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Prepare switch jade #218

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merged 3 commits into from
Nov 19, 2015
Merged

Prepare switch jade #218

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276b478
Introduce prepareSwitch, replacement of canSwitch
mathias-luedtke Nov 13, 2015
6b32a59
Cosmetic: Wrap method args across multiple lines
adolfo-rt Nov 13, 2015
4c97a05
Deprecate RobotHW::canSwitch
adolfo-rt Nov 13, 2015
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2 changes: 1 addition & 1 deletion controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -471,7 +471,7 @@ bool ControllerManager::switchController(const std::vector<std::string>& start_c
return false;
}

if (!robot_hw_->canSwitch(start_list, stop_list))
if (!robot_hw_->prepareSwitch(start_list, stop_list))
{
ROS_ERROR("Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.");
stop_request_.clear();
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10 changes: 5 additions & 5 deletions controller_manager/test/hwi_switch_test.cpp
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Expand Up @@ -86,7 +86,7 @@ class SwitchBot : public hardware_interface::RobotHW
if(can_switch) interfaces_.insert(hardware_interface::internal::demangledTypeName<Interface>() );
iface.registerHandle(typename Interface::ResourceHandleType(jsh_, &dummy_));
}
bool canSwitch(const std::string &n) const
bool prepareSwitch(const std::string &n)
{
if(interfaces_.find(n) == interfaces_.end()) return false;
return n >= current_;
Expand Down Expand Up @@ -135,11 +135,11 @@ class SwitchBot : public hardware_interface::RobotHW

}

virtual bool canSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) const
virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list)
{

if(!RobotHW::canSwitch(start_list, stop_list))
if(!RobotHW::prepareSwitch(start_list, stop_list))
{
ROS_ERROR("Something is wrong with RobotHW");
return false;
Expand Down Expand Up @@ -171,7 +171,7 @@ class SwitchBot : public hardware_interface::RobotHW
// per joint check
try
{
if(!joints_.at(*res_it)->canSwitch(iface_res.hardware_interface))
if(!joints_.at(*res_it)->prepareSwitch(iface_res.hardware_interface))
{
ROS_ERROR_STREAM("Cannot switch " << *res_it << " to " << iface_res.hardware_interface);
return false;
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12 changes: 7 additions & 5 deletions hardware_interface/include/hardware_interface/robot_hw.h
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Expand Up @@ -116,16 +116,18 @@ class RobotHW : public InterfaceManager

/**
* Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW
* with regard to necessary hardware interface switches. Start and stop list are disjoint.
* This is just a check, the actual switch is done in doSwitch()
* with regard to necessary hardware interface switches and prepare the switching. Start and stop list are disjoint.
* This handles the check and preparation, the actual switch is commited in doSwitch()
*/
virtual bool canSwitch(const std::list<ControllerInfo>& /*start_list*/, const std::list<ControllerInfo>& /*stop_list*/) const { return true; }
virtual bool prepareSwitch(const std::list<ControllerInfo>& start_list,
const std::list<ControllerInfo>& stop_list) { return true; }

/**
* Perform (in non-realtime) all necessary hardware interface switches in order to start and stop the given controllers.
* Start and stop list are disjoint. The feasability was checked in canSwitch() beforehand.
* Start and stop list are disjoint. The feasability was checked in prepareSwitch() beforehand.
*/
virtual void doSwitch(const std::list<ControllerInfo>& /*start_list*/, const std::list<ControllerInfo>& /*stop_list*/) {}
virtual void doSwitch(const std::list<ControllerInfo>& /*start_list*/,
const std::list<ControllerInfo>& /*stop_list*/) {}
};

}
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