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Constify the exported state interfaces using ConstSharedPtr #1767

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merged 2 commits into from
Oct 8, 2024
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Constify the exported state interfaces using ConstSharedPtr #1767

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1bb0eb3
Constify the exported state interfaces to ConstSharedPtr
saikishor Sep 26, 2024
2205989
constify the part of the controller interface exported state interfaces
saikishor Oct 7, 2024
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2 changes: 1 addition & 1 deletion controller_interface/include/controller_interface/chainable_controller_interface.hpp
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Expand Up @@ -59,7 +59,7 @@ class ChainableControllerInterface : public ControllerInterfaceBase
bool is_chainable() const final;

CONTROLLER_INTERFACE_PUBLIC
std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() final;
std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;

CONTROLLER_INTERFACE_PUBLIC
std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;
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2 changes: 1 addition & 1 deletion controller_interface/include/controller_interface/controller_interface.hpp
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Expand Up @@ -47,7 +47,7 @@ class ControllerInterface : public controller_interface::ControllerInterfaceBase
* \returns empty list.
*/
CONTROLLER_INTERFACE_PUBLIC
std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() final;
std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;

/**
* Controller has no reference interfaces.
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3 changes: 2 additions & 1 deletion controller_interface/include/controller_interface/controller_interface_base.hpp
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Expand Up @@ -245,7 +245,8 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
* \returns list of state interfaces for preceding controllers.
*/
CONTROLLER_INTERFACE_PUBLIC
virtual std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() = 0;
virtual std::vector<hardware_interface::StateInterface::ConstSharedPtr>
export_state_interfaces() = 0;

/**
* Set chained mode of a chainable controller. This method triggers internal processes to switch
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7 changes: 4 additions & 3 deletions controller_interface/src/chainable_controller_interface.cpp
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Expand Up @@ -44,11 +44,11 @@ return_type ChainableControllerInterface::update(
return ret;
}

std::vector<hardware_interface::StateInterface::SharedPtr>
std::vector<hardware_interface::StateInterface::ConstSharedPtr>
ChainableControllerInterface::export_state_interfaces()
{
auto state_interfaces = on_export_state_interfaces();
std::vector<hardware_interface::StateInterface::SharedPtr> state_interfaces_ptrs_vec;
std::vector<hardware_interface::StateInterface::ConstSharedPtr> state_interfaces_ptrs_vec;
state_interfaces_ptrs_vec.reserve(state_interfaces.size());
ordered_exported_state_interfaces_.reserve(state_interfaces.size());
exported_state_interface_names_.reserve(state_interfaces.size());
Expand Down Expand Up @@ -88,7 +88,8 @@ ChainableControllerInterface::export_state_interfaces()
}
ordered_exported_state_interfaces_.push_back(state_interface);
exported_state_interface_names_.push_back(interface_name);
state_interfaces_ptrs_vec.push_back(state_interface);
state_interfaces_ptrs_vec.push_back(
std::const_pointer_cast<const hardware_interface::StateInterface>(state_interface));
}

return state_interfaces_ptrs_vec;
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2 changes: 1 addition & 1 deletion controller_interface/src/controller_interface.cpp
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Expand Up @@ -22,7 +22,7 @@ ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}

bool ControllerInterface::is_chainable() const { return false; }

std::vector<hardware_interface::StateInterface::SharedPtr>
std::vector<hardware_interface::StateInterface::ConstSharedPtr>
ControllerInterface::export_state_interfaces()
{
return {};
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2 changes: 1 addition & 1 deletion controller_interface/test/test_chainable_controller_interface.cpp
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Expand Up @@ -95,7 +95,7 @@ TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
std::runtime_error);
ASSERT_THAT(exported_reference_interfaces, IsEmpty());
// expect empty return because interface prefix is not equal to the node name
std::vector<hardware_interface::StateInterface::SharedPtr> exported_state_interfaces;
std::vector<hardware_interface::StateInterface::ConstSharedPtr> exported_state_interfaces;
EXPECT_THROW(
{ exported_state_interfaces = controller.export_state_interfaces(); }, std::runtime_error);
ASSERT_THAT(exported_state_interfaces, IsEmpty());
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2 changes: 1 addition & 1 deletion controller_manager/src/controller_manager.cpp
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Expand Up @@ -785,7 +785,7 @@ controller_interface::return_type ControllerManager::configure_controller(
get_logger(),
"Controller '%s' is chainable. Interfaces are being exported to resource manager.",
controller_name.c_str());
std::vector<hardware_interface::StateInterface::SharedPtr> state_interfaces;
std::vector<hardware_interface::StateInterface::ConstSharedPtr> state_interfaces;
std::vector<hardware_interface::CommandInterface::SharedPtr> ref_interfaces;
try
{
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2 changes: 1 addition & 1 deletion hardware_interface/include/hardware_interface/actuator.hpp
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Expand Up @@ -71,7 +71,7 @@ class Actuator final
const rclcpp_lifecycle::State & error();

