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Add function specifiers and modernize constructors #430

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May 9, 2020
Merged

Add function specifiers and modernize constructors #430

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4983477
Add override specifiers & default constructors
matthew-reynolds Dec 30, 2019
5fc4b4f
Delete ControllerBase copy & move ctors
matthew-reynolds Dec 30, 2019
b4308ef
Remove unnecessary default constructors
matthew-reynolds Dec 30, 2019
7eee97c
Modernize additional constructors
matthew-reynolds Jan 28, 2020
cbc725e
Revert ImuSensorHandle::Data::Data() = default
matthew-reynolds Mar 15, 2020
7ef6d92
Remove unnecessary default overridden constructors
matthew-reynolds Mar 15, 2020
162f9bd
Remove semicolon after function body
matthew-reynolds Mar 16, 2020
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15 changes: 7 additions & 8 deletions combined_robot_hw/include/combined_robot_hw/combined_robot_hw.h
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Expand Up @@ -52,7 +52,6 @@ namespace combined_robot_hw
class CombinedRobotHW : public hardware_interface::RobotHW
{
public:
virtual ~CombinedRobotHW(){}
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/** \brief The init function is called to initialize the RobotHW from a
* non-realtime thread.
Expand All @@ -64,39 +63,39 @@ class CombinedRobotHW : public hardware_interface::RobotHW
*
* \returns True if initialization was successful
*/
virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) override;


/**
* 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 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 prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;

/**
* Perform (in 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 prepareSwitch() beforehand.
*/
virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;

/**
* Reads data from the robot HW
*
* \param time The current time
* \param period The time passed since the last call to \ref read
*/
virtual void read(const ros::Time& time, const ros::Duration& period);
void read(const ros::Time& time, const ros::Duration& period) override;

/**
* Writes data to the robot HW
*
* \param time The current time
* \param period The time passed since the last call to \ref write
*/
virtual void write(const ros::Time& time, const ros::Duration& period);
void write(const ros::Time& time, const ros::Duration& period) override;

protected:
ros::NodeHandle root_nh_;
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16 changes: 7 additions & 9 deletions combined_robot_hw_tests/include/combined_robot_hw_tests/my_robot_hw_1.h
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Expand Up @@ -38,15 +38,13 @@ namespace combined_robot_hw_tests
class MyRobotHW1 : public hardware_interface::RobotHW
{
public:
MyRobotHW1();
virtual ~MyRobotHW1(){};
virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
virtual void read(const ros::Time& time, const ros::Duration& period);
virtual void write(const ros::Time& time, const ros::Duration& period);
virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) override;
void read(const ros::Time& time, const ros::Duration& period) override;
void write(const ros::Time& time, const ros::Duration& period) override;
bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;
void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;

protected:

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16 changes: 7 additions & 9 deletions combined_robot_hw_tests/include/combined_robot_hw_tests/my_robot_hw_2.h
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Expand Up @@ -38,15 +38,13 @@ namespace combined_robot_hw_tests
class MyRobotHW2 : public hardware_interface::RobotHW
{
public:
MyRobotHW2();
virtual ~MyRobotHW2(){};
virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
void read(const ros::Time& time, const ros::Duration& period);
void write(const ros::Time& time, const ros::Duration& period);
virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) override;
void read(const ros::Time& time, const ros::Duration& period) override;
void write(const ros::Time& time, const ros::Duration& period) override;
bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;
void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;

protected:

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8 changes: 3 additions & 5 deletions combined_robot_hw_tests/include/combined_robot_hw_tests/my_robot_hw_3.h
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Expand Up @@ -38,11 +38,9 @@ namespace combined_robot_hw_tests
class MyRobotHW3 : public hardware_interface::RobotHW
{
public:
MyRobotHW3();
virtual ~MyRobotHW3(){};
virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
void read(const ros::Time& time, const ros::Duration& period);
void write(const ros::Time& time, const ros::Duration& period);
bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) override;
void read(const ros::Time& time, const ros::Duration& period) override;
void write(const ros::Time& time, const ros::Duration& period) override;

protected:

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16 changes: 7 additions & 9 deletions combined_robot_hw_tests/include/combined_robot_hw_tests/my_robot_hw_4.h
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Expand Up @@ -38,15 +38,13 @@ namespace combined_robot_hw_tests
class MyRobotHW4 : public hardware_interface::RobotHW
{
public:
MyRobotHW4();
virtual ~MyRobotHW4(){};
virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
void read(const ros::Time& time, const ros::Duration& period);
void write(const ros::Time& time, const ros::Duration& period);
virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list);
bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) override;
void read(const ros::Time& time, const ros::Duration& period) override;
void write(const ros::Time& time, const ros::Duration& period) override;
bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;
void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) override;

protected:

