change rest of component_interface test and mark what should be removed

ros-controls · Jan 22, 2024 · e70f436 · e70f436
1 parent 200491b
commit e70f436
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Showing 6 changed files with 902 additions and 355 deletions.
diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -157,8 +157,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   {
     // return empty vector by default. For backward compatibility we check if all vectors is empty
     // and if so call on_export_state_interfaces()
-    std::vector<StateInterface> state_interfaces;
-    return state_interfaces;
+    return {};
   }
 
   std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
@@ -195,8 +194,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   {
     // return empty vector by default. For backward compatibility we check if all vectors is empty
     // and if so call on_export_command_interfaces()
-    std::vector<CommandInterface> command_interfaces;
-    return command_interfaces;
+    return {};
   }
 
   std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()

diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
@@ -93,8 +93,9 @@ 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
+  {
+    // 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

diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -141,8 +