HARDWARE_INTERFACE_PUBLIC
std::vector<StateInterface::SharedPtr> export_state_interfaces();
std::vector<StateInterface::ConstSharedPtr> export_state_interfaces();

HARDWARE_INTERFACE_PUBLIC
std::vector<CommandInterface::SharedPtr> export_command_interfaces();
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10 changes: 5 additions & 5 deletions hardware_interface/include/hardware_interface/actuator_interface.hpp
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Expand Up @@ -169,7 +169,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
* \return vector of state interfaces
*/
[[deprecated(
"Replaced by vector<StateInterface::SharedPtr> on_export_state_interfaces() method. "
"Replaced by vector<StateInterface::ConstSharedPtr> on_export_state_interfaces() method. "
"Exporting is "
"handled "
"by the Framework.")]] virtual std::vector<StateInterface>
Expand Down Expand Up @@ -201,13 +201,13 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
*
* \return vector of shared pointers to the created and stored StateInterfaces
*/
virtual std::vector<StateInterface::SharedPtr> on_export_state_interfaces()
virtual std::vector<StateInterface::ConstSharedPtr> on_export_state_interfaces()
{
// import the unlisted interfaces
std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
export_unlisted_state_interface_descriptions();

std::vector<StateInterface::SharedPtr> state_interfaces;
std::vector<StateInterface::ConstSharedPtr> state_interfaces;
state_interfaces.reserve(
unlisted_interface_descriptions.size() + joint_state_interfaces_.size());

Expand All @@ -220,15 +220,15 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
auto state_interface = std::make_shared<StateInterface>(description);
actuator_states_.insert(std::make_pair(name, state_interface));
unlisted_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}

for (const auto & [name, descr] : joint_state_interfaces_)
{
auto state_interface = std::make_shared<StateInterface>(descr);
actuator_states_.insert(std::make_pair(name, state_interface));
joint_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}
return state_interfaces;
}
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1 change: 1 addition & 0 deletions hardware_interface/include/hardware_interface/handle.hpp
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Expand Up @@ -139,6 +139,7 @@ class StateInterface : public Handle
using Handle::Handle;

using SharedPtr = std::shared_ptr<StateInterface>;
using ConstSharedPtr = std::shared_ptr<const StateInterface>;
};

class CommandInterface : public Handle
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10 changes: 5 additions & 5 deletions hardware_interface/include/hardware_interface/loaned_state_interface.hpp
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Expand Up @@ -29,23 +29,23 @@ class LoanedStateInterface
using Deleter = std::function<void(void)>;

[[deprecated("Replaced by the new version using shared_ptr")]] explicit LoanedStateInterface(
StateInterface & state_interface)
const StateInterface & state_interface)
: LoanedStateInterface(state_interface, nullptr)
{
}

[[deprecated("Replaced by the new version using shared_ptr")]] LoanedStateInterface(
StateInterface & state_interface, Deleter && deleter)
const StateInterface & state_interface, Deleter && deleter)
: state_interface_(state_interface), deleter_(std::forward<Deleter>(deleter))
{
}

explicit LoanedStateInterface(StateInterface::SharedPtr state_interface)
explicit LoanedStateInterface(StateInterface::ConstSharedPtr state_interface)
: LoanedStateInterface(state_interface, nullptr)
{
}

LoanedStateInterface(StateInterface::SharedPtr state_interface, Deleter && deleter)
LoanedStateInterface(StateInterface::ConstSharedPtr state_interface, Deleter && deleter)
: state_interface_(*state_interface), deleter_(std::forward<Deleter>(deleter))
{
}
Expand Down Expand Up @@ -78,7 +78,7 @@ class LoanedStateInterface
double get_value() const { return state_interface_.get_value(); }

protected:
StateInterface & state_interface_;
const StateInterface & state_interface_;
Deleter deleter_;
};

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2 changes: 1 addition & 1 deletion hardware_interface/include/hardware_interface/resource_manager.hpp
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Expand Up @@ -141,7 +141,7 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
* \param[in] interfaces list of controller's state interfaces as StateInterfaces.
*/
void import_controller_exported_state_interfaces(
const std::string & controller_name, std::vector<StateInterface::SharedPtr> & interfaces);
const std::string & controller_name, std::vector<StateInterface::ConstSharedPtr> & interfaces);

/// Get list of exported tate interface of a controller.
/**
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2 changes: 1 addition & 1 deletion hardware_interface/include/hardware_interface/sensor.hpp
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Expand Up @@ -71,7 +71,7 @@ class Sensor final
const rclcpp_lifecycle::State & error();

