Making ControllerInfo::hardware_interface a set

This replaces all instances of ControllerInfo::hardware_interface
with std::set<std::string> hardware_interfaces instead.  This
allows one to properly represent multi-controllers which use
different types of interfaces.  getHardwareInterfaceType is
also converted to getHardwareInterfaceTypes.  A legacy version
of getHardwareInterfaceType is added which calls the other and
returns a random interface.  A warning is displayed if there is more
than one interface available. The ControllerState message is also
affected.

controller_interface/include/controller_interface/controller.h

@@ -111,7 +111,7 @@ class Controller: public ControllerBase
     {
       ROS_ERROR("This controller requires a hardware interface of type '%s'."
                 " Make sure this is registered in the hardware_interface::RobotHW class.",
-                getHardwareInterfaceType().c_str());
+                getHardwareInterfaceTypes().begin()->c_str());
       return false;
     }
 
@@ -130,9 +130,11 @@ class Controller: public ControllerBase
     return true;
   }
 
-  virtual std::string getHardwareInterfaceType() const
+  virtual std::set<std::string> getHardwareInterfaceTypes() const
   {
-    return hardware_interface::internal::demangledTypeName<T>();
+    std::set<std::string> ret_types;
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T>());
+    return ret_types;
   }
 
 private:

controller_interface/include/controller_interface/controller_base.h

@@ -122,8 +122,24 @@ class ControllerBase
   /** \name Non Real-Time Safe Functions
    *\{*/
 
-  /// Get the name of this controller's hardware interface type
-  virtual std::string getHardwareInterfaceType() const = 0;
+  /// Get the names of the hardware interface types this controller uses
+  virtual std::set<std::string> getHardwareInterfaceTypes() const = 0;
+
+  /// Get the single name of the hardware interface this controller uses
+  virtual std::string getHardwareInterfaceType() 
+  {
+    std::set<std::string> types = getHardwareInterfaceTypes();
+
+    if(types.size() == 0) {
+      ROS_WARN("This controller has no interface type!");
+      return std::string("");
+    }
+
+    if(types.size() > 1)
+      ROS_WARN("This controller has more than one interface type!"
+                  "Use 'getHardwareInterfaceTypes' instead.");
+    return *(types.begin());
+  }
 
   /** \brief Request that the controller be initialized
    *

controller_interface/include/controller_interface/multi_controller.h

@@ -116,9 +116,12 @@ class Controller2: public ControllerBase
     T2* hw2 = robot_hw->get<T2>();
     if (!hw1 || !hw2)
     {
-      ROS_ERROR("This controller requires a hardware interface of type '%s'."
-                " Make sure this is registered in the hardware_interface::RobotHW class.",
-                getHardwareInterfaceType().c_str());
+      std::set<std::string>::iterator types_iter = getHardwareInterfaceTypes().begin();
+      std::string type1 = *types_iter; types_iter++;
+      std::string type2 = *types_iter; 
+      ROS_ERROR("This controller requires hardware interfaces of types '%s' and '%s'."
+                " Make sure they are registered in the hardware_interface::RobotHW class.",
+                type1.c_str(), type2.c_str());
       return false;
     }
 
@@ -141,10 +144,12 @@ class Controller2: public ControllerBase
     return true;
   }
 
-  virtual std::string getHardwareInterfaceType() const
+  virtual std::set<std::string> getHardwareInterfaceTypes() const
   {
-    return "<" + hardware_interface::internal::demangledTypeName<T1>() + "," +
-           hardware_interface::internal::demangledTypeName<T2>() + ">";
+    std::set<std::string> ret_types;
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T1>());
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T2>());
+    return ret_types;
   }
 
 private:
@@ -236,9 +241,13 @@ class Controller3: public ControllerBase
     T3* hw3 = robot_hw->get<T3>();
     if (!hw1 || !hw2 || !hw3)
     {
-      ROS_ERROR("This controller requires a hardware interface of type '%s'."
-                " Make sure this is registered in the hardware_interface::RobotHW class.",
-                getHardwareInterfaceType().c_str());
+      std::set<std::string>::iterator types_iter = getHardwareInterfaceTypes().begin();
+      std::string type1 = *types_iter; types_iter++;
+      std::string type2 = *types_iter; types_iter++;
+      std::string type3 = *types_iter; 
+      ROS_ERROR("This controller requires hardware interfaces of types '%s', '%s', and '%s'."
+                " Make sure they are registered in the hardware_interface::RobotHW class.",
+                type1.c_str(), type2.c_str(), type3.c_str());
       return false;
     }
 
@@ -265,11 +274,13 @@ class Controller3: public ControllerBase
     return true;
   }
 
