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Improve the prefix name check for the chainable controllers #2038

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merged 5 commits into from
Feb 12, 2025
Merged

Improve the prefix name check for the chainable controllers #2038

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4c11875
Improve the prefix name check for the chainable controllers
saikishor Feb 5, 2025
b3e08ae
Merge branch 'master' into improve/chainable/prefix_name/checking
saikishor Feb 5, 2025
1f735ce
fix the error message
saikishor Feb 5, 2025
7c99ca4
Check that the prefix starts with the controller name exclusively
saikishor Feb 5, 2025
a5f0511
Merge branch 'master' into improve/chainable/prefix_name/checking
christophfroehlich Feb 10, 2025
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21 changes: 11 additions & 10 deletions controller_interface/src/chainable_controller_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,18 +57,18 @@ ChainableControllerInterface::export_state_interfaces()
// check if the names of the controller state interfaces begin with the controller's name
for (const auto & interface : state_interfaces)
{
if (interface.get_prefix_name() != get_node()->get_name())
if (interface.get_prefix_name().find(get_node()->get_name()) != 0)
{
std::string error_msg =
"The prefix of the interface '" + interface.get_prefix_name() +
"' does not equal the controller's name '" + get_node()->get_name() +
"' should begin with the controller's name '" + get_node()->get_name() +
"'. This is mandatory for state interfaces. No state interface will be exported. Please "
"correct and recompile the controller with name '" +
get_node()->get_name() + "' and try again.";
throw std::runtime_error(error_msg);
}
auto state_interface = std::make_shared<hardware_interface::StateInterface>(interface);
const auto interface_name = state_interface->get_interface_name();
const auto interface_name = state_interface->get_name();
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auto [it, succ] = exported_state_interfaces_.insert({interface_name, state_interface});
// either we have name duplicate which we want to avoid under all circumstances since interfaces
// need to be uniquely identify able or something else really went wrong. In any case abort and
Expand Down Expand Up @@ -137,19 +137,20 @@ ChainableControllerInterface::export_reference_interfaces()
const auto ref_interface_size = reference_interfaces.size();
for (auto & interface : reference_interfaces)
{
if (interface.get_prefix_name() != get_node()->get_name())
if (interface.get_prefix_name().find(get_node()->get_name()) != 0)
{
std::string error_msg = "The name of the interface " + interface.get_name() +
" does not begin with the controller's name. This is mandatory for "
"reference interfaces. Please "
"correct and recompile the controller with name " +
get_node()->get_name() + " and try again.";
std::string error_msg = "The prefix of the interface '" + interface.get_prefix_name() +
"' should begin with the controller's name '" +
get_node()->get_name() +
"'. This is mandatory for reference interfaces. Please correct and "
"recompile the controller with name '" +
get_node()->get_name() + "' and try again.";
throw std::runtime_error(error_msg);
}

hardware_interface::CommandInterface::SharedPtr reference_interface =
std::make_shared<hardware_interface::CommandInterface>(std::move(interface));
const auto interface_name = reference_interface->get_interface_name();
const auto interface_name = reference_interface->get_name();
// check the exported interface name is unique
auto [it, succ] = exported_reference_interfaces_.insert({interface_name, reference_interface});
// either we have name duplicate which we want to avoid under all circumstances since interfaces
Expand Down
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