HARDWARE_INTERFACE_PUBLIC
std::vector<StateInterface::SharedPtr> export_state_interfaces();
std::vector<StateInterface::ConstSharedPtr> export_state_interfaces();

HARDWARE_INTERFACE_PUBLIC
std::string get_name() const;
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10 changes: 5 additions & 5 deletions hardware_interface/include/hardware_interface/sensor_interface.hpp
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Expand Up @@ -154,7 +154,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
* \return vector of state interfaces
*/
[[deprecated(
"Replaced by vector<StateInterface::SharedPtr> on_export_state_interfaces() method. "
"Replaced by vector<StateInterface::ConstSharedPtr> on_export_state_interfaces() method. "
"Exporting is handled "
"by the Framework.")]] virtual std::vector<StateInterface>
export_state_interfaces()
Expand Down Expand Up @@ -185,13 +185,13 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
*
* \return vector of shared pointers to the created and stored StateInterfaces
*/
virtual std::vector<StateInterface::SharedPtr> on_export_state_interfaces()
virtual std::vector<StateInterface::ConstSharedPtr> on_export_state_interfaces()
{
// import the unlisted interfaces
std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
export_unlisted_state_interface_descriptions();

std::vector<StateInterface::SharedPtr> state_interfaces;
std::vector<StateInterface::ConstSharedPtr> state_interfaces;
state_interfaces.reserve(
unlisted_interface_descriptions.size() + sensor_state_interfaces_.size());

Expand All @@ -203,7 +203,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
auto state_interface = std::make_shared<StateInterface>(description);
sensor_states_map_.insert(std::make_pair(name, state_interface));
unlisted_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}

for (const auto & [name, descr] : sensor_state_interfaces_)
Expand All @@ -212,7 +212,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
auto state_interface = std::make_shared<StateInterface>(descr);
sensor_states_map_.insert(std::make_pair(name, state_interface));
sensor_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}

return state_interfaces;
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2 changes: 1 addition & 1 deletion hardware_interface/include/hardware_interface/system.hpp
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Expand Up @@ -71,7 +71,7 @@ class System final
const rclcpp_lifecycle::State & error();

HARDWARE_INTERFACE_PUBLIC
std::vector<StateInterface::SharedPtr> export_state_interfaces();
std::vector<StateInterface::ConstSharedPtr> export_state_interfaces();

HARDWARE_INTERFACE_PUBLIC
std::vector<CommandInterface::SharedPtr> export_command_interfaces();
Expand Down
14 changes: 7 additions & 7 deletions hardware_interface/include/hardware_interface/system_interface.hpp
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Expand Up @@ -190,7 +190,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
* \return vector of state interfaces
*/
[[deprecated(
"Replaced by vector<StateInterface::SharedPtr> on_export_state_interfaces() method. "
"Replaced by vector<StateInterface::ConstSharedPtr> on_export_state_interfaces() method. "
"Exporting is handled "
"by the Framework.")]] virtual std::vector<StateInterface>
export_state_interfaces()
Expand Down Expand Up @@ -221,13 +221,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
*
* \return vector of shared pointers to the created and stored StateInterfaces
*/
std::vector<StateInterface::SharedPtr> on_export_state_interfaces()
std::vector<StateInterface::ConstSharedPtr> on_export_state_interfaces()
{
// import the unlisted interfaces
std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
export_unlisted_state_interface_descriptions();

std::vector<StateInterface::SharedPtr> state_interfaces;
std::vector<StateInterface::ConstSharedPtr> state_interfaces;
state_interfaces.reserve(
unlisted_interface_descriptions.size() + joint_state_interfaces_.size() +
sensor_state_interfaces_.size() + gpio_state_interfaces_.size());
Expand All @@ -241,29 +241,29 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
auto state_interface = std::make_shared<StateInterface>(description);
system_states_.insert(std::make_pair(name, state_interface));
unlisted_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}

for (const auto & [name, descr] : joint_state_interfaces_)
{
auto state_interface = std::make_shared<StateInterface>(descr);
system_states_.insert(std::make_pair(name, state_interface));
joint_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}
for (const auto & [name, descr] : sensor_state_interfaces_)
{
auto state_interface = std::make_shared<StateInterface>(descr);
system_states_.insert(std::make_pair(name, state_interface));
sensor_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}
for (const auto & [name, descr] : gpio_state_interfaces_)
{
auto state_interface = std::make_shared<StateInterface>(descr);
system_states_.insert(std::make_pair(name, state_interface));
gpio_states_.push_back(state_interface);
state_interfaces.push_back(state_interface);
state_interfaces.push_back(std::const_pointer_cast<const StateInterface>(state_interface));
}
return state_interfaces;
}
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6 changes: 3 additions & 3 deletions hardware_interface/src/actuator.cpp
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Expand Up @@ -204,7 +204,7 @@ const rclcpp_lifecycle::State & Actuator::error()
return impl_->get_lifecycle_state();
}

std::vector<StateInterface::SharedPtr> Actuator::export_state_interfaces()
std::vector<StateInterface::ConstSharedPtr> Actuator::export_state_interfaces()
{
// BEGIN (Handle export change): for backward compatibility, can be removed if
// export_command_interfaces() method is removed
Expand All @@ -222,11 +222,11 @@ std::vector<StateInterface::SharedPtr> Actuator::export_state_interfaces()