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4 changes: 0 additions & 4 deletions combined_robot_hw_tests/src/my_robot_hw_1.cpp
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Expand Up @@ -32,10 +32,6 @@
namespace combined_robot_hw_tests
{

MyRobotHW1::MyRobotHW1()
{
}

bool MyRobotHW1::init(ros::NodeHandle& /*root_nh*/, ros::NodeHandle &/*robot_hw_nh*/)
{
using namespace hardware_interface;
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4 changes: 0 additions & 4 deletions combined_robot_hw_tests/src/my_robot_hw_2.cpp
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Expand Up @@ -32,10 +32,6 @@
namespace combined_robot_hw_tests
{

MyRobotHW2::MyRobotHW2()
{
}

bool MyRobotHW2::init(ros::NodeHandle& /*root_nh*/, ros::NodeHandle &robot_hw_nh)
{
using namespace hardware_interface;
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5 changes: 0 additions & 5 deletions combined_robot_hw_tests/src/my_robot_hw_3.cpp
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Expand Up @@ -31,10 +31,6 @@
namespace combined_robot_hw_tests
{

MyRobotHW3::MyRobotHW3()
{
}

bool MyRobotHW3::init(ros::NodeHandle& /*root_nh*/, ros::NodeHandle &robot_hw_nh)
{
using namespace hardware_interface;
Expand Down Expand Up @@ -91,4 +87,3 @@ void MyRobotHW3::write(const ros::Time& /*time*/, const ros::Duration& /*period*
}

PLUGINLIB_EXPORT_CLASS( combined_robot_hw_tests::MyRobotHW3, hardware_interface::RobotHW)

4 changes: 0 additions & 4 deletions combined_robot_hw_tests/src/my_robot_hw_4.cpp
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Expand Up @@ -31,10 +31,6 @@
namespace combined_robot_hw_tests
{

MyRobotHW4::MyRobotHW4()
{
}

bool MyRobotHW4::init(ros::NodeHandle& /*root_nh*/, ros::NodeHandle &/*robot_hw_nh*/)
{
using namespace hardware_interface;
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15 changes: 4 additions & 11 deletions controller_interface/include/controller_interface/controller.h
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Expand Up @@ -52,8 +52,6 @@ template <class T>
class Controller: public virtual ControllerBase
{
public:
Controller() {}
virtual ~Controller<T>(){}

/** \brief The init function is called to initialize the controller from a
* non-realtime thread with a pointer to the hardware interface, itself,
Expand Down Expand Up @@ -95,10 +93,10 @@ class Controller: public virtual ControllerBase
* can extract the correct interface from \c robot_hw.
*
*/
virtual bool initRequest(hardware_interface::RobotHW* robot_hw,
ros::NodeHandle& root_nh,
ros::NodeHandle& controller_nh,
ClaimedResources& claimed_resources)
bool initRequest(hardware_interface::RobotHW* robot_hw,
ros::NodeHandle& root_nh,
ros::NodeHandle& controller_nh,
ClaimedResources& claimed_resources) override
{
// check if construction finished cleanly
if (state_ != CONSTRUCTED){
Expand Down Expand Up @@ -137,11 +135,6 @@ class Controller: public virtual ControllerBase
{
return hardware_interface::internal::demangledTypeName<T>();
}

private:
Controller<T>(const Controller<T> &c);
Controller<T>& operator =(const Controller<T> &c);

};

}
14 changes: 6 additions & 8 deletions controller_interface/include/controller_interface/controller_base.h
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Expand Up @@ -48,8 +48,12 @@ namespace controller_interface
class ControllerBase
{
public:
ControllerBase() {}
virtual ~ControllerBase(){}
ControllerBase() = default;
virtual ~ControllerBase() = default;
ControllerBase(const ControllerBase&) = delete;
ControllerBase& operator=(const ControllerBase&) = delete;
ControllerBase(ControllerBase&&) = delete;
ControllerBase& operator=(ControllerBase&&) = delete;

/** \name Real-Time Safe Functions
*\{*/
Expand Down Expand Up @@ -238,12 +242,6 @@ class ControllerBase

/// The current execution state of the controller
enum {CONSTRUCTED, INITIALIZED, RUNNING, STOPPED, WAITING, ABORTED} state_ = {CONSTRUCTED};


private:
ControllerBase(const ControllerBase &c);
ControllerBase& operator =(const ControllerBase &c);

