cleanup

Author: mamueluth

hardware_interface/include/hardware_interface/handle.hpp

@@ -33,7 +33,7 @@ typedef std::variant<double> HANDLE_DATATYPE;
 class Handle
 {
 public:
-  [[deprecated("Use InterfaceDescription for initializing the Command-/StateIntefaces.")]]
+  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
   Handle(
     const std::string & prefix_name, const std::string & interface_name,
@@ -52,14 +52,14 @@ class Handle
     value_ptr_ = std::get_if<double>(&value_);
   }
 
-  [[deprecated("Use InterfaceDescription for initializing the Command-/StateIntefaces.")]]
+  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
   explicit Handle(const std::string & interface_name)
   : interface_name_(interface_name), value_ptr_(nullptr)
   {
   }
 
-  [[deprecated("Use InterfaceDescription for initializing the Command-/StateIntefaces.")]]
+  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
   explicit Handle(const char * interface_name)
   : interface_name_(interface_name), value_ptr_(nullptr)
@@ -93,23 +93,30 @@ class Handle
   const std::string & get_prefix_name() const { return prefix_name_; }
 
   double get_value() const
-  {
+  {  // BEGIN (Handle export change): for backward compatibility
+     // TODO(Manuel) return value_ if old functionality is removed
     THROW_ON_NULLPTR(value_ptr_);
     return *value_ptr_;
+    // END
   }
 
   void set_value(double value)
   {
+    // BEGIN (Handle export change): for backward compatibility
+    // TODO(Manuel) set value_ directly if old functionality is removed
     THROW_ON_NULLPTR(this->value_ptr_);
     *this->value_ptr_ = value;
+    // END
   }
 
 protected:
   std::string prefix_name_;
   std::string interface_name_;
   HANDLE_DATATYPE value_;
+  // BEGIN (Handle export change): for backward compatibility
   // TODO(Manuel) redeclare as HANDLE_DATATYPE * value_ptr_ if old functionality is removed
   double * value_ptr_;
+  // END
 };
 
 class StateInterface : public Handle

hardware_interface/src/resource_manager.cpp

@@ -443,8 +443,8 @@ class ResourceStorage
     }
   }
 
-  // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_state_interfaces()
-  // method is removed
+  // BEGIN (Handle export change): for backward compatibility, can be removed if
+  // export_state_interfaces() method is removed
   void insert_state_interface(const StateInterface & state_interface)
   {
     const auto [it, success] = state_interface_map_.emplace(std::make_pair(
@@ -457,7 +457,7 @@ class ResourceStorage
       throw std::runtime_error(msg);
     }
   }
-  // TODO(Manuel) END: for backward compatibility
+  // END: for backward compatibility
 
   template <class HardwareT>
   void import_state_interfaces(HardwareT & hardware)
@@ -468,7 +468,7 @@ class ResourceStorage
     // a) there is nothing to export -> on_export_state_interfaces() does return nothing as well
     // b) default implementation for export_state_interfaces() is used -> new functionality ->
     // Framework exports and creates everything
-    if (interfaces.size() == 0)
+    if (interfaces.empty())
     {
       std::vector<std::shared_ptr<StateInterface>> interface_ptrs =
         hardware.on_export_state_interfaces();
@@ -479,8 +479,8 @@ class ResourceStorage
         interface_names.push_back(interface->get_name());
       }
     }
-    // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_state_interfaces()
-    // method is removed
+    // BEGIN (Handle export change): for backward compatibility, can be removed if
+    // export_state_interfaces() method is removed
     else
     {
       interface_names.reserve(interfaces.size());
@@ -490,7 +490,7 @@ class ResourceStorage
         interface_names.push_back(interface.get_name());
       }
     }
-    // TODO(Manuel) END: for backward compatibility
+    // END: for backward compatibility
 
     hardware_info_map_[hardware.get_name()].state_interfaces = interface_names;
     available_state_interfaces_.reserve(
@@ -510,8 +510,8 @@ class ResourceStorage
     }
   }
 
-  // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_command_interfaces()
-  // method is removed
+  // BEGIN (Handle export change): for backward compatibility, can be removed if
+  // export_command_interfaces() method is removed
   void insert_command_interface(CommandInterface && command_interface)
   {
     std::string key = command_interface.get_name();
@@ -525,7 +525,7 @@ class ResourceStorage
       throw std::runtime_error(msg);
     }
   }
-  // TODO(Manuel) END: for backward compatibility
+  // END: for backward compatibility
 
   template <class HardwareT>
   void import_command_interfaces(HardwareT & hardware)
@@ -535,21 +535,21 @@ class ResourceStorage
     // a) there is nothing to export -> on_export_command_interfaces() does return nothing as well
     // b) default implementation for export_command_interfaces() is used -> new functionality ->
     // Framework exports and creates everything
-    if (interfaces.size() == 0)
+    if (interfaces.empty())
     {
       std::vector<std::shared_ptr<CommandInterface>> interface_ptrs =
         hardware.on_export_command_interfaces();
       hardware_info_map_[hardware.get_name()].command_interfaces =
         add_command_interfaces(interface_ptrs);
     }
-    // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_command_interfaces()
-    // method is removed
+    // BEGIN (Handle export change): for backward compatibility, can be removed if
+    // export_command_interfaces() method is removed
     else
     {
       hardware_info_map_[hardware.get_name()].command_interfaces =
         add_command_interfaces(interfaces);
     }
-    // TODO(Manuel) END: for backward compatibility
+    // END: for backward compatibility
   }
 
   /// Adds exported command interfaces into internal storage.
@@ -563,8 +563,8 @@ 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.
    */
-  // TODO(Manuel) BEGIN: for backward compatibility, can be removed if export_command_interfaces()
-  // method is removed
+  // BEGIN (Handle export change): for backward compatibility, can be removed if
+  // export_command_interfaces() method is removed
   std::vector<std::string> add_command_interfaces(std::vector<CommandInterface> & interfaces)
   {
     std::vector<std::string> interface_names;
@@ -581,7 +581,7 @@ class ResourceStorage
 
     return interface_names;
   }
-  // TODO(Manuel) END: for backward compatibility
+  // END: for backward compatibility
 
   std::vector<std::string> add_command_interfaces(
     std::vector<std::shared_ptr<CommandInterface>> & interfaces)