renamed to internal state for better semantic meaning

controller_interface/include/controller_interface/chainable_controller_interface.hpp

@@ -56,7 +56,7 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   bool is_chainable() const final;
 
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() final;
+  std::vector<hardware_interface::StateInterface> export_internal_state_interfaces() final;
 
   CONTROLLER_INTERFACE_PUBLIC
   std::vector<hardware_interface::CommandInterface> export_reference_interfaces() final;
@@ -75,12 +75,12 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   /// chainable interfaces.
   /**
    * Each chainable controller implements this methods where all its state(read only) interfaces are
-   * exported. The method has the same meaning as `export_state_interfaces` method from
+   * exported. The method has the same meaning as `export_internal_state_interfaces` method from
    * hardware_interface::SystemInterface or hardware_interface::ActuatorInterface.
    *
    * \returns list of StateInterfaces that other controller can use as their outputs.
    */
-  virtual std::vector<hardware_interface::StateInterface> on_export_state_interfaces() = 0;
+  virtual std::vector<hardware_interface::StateInterface> on_export_internal_state_interfaces() = 0;
 
   /// Virtual method that each chainable controller should implement to export its read/write
   /// chainable interfaces.
@@ -131,8 +131,8 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   virtual return_type update_and_write_commands(
     const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
-  /// Storage of values for exported state interfaces
-  std::vector<double> exported_state_interfaces_data_;
+  /// Storage of values for internal_state interfaces
+  std::vector<double> internal_state_interfaces_data_;
 
   /// Storage of values for reference interfaces
   std::vector<double> reference_interfaces_;

controller_interface/include/controller_interface/controller_interface.hpp

@@ -48,7 +48,7 @@ class ControllerInterface : public controller_interface::ControllerInterfaceBase
    * \returns empty list.
    */
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() final;
+  std::vector<hardware_interface::StateInterface> export_internal_state_interfaces() final;
 
   /**
    * Controller has no reference interfaces.

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -203,12 +203,12 @@ 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> export_state_interfaces() = 0;
+  virtual std::vector<hardware_interface::StateInterface> export_internal_state_interfaces() = 0;
 
   /**
    * Set chained mode of a chainable controller. This method triggers internal processes to switch
    * a chainable controller to "chained" mode and vice-versa. Setting controller to "chained" mode
-   * usually involves the usage of the controller's reference/state interfaces by the other
+   * usually involves the usage of the controller's reference/internal state interfaces by the other
    * controllers
    *
    * \returns true if mode is switched successfully and false if not.

controller_interface/src/chainable_controller_interface.cpp

@@ -45,41 +45,42 @@ return_type ChainableControllerInterface::update(
 }
 
 std::vector<hardware_interface::StateInterface>
-ChainableControllerInterface::export_state_interfaces()
+ChainableControllerInterface::export_internal_state_interfaces()
 {
-  auto state_interfaces = on_export_state_interfaces();
-  // check if the "state_interfaces_data_" variable is resized to number of interfaces
-  if (exported_state_interfaces_data_.size() != state_interfaces.size())
+  auto internal_state_interfaces = on_export_internal_state_interfaces();
+  // check if the "internal_state_interfaces_data_" variable is resized to number of interfaces
+  if (internal_state_interfaces_data_.size() != internal_state_interfaces.size())
   {
     // TODO(destogl): Should here be "FATAL"? It is fatal in terms of controller but not for the
     // framework
     RCLCPP_FATAL(
       get_node()->get_logger(),
-      "The internal storage for exported state values 'state_interfaces_data_' variable has size "
-      "'%zu', but it is expected to have the size '%zu' equal to the number of exported state "
-      "interfaces. No state interface will be exported. Please correct and recompile "
+      "The internal storage for internal state values 'internal_state_interfaces_data_' variable "
+      "has size '%zu', but it is expected to have the size '%zu' equal to the number of internal "
+      "state interfaces. No state interface will be exported. Please correct and recompile "
       "the controller with name '%s' and try again.",
-      exported_state_interfaces_data_.size(), state_interfaces.size(), get_node()->get_name());
-    state_interfaces.clear();
+      internal_state_interfaces_data_.size(), internal_state_interfaces.size(),
+      get_node()->get_name());
+    internal_state_interfaces.clear();
   }
 
