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Modify resource manager logic to support multiple hardware components #1391

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Modify resource manager logic to support multiple hardware components #1391

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f1d7387
fix command mode switch logic
chama1176 Feb 13, 2024
6c92fbf
apply fix to perform switch
chama1176 Feb 14, 2024
ffdfadb
bug fix
chama1176 Feb 14, 2024
b21c84c
fix. No component -> ret value is ok
chama1176 Feb 15, 2024
eaed55d
fix format
chama1176 Feb 15, 2024
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18 changes: 14 additions & 4 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1154,6 +1154,7 @@ bool ResourceManager::prepare_command_mode_switch(
auto call_prepare_mode_switch =
[&start_interfaces, &stop_interfaces, &interfaces_to_string](auto & components)
{
size_t count = 0;
bool ret = true;
for (auto & component : components)
{
Expand All @@ -1162,8 +1163,12 @@ bool ResourceManager::prepare_command_mode_switch(
component.get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
{
if (
return_type::OK !=
return_type::OK ==
component.prepare_command_mode_switch(start_interfaces, stop_interfaces))
{
++count;
}
else
{
RCUTILS_LOG_ERROR_NAMED(
"resource_manager",
Expand All @@ -1173,7 +1178,7 @@ bool ResourceManager::prepare_command_mode_switch(
}
}
}
return ret;
return ret || (count > 0);
};

const bool actuators_result = call_prepare_mode_switch(resource_storage_->actuators_);
Expand All @@ -1195,6 +1200,7 @@ bool ResourceManager::perform_command_mode_switch(

auto call_perform_mode_switch = [&start_interfaces, &stop_interfaces](auto & components)
{
size_t count = 0;
bool ret = true;
for (auto & component : components)
{
Expand All @@ -1203,8 +1209,12 @@ bool ResourceManager::perform_command_mode_switch(
component.get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
{
if (
return_type::OK !=
return_type::OK ==
component.perform_command_mode_switch(start_interfaces, stop_interfaces))
{
++count;
}
else
{
RCUTILS_LOG_ERROR_NAMED(
"resource_manager", "Component '%s' could not perform switch",
Expand All @@ -1213,7 +1223,7 @@ bool ResourceManager::perform_command_mode_switch(
}
}
}
return ret;
return ret || (count > 0);
};

const bool actuators_result = call_perform_mode_switch(resource_storage_->actuators_);
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