
index 0000000000..fa764d2c28
--- /dev/null
+++ b/hardware_interface/include/hardware_interface/types/hardware_interface_trigger_type.hpp
@@ -0,0 +1,28 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef HARDWARE_INTERFACE__TYPES__HARDWARE_INTERFACE_TRIGGER_TYPE_HPP_
+#define HARDWARE_INTERFACE__TYPES__HARDWARE_INTERFACE_TRIGGER_TYPE_HPP_
+
+namespace hardware_interface
+{
+enum class TriggerType
+{
+  READ,
+  WRITE
+};
+
+}  // namespace hardware_interface
+
+#endif  // HARDWARE_INTERFACE__TYPES__HARDWARE_INTERFACE_TRIGGER_TYPE_HPP_
\ No newline at end of file