};

typedef std::shared_ptr<ControllerBase> ControllerBaseSharedPtr;
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17 changes: 5 additions & 12 deletions controller_interface/include/controller_interface/multi_interface_controller.h
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Expand Up @@ -155,10 +155,7 @@ class MultiInterfaceController: public virtual ControllerBase
* If set to false (the default), all requested interfaces are required.
*/
MultiInterfaceController(bool allow_optional_interfaces = false)
: allow_optional_interfaces_(allow_optional_interfaces)
{}

virtual ~MultiInterfaceController() {}
: allow_optional_interfaces_(allow_optional_interfaces) {}

/** \name Non Real-Time Safe Functions
*\{*/
Expand Down Expand Up @@ -245,10 +242,10 @@ class MultiInterfaceController: public virtual ControllerBase
* \returns True if initialization was successful and the controller
* is ready to be started.
*/
virtual bool initRequest(hardware_interface::RobotHW* robot_hw,
ros::NodeHandle& root_nh,
ros::NodeHandle& controller_nh,
ClaimedResources& claimed_resources)
bool initRequest(hardware_interface::RobotHW* robot_hw,
ros::NodeHandle& root_nh,
ros::NodeHandle& controller_nh,
ClaimedResources& claimed_resources) override
{
// check if construction finished cleanly
if (state_ != CONSTRUCTED){
Expand Down Expand Up @@ -340,10 +337,6 @@ class MultiInterfaceController: public virtual ControllerBase

/** Flag to indicate if hardware interfaces are considered optional (i.e. non-required). */
bool allow_optional_interfaces_;

private:
MultiInterfaceController(const MultiInterfaceController& c);
MultiInterfaceController& operator =(const MultiInterfaceController& c);
};

} // namespace
7 changes: 0 additions & 7 deletions controller_interface/test/controller_base_test.cpp
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Expand Up @@ -43,13 +43,6 @@ using ::testing::Return;
class ControllerMock : public controller_interface::ControllerBase
{
public:
ControllerMock() : controller_interface::ControllerBase()
{
}

~ControllerMock()
{
}

void initializeState()
{
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6 changes: 3 additions & 3 deletions controller_manager/include/controller_manager/controller_loader.h
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Expand Up @@ -56,17 +56,17 @@ class ControllerLoader : public ControllerLoaderInterface
reload();
}

controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name)
controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name) override
{
return controller_loader_->createUniqueInstance(lookup_name);
}

std::vector<std::string> getDeclaredClasses()
std::vector<std::string> getDeclaredClasses() override
{
return controller_loader_->getDeclaredClasses();
}

void reload()
void reload() override
{
controller_loader_.reset(new pluginlib::ClassLoader<T>(package_, base_class_) );
}
Expand Down
7 changes: 4 additions & 3 deletions controller_manager/include/controller_manager/controller_loader_interface.h
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Expand Up @@ -45,15 +45,16 @@ namespace controller_manager
class ControllerLoaderInterface
{
public:
ControllerLoaderInterface(const std::string& name) : name_(name) { }
ControllerLoaderInterface(const std::string& name) : name_(name) {}
virtual ~ControllerLoaderInterface() = default;

virtual controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name) = 0;
virtual std::vector<std::string> getDeclaredClasses() = 0;
virtual void reload() = 0;
const std::string& getName() { return name_; }
virtual ~ControllerLoaderInterface() { }

private:
const std::string name_;

};

typedef std::shared_ptr<ControllerLoaderInterface> ControllerLoaderInterfaceSharedPtr;
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2 changes: 1 addition & 1 deletion controller_manager/include/controller_manager/controller_manager.h
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Expand Up @@ -75,7 +75,7 @@ class ControllerManager{
*/
ControllerManager(hardware_interface::RobotHW *robot_hw,
const ros::NodeHandle& nh=ros::NodeHandle());
virtual ~ControllerManager();
virtual ~ControllerManager() = default;

/** \name Real-Time Safe Functions
*\{*/
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4 changes: 0 additions & 4 deletions controller_manager/src/controller_manager.cpp
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Expand Up @@ -62,10 +62,6 @@ ControllerManager::ControllerManager(hardware_interface::RobotHW *robot_hw, cons
}


ControllerManager::~ControllerManager()
{}


// Must be realtime safe.
void ControllerManager::update(const ros::Time& time, const ros::Duration& period, bool reset_controllers)
{
Expand Down