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utilize the remapped interface configuration in the CM
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@saikishor
saikishor committed Aug 9, 2024
1 parent 85aa876 commit 0361f53
Showing 1 changed file with 18 additions and 14 deletions.
32 changes: 18 additions & 14 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -769,8 +769,8 @@ controller_interface::return_type ControllerManager::configure_controller(
}

// let's update the list of following and preceding controllers
const auto cmd_itfs = controller->command_interface_configuration().names;
const auto state_itfs = controller->state_interface_configuration().names;
const auto cmd_itfs = found_it->get_remapped_command_interface_configuration().names;
const auto state_itfs = found_it->get_remapped_state_interface_configuration().names;
for (const auto & cmd_itf : cmd_itfs)
{
controller_manager::ControllersListIterator ctrl_it;
Expand Down Expand Up @@ -1198,7 +1198,7 @@ controller_interface::return_type ControllerManager::switch_controller(
const auto extract_interfaces_for_controller =
[this](const ControllerSpec ctrl, std::vector<std::string> & request_interface_list)
{
auto command_interface_config = ctrl.c->command_interface_configuration();
auto command_interface_config = ctrl.get_remapped_command_interface_configuration();
std::vector<std::string> command_interface_names = {};
if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
{
Expand Down Expand Up @@ -1233,7 +1233,7 @@ controller_interface::return_type ControllerManager::switch_controller(
{
std::vector<std::string> interface_names = {};

auto command_interface_config = controller.c->command_interface_configuration();
auto command_interface_config = controller.get_remapped_command_interface_configuration();
if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
{
interface_names = resource_manager_->available_command_interfaces();
Expand All @@ -1246,7 +1246,7 @@ controller_interface::return_type ControllerManager::switch_controller(
}

std::vector<std::string> interfaces = {};
auto state_interface_config = controller.c->state_interface_configuration();
auto state_interface_config = controller.get_remapped_state_interface_configuration();
if (state_interface_config.type == controller_interface::interface_configuration_type::ALL)
{
interfaces = resource_manager_->available_state_interfaces();
Expand Down Expand Up @@ -1323,7 +1323,7 @@ controller_interface::return_type ControllerManager::switch_controller(
{
if (is_controller_active(controller.c))
{
auto command_interface_config = controller.c->command_interface_configuration();
auto command_interface_config = controller.get_remapped_command_interface_configuration();
if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
{
controller.info.claimed_interfaces = resource_manager_->available_command_interfaces();
Expand Down Expand Up @@ -1558,7 +1558,7 @@ void ControllerManager::activate_controllers(

bool assignment_successful = true;
// assign command interfaces to the controller
auto command_interface_config = controller->command_interface_configuration();
auto command_interface_config = found_it->get_remapped_command_interface_configuration();
// default to controller_interface::configuration_type::NONE
std::vector<std::string> command_interface_names = {};
if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
Expand Down Expand Up @@ -1603,7 +1603,7 @@ void ControllerManager::activate_controllers(
}

// assign state interfaces to the controller
auto state_interface_config = controller->state_interface_configuration();
auto state_interface_config = found_it->get_remapped_state_interface_configuration();
// default to controller_interface::configuration_type::NONE
std::vector<std::string> state_interface_names = {};
if (state_interface_config.type == controller_interface::interface_configuration_type::ALL)
Expand Down Expand Up @@ -1725,7 +1725,7 @@ void ControllerManager::list_controllers_srv_cb(
// Get information about interfaces if controller are in 'inactive' or 'active' state
if (is_controller_active(controllers[i].c) || is_controller_inactive(controllers[i].c))
{
auto command_interface_config = controllers[i].c->command_interface_configuration();
auto command_interface_config = controllers[i].get_remapped_command_interface_configuration();
if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
{
controller_state.required_command_interfaces = resource_manager_->command_interface_keys();
Expand All @@ -1737,7 +1737,7 @@ void ControllerManager::list_controllers_srv_cb(
controller_state.required_command_interfaces = command_interface_config.names;
}

auto state_interface_config = controllers[i].c->state_interface_configuration();
auto state_interface_config = controllers[i].get_remapped_state_interface_configuration();
if (state_interface_config.type == controller_interface::interface_configuration_type::ALL)
{
controller_state.required_state_interfaces = resource_manager_->state_interface_keys();
Expand Down Expand Up @@ -2407,8 +2407,10 @@ void ControllerManager::propagate_deactivation_of_chained_mode(
break;
}

const auto ctrl_cmd_itf_names = controller.c->command_interface_configuration().names;
const auto ctrl_state_itf_names = controller.c->state_interface_configuration().names;
const auto ctrl_cmd_itf_names =
controller.get_remapped_command_interface_configuration().names;
const auto ctrl_state_itf_names =
controller.get_remapped_state_interface_configuration().names;
auto ctrl_itf_names = ctrl_cmd_itf_names;
ctrl_itf_names.insert(
ctrl_itf_names.end(), ctrl_state_itf_names.begin(), ctrl_state_itf_names.end());
Expand Down Expand Up @@ -2445,8 +2447,10 @@ controller_interface::return_type ControllerManager::check_following_controllers
get_logger(), "Checking following controllers of preceding controller with name '%s'.",
controller_it->info.name.c_str());

const auto controller_cmd_interfaces = controller_it->c->command_interface_configuration().names;
const auto controller_state_interfaces = controller_it->c->state_interface_configuration().names;
const auto controller_cmd_interfaces =
controller_it->get_remapped_command_interface_configuration().names;
const auto controller_state_interfaces =
controller_it->get_remapped_state_interface_configuration().names;
// get all interfaces of the controller
auto controller_interfaces = controller_cmd_interfaces;
controller_interfaces.insert(
Expand Down

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