   // check if the names of the controller state interfaces begin with the controller's name
-  for (const auto & interface : state_interfaces)
+  for (const auto & interface : internal_state_interfaces)
   {
     if (interface.get_prefix_name() != get_node()->get_name())
     {
       RCLCPP_FATAL(
         get_node()->get_logger(),
         "The name of the interface '%s' does not begin with the controller's name. This is "
-        "mandatory for state interfaces. No state interface will be exported. Please "
-        "correct and recompile the controller with name '%s' and try again.",
+        "mandatory for internal state interfaces. No internal state interface will be exported. "
+        "Please correct and recompile the controller with name '%s' and try again.",
         interface.get_name().c_str(), get_node()->get_name());
-      state_interfaces.clear();
+      internal_state_interfaces.clear();
       break;
     }
   }
 
-  return state_interfaces;
+  return internal_state_interfaces;
 }
 
 std::vector<hardware_interface::CommandInterface>

controller_interface/src/controller_interface.cpp

@@ -28,7 +28,8 @@ ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}
 
 bool ControllerInterface::is_chainable() const { return false; }
 
-std::vector<hardware_interface::StateInterface> ControllerInterface::export_state_interfaces()
+std::vector<hardware_interface::StateInterface>
+ControllerInterface::export_internal_state_interfaces()
 {
   return {};
 }

controller_interface/test/test_chainable_controller_interface.cpp

@@ -28,21 +28,21 @@ TEST_F(ChainableControllerInterfaceTest, default_returns)
   EXPECT_FALSE(controller.is_in_chained_mode());
 }
 
-TEST_F(ChainableControllerInterfaceTest, export_state_interfaces)
+TEST_F(ChainableControllerInterfaceTest, export_internal_state_interfaces)
 {
   TestableChainableControllerInterface controller;
 
   // initialize, create node
   ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
-  auto exported_state_interfaces = controller.export_state_interfaces();
+  auto internal_state_interfaces = controller.export_internal_state_interfaces();
 
-  ASSERT_EQ(exported_state_interfaces.size(), 1u);
-  EXPECT_EQ(exported_state_interfaces[0].get_prefix_name(), TEST_CONTROLLER_NAME);
-  EXPECT_EQ(exported_state_interfaces[0].get_interface_name(), "test_state");
+  ASSERT_EQ(internal_state_interfaces.size(), 1u);
+  EXPECT_EQ(internal_state_interfaces[0].get_prefix_name(), TEST_CONTROLLER_NAME);
+  EXPECT_EQ(internal_state_interfaces[0].get_interface_name(), "test_state");
 
-  EXPECT_EQ(exported_state_interfaces[0].get_value(), EXPORTED_STATE_INTERFACE_VALUE);
+  EXPECT_EQ(internal_state_interfaces[0].get_value(), INTERNAL_STATE_INTERFACE_VALUE);
 }
 
 TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces)
@@ -75,9 +75,9 @@ TEST_F(ChainableControllerInterfaceTest, interfaces_storage_not_correct_size)
   auto reference_interfaces = controller.export_reference_interfaces();
   ASSERT_TRUE(reference_interfaces.empty());
   // expect empty return because storage is not resized
-  controller.exported_state_interfaces_data_.clear();
-  auto exported_state_interfaces = controller.export_state_interfaces();
-  ASSERT_TRUE(exported_state_interfaces.empty());
+  controller.internal_state_interfaces_data_.clear();
+  auto internal_state_interfaces = controller.export_internal_state_interfaces();
+  ASSERT_TRUE(internal_state_interfaces.empty());
 }
 
 TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
@@ -94,8 +94,8 @@ TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
   auto reference_interfaces = controller.export_reference_interfaces();
   ASSERT_TRUE(reference_interfaces.empty());
   // expect empty return because interface prefix is not equal to the node name
-  auto exported_state_interfaces = controller.export_state_interfaces();
-  ASSERT_TRUE(exported_state_interfaces.empty());
+  auto internal_state_interfaces = controller.export_internal_state_interfaces();
+  ASSERT_TRUE(internal_state_interfaces.empty());
 }
 