-  virtual std::string getHardwareInterfaceType() const
+  virtual std::set<std::string> getHardwareInterfaceTypes() const
   {
-    return "<" + hardware_interface::internal::demangledTypeName<T1>() + "," +
-           hardware_interface::internal::demangledTypeName<T2>() + "," +
-           hardware_interface::internal::demangledTypeName<T3>() + ">";
+    std::set<std::string> ret_types;
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T1>());
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T2>());
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T3>());
+    return ret_types;
   }
 
 private:
@@ -369,9 +380,14 @@ class Controller4: public ControllerBase
     T4* hw4 = robot_hw->get<T4>();
     if (!hw1 || !hw2 || !hw3 || !hw4)
     {
-      ROS_ERROR("This controller requires a hardware interface of type '%s'."
-                " Make sure this is registered in the hardware_interface::RobotHW class.",
-                getHardwareInterfaceType().c_str());
+      std::set<std::string>::iterator types_iter = getHardwareInterfaceTypes().begin();
+      std::string type1 = *types_iter; types_iter++;
+      std::string type2 = *types_iter; types_iter++;
+      std::string type3 = *types_iter; types_iter++;
+      std::string type4 = *types_iter; 
+      ROS_ERROR("This controller requires hardware interfaces of types '%s', '%s', '%s', and '%s'."
+                " Make sure they are registered in the hardware_interface::RobotHW class.",
+                type1.c_str(), type2.c_str(), type3.c_str(), type4.c_str());
       return false;
     }
 
@@ -404,10 +420,12 @@ class Controller4: public ControllerBase
 
   virtual std::string getHardwareInterfaceType() const
   {
-    return "<" + hardware_interface::internal::demangledTypeName<T1>() + "," +
-           hardware_interface::internal::demangledTypeName<T2>() + "," +
-           hardware_interface::internal::demangledTypeName<T3>() + "," +
-           hardware_interface::internal::demangledTypeName<T4>() + ">";
+    std::set<std::string> ret_types;
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T1>());
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T2>());
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T3>());
+    ret_types.insert(hardware_interface::internal::demangledTypeName<T4>());
+    return ret_types;
   }
 
 private:

controller_manager/src/controller_manager.cpp

@@ -248,7 +248,7 @@ bool ControllerManager::loadController(const std::string& name)
   // Adds the controller to the new list
   to.resize(to.size() + 1);
   to[to.size()-1].info.type = type;
-  to[to.size()-1].info.hardware_interface = c->getHardwareInterfaceType();
+  to[to.size()-1].info.hardware_interfaces = c->getHardwareInterfaceTypes();
   to[to.size()-1].info.name = name;
   to[to.size()-1].info.resources = claimed_resources;
   to[to.size()-1].c = c;
@@ -564,7 +564,10 @@ bool ControllerManager::listControllersSrv(
     controller_manager_msgs::ControllerState& cs = resp.controller[i];
     cs.name               = controllers[i].info.name;
     cs.type               = controllers[i].info.type;
-    cs.hardware_interface = controllers[i].info.hardware_interface;
+    cs.hardware_interfaces.clear();
+    cs.hardware_interfaces.reserve(controllers[i].info.hardware_interfaces.size());
+    for (std::set<std::string>::iterator it = controllers[i].info.hardware_interfaces.begin(); it != controllers[i].info.hardware_interfaces.end(); ++it)
+      cs.hardware_interfaces.push_back(*it);
     cs.resources.clear();
     cs.resources.reserve(controllers[i].info.resources.size());
     for (std::set<std::string>::iterator it = controllers[i].info.resources.begin(); it != controllers[i].info.resources.end(); ++it)

controller_manager/src/controller_manager/controller_manager_interface.py

@@ -57,7 +57,10 @@ def list_controllers():
         print "No controllers are loaded in mechanism control"
     else:
         for c in resp.controller:
-            print '%s - %s ( %s )'%(c.name, c.hardware_interface, c.state)
+            if len(c.hardware_interfaces) == 1:
+                print '%s - %s ( %s )'%(c.name, c.hardware_interfaces[0], c.state)
+            else:
+                print '%s - [%s] ( %s )'%(c.name, ", ".join(c.hardware_interfaces), c.state)
 
 
 def load_controller(name):

controller_manager_msgs/msg/ControllerState.msg

@@ -1,5 +1,5 @@
 string name
 string state
 string type
-string hardware_interface
+string[] hardware_interfaces
 string[] resources

hardware_interface/include/hardware_interface/controller_info.h

@@ -42,7 +42,8 @@ namespace hardware_interface
  */
 struct ControllerInfo
 {
-  std::string name, type, hardware_interface;
+  std::string name, type;
+  std::set<std::string> hardware_interfaces;
   std::set<std::string> resources;
 };
 

hardware_interface/test/robot_hw_test.cpp

@@ -117,19 +117,19 @@ TEST_F(RobotHWTest, ConflictChecking)
   ControllerInfo info1;
   info1.name = "controller_1";
   info1.type = "type_1";
-  info1.hardware_interface = "interface_1";
+  info1.hardware_interfaces.insert("interface_1");
   info1.resources.insert("resource_1");
 
   ControllerInfo info2;
   info2.name = "controller_2";
   info2.type = "type_2";
-  info2.hardware_interface = "interface_2";
+  info2.hardware_interfaces.insert("interface_2");
   info2.resources.insert("resource_2");
 
   ControllerInfo info12;
   info12.name = "controller_12";
   info12.type = "type_12";
-  info12.hardware_interface = "interface_12";
+  info12.hardware_interfaces.insert("interface_12");
   info12.resources.insert("resource_1");
   info12.resources.insert("resource_2");