// BEGIN (Handle export change): for backward compatibility, can be removed if
// export_command_interfaces() method is removed
std::vector<StateInterface::SharedPtr> interface_ptrs;
std::vector<StateInterface::ConstSharedPtr> interface_ptrs;
interface_ptrs.reserve(interfaces.size());
for (auto const & interface : interfaces)
{
interface_ptrs.emplace_back(std::make_shared<StateInterface>(interface));
interface_ptrs.emplace_back(std::make_shared<const StateInterface>(interface));
}
return interface_ptrs;
// END: for backward compatibility
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11 changes: 6 additions & 5 deletions hardware_interface/src/resource_manager.cpp
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Expand Up @@ -608,7 +608,7 @@ class ResourceStorage
template <class HardwareT>
void import_state_interfaces(HardwareT & hardware)
{
std::vector<StateInterface::SharedPtr> interfaces = hardware.export_state_interfaces();
auto interfaces = hardware.export_state_interfaces();
const auto interface_names = add_state_interfaces(interfaces);

RCLCPP_WARN(
Expand Down Expand Up @@ -678,7 +678,7 @@ class ResourceStorage
}
}

std::string add_state_interface(StateInterface::SharedPtr interface)
std::string add_state_interface(StateInterface::ConstSharedPtr interface)
{
auto interface_name = interface->get_name();
const auto [it, success] = state_interface_map_.emplace(interface_name, interface);
Expand All @@ -702,7 +702,8 @@ class ResourceStorage
* \returns list of interface names that are added into internal storage. The output is used to
* avoid additional iterations to cache interface names, e.g., for initializing info structures.
*/
std::vector<std::string> add_state_interfaces(std::vector<StateInterface::SharedPtr> & interfaces)
std::vector<std::string> add_state_interfaces(
std::vector<StateInterface::ConstSharedPtr> & interfaces)
{
std::vector<std::string> interface_names;
interface_names.reserve(interfaces.size());
Expand Down Expand Up @@ -1068,7 +1069,7 @@ class ResourceStorage
std::unordered_map<std::string, std::vector<std::string>> controllers_reference_interfaces_map_;

/// Storage of all available state interfaces
std::map<std::string, StateInterface::SharedPtr> state_interface_map_;
std::map<std::string, StateInterface::ConstSharedPtr> state_interface_map_;
/// Storage of all available command interfaces
std::map<std::string, CommandInterface::SharedPtr> command_interface_map_;

Expand Down Expand Up @@ -1241,7 +1242,7 @@ bool ResourceManager::state_interface_is_available(const std::string & name) con

// CM API: Called in "callback/slow"-thread
void ResourceManager::import_controller_exported_state_interfaces(
const std::string & controller_name, std::vector<StateInterface::SharedPtr> & interfaces)
const std::string & controller_name, std::vector<StateInterface::ConstSharedPtr> & interfaces)
{
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
auto interface_names = resource_storage_->add_state_interfaces(interfaces);
Expand Down
6 changes: 3 additions & 3 deletions hardware_interface/src/sensor.cpp
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Expand Up @@ -203,7 +203,7 @@ const rclcpp_lifecycle::State & Sensor::error()
return impl_->get_lifecycle_state();
}

std::vector<StateInterface::SharedPtr> Sensor::export_state_interfaces()
std::vector<StateInterface::ConstSharedPtr> Sensor::export_state_interfaces()
{
// BEGIN (Handle export change): for backward compatibility, can be removed if
// export_command_interfaces() method is removed
Expand All @@ -221,11 +221,11 @@ std::vector<StateInterface::SharedPtr> Sensor::export_state_interfaces()

// BEGIN (Handle export change): for backward compatibility, can be removed if
// export_command_interfaces() method is removed
std::vector<StateInterface::SharedPtr> interface_ptrs;
std::vector<StateInterface::ConstSharedPtr> interface_ptrs;
interface_ptrs.reserve(interfaces.size());
for (auto const & interface : interfaces)
{
interface_ptrs.emplace_back(std::make_shared<StateInterface>(interface));
interface_ptrs.emplace_back(std::make_shared<const StateInterface>(interface));
}
return interface_ptrs;
// END: for backward compatibility
Expand Down
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