 TEST_F(ChainableControllerInterfaceTest, setting_chained_mode)
@@ -108,14 +108,14 @@ TEST_F(ChainableControllerInterfaceTest, setting_chained_mode)
 
   auto reference_interfaces = controller.export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), 1u);
-  auto exported_state_interfaces = controller.export_state_interfaces();
-  ASSERT_EQ(exported_state_interfaces.size(), 1u);
+  auto internal_state_interfaces = controller.export_internal_state_interfaces();
+  ASSERT_EQ(internal_state_interfaces.size(), 1u);
 
   EXPECT_FALSE(controller.is_in_chained_mode());
 
   // Fail setting chained mode
   EXPECT_EQ(reference_interfaces[0].get_value(), INTERFACE_VALUE);
-  EXPECT_EQ(exported_state_interfaces[0].get_value(), EXPORTED_STATE_INTERFACE_VALUE);
+  EXPECT_EQ(internal_state_interfaces[0].get_value(), INTERNAL_STATE_INTERFACE_VALUE);
 
   EXPECT_FALSE(controller.set_chained_mode(true));
   EXPECT_FALSE(controller.is_in_chained_mode());
@@ -128,7 +128,7 @@ TEST_F(ChainableControllerInterfaceTest, setting_chained_mode)
 
   EXPECT_TRUE(controller.set_chained_mode(true));
   EXPECT_TRUE(controller.is_in_chained_mode());
-  EXPECT_EQ(exported_state_interfaces[0].get_value(), EXPORTED_STATE_INTERFACE_VALUE_IN_CHAINMODE);
+  EXPECT_EQ(internal_state_interfaces[0].get_value(), INTERNAL_STATE_INTERFACE_VALUE_IN_CHAINMODE);
 
   controller.configure();
   EXPECT_TRUE(controller.set_chained_mode(false));
@@ -165,23 +165,23 @@ TEST_F(ChainableControllerInterfaceTest, test_update_logic)
     controller.update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
   ASSERT_EQ(controller.reference_interfaces_[0], INTERFACE_VALUE_INITIAL_REF - 1);
-  ASSERT_EQ(controller.exported_state_interfaces_data_[0], EXPORTED_STATE_INTERFACE_VALUE + 1);
+  ASSERT_EQ(controller.internal_state_interfaces_data_[0], INTERNAL_STATE_INTERFACE_VALUE + 1);
 
   // Provoke error in update from subscribers - return ERROR and update_and_write_commands not exec.
   controller.set_new_reference_interface_value(INTERFACE_VALUE_SUBSCRIBER_ERROR);
   ASSERT_EQ(
     controller.update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::ERROR);
   ASSERT_EQ(controller.reference_interfaces_[0], INTERFACE_VALUE_INITIAL_REF - 1);
-  ASSERT_EQ(controller.exported_state_interfaces_data_[0], EXPORTED_STATE_INTERFACE_VALUE + 1);
+  ASSERT_EQ(controller.internal_state_interfaces_data_[0], INTERNAL_STATE_INTERFACE_VALUE + 1);
 
   // Provoke error from update - return ERROR, but reference interface is updated and not reduced
   controller.set_new_reference_interface_value(INTERFACE_VALUE_UPDATE_ERROR);
   ASSERT_EQ(
     controller.update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::ERROR);
   ASSERT_EQ(controller.reference_interfaces_[0], INTERFACE_VALUE_UPDATE_ERROR);
-  ASSERT_EQ(controller.exported_state_interfaces_data_[0], EXPORTED_STATE_INTERFACE_VALUE + 1);
+  ASSERT_EQ(controller.internal_state_interfaces_data_[0], INTERNAL_STATE_INTERFACE_VALUE + 1);
 
   controller.reference_interfaces_[0] = 0.0;
 
@@ -197,7 +197,7 @@ TEST_F(ChainableControllerInterfaceTest, test_update_logic)
     controller_interface::return_type::OK);
   ASSERT_EQ(controller.reference_interfaces_[0], -1.0);
   ASSERT_EQ(
-    controller.exported_state_interfaces_data_[0], EXPORTED_STATE_INTERFACE_VALUE_IN_CHAINMODE + 1);
+    controller.internal_state_interfaces_data_[0], INTERNAL_STATE_INTERFACE_VALUE_IN_CHAINMODE + 1);
 
   // Provoke error from update - return ERROR, but reference interface is updated directly
   controller.set_new_reference_interface_value(INTERFACE_VALUE_SUBSCRIBER_ERROR);
@@ -207,5 +207,5 @@ TEST_F(ChainableControllerInterfaceTest, test_update_logic)
     controller_interface::return_type::ERROR);
   ASSERT_EQ(controller.reference_interfaces_[0], INTERFACE_VALUE_UPDATE_ERROR);
   ASSERT_EQ(
-    controller.exported_state_interfaces_data_[0], EXPORTED_STATE_INTERFACE_VALUE_IN_CHAINMODE + 1);
+    controller.internal_state_interfaces_data_[0], INTERNAL_STATE_INTERFACE_VALUE_IN_CHAINMODE + 1);
 }

controller_interface/test/test_chainable_controller_interface.hpp

@@ -29,8 +29,8 @@ constexpr double INTERFACE_VALUE = 1989.0;
 constexpr double INTERFACE_VALUE_SUBSCRIBER_ERROR = 12345.0;
 constexpr double INTERFACE_VALUE_UPDATE_ERROR = 67890.0;
 constexpr double INTERFACE_VALUE_INITIAL_REF = 1984.0;
-constexpr double EXPORTED_STATE_INTERFACE_VALUE = 21833.0;
-constexpr double EXPORTED_STATE_INTERFACE_VALUE_IN_CHAINMODE = 82802.0;
+constexpr double INTERNAL_STATE_INTERFACE_VALUE = 21833.0;
+constexpr double INTERNAL_STATE_INTERFACE_VALUE_IN_CHAINMODE = 82802.0;
 
 class TestableChainableControllerInterface
 : public controller_interface::ChainableControllerInterface
@@ -43,8 +43,8 @@ class TestableChainableControllerInterface
   {
     reference_interfaces_.reserve(1);
     reference_interfaces_.push_back(INTERFACE_VALUE);
-    exported_state_interfaces_data_.reserve(1);
-    exported_state_interfaces_data_.push_back(EXPORTED_STATE_INTERFACE_VALUE);
+    internal_state_interfaces_data_.reserve(1);
+    internal_state_interfaces_data_.push_back(INTERNAL_STATE_INTERFACE_VALUE);
   }
 
   controller_interface::CallbackReturn on_init() override
@@ -68,14 +68,14 @@ class TestableChainableControllerInterface
   }
 
   // Implementation of ChainableController virtual methods
-  std::vector<hardware_interface::StateInterface> on_export_state_interfaces() override
+  std::vector<hardware_interface::StateInterface> on_export_internal_state_interfaces() override
   {
-    std::vector<hardware_interface::StateInterface> state_interfaces;
+    std::vector<hardware_interface::StateInterface> internal_state_interfaces;
 
-    state_interfaces.push_back(hardware_interface::StateInterface(
-      name_prefix_of_interfaces_, "test_state", &exported_state_interfaces_data_[0]));
+    internal_state_interfaces.push_back(hardware_interface::StateInterface(
+      name_prefix_of_interfaces_, "test_state", &internal_state_interfaces_data_[0]));
 
-    return state_interfaces;
+    return internal_state_interfaces;
   }
 
   // Implementation of ChainableController virtual methods
@@ -93,7 +93,7 @@ class TestableChainableControllerInterface
   {
     if (reference_interfaces_[0] == 0.0)
     {
-      exported_state_interfaces_data_[0] = EXPORTED_STATE_INTERFACE_VALUE_IN_CHAINMODE;
+      internal_state_interfaces_data_[0] = INTERNAL_STATE_INTERFACE_VALUE_IN_CHAINMODE;
       return true;
     }
     else
@@ -123,7 +123,7 @@ class TestableChainableControllerInterface
     }
 
     reference_interfaces_[0] -= 1;
-    exported_state_interfaces_data_[0] += 1;
+    internal_state_interfaces_data_[0] += 1;
 
     return controller_interface::return_type::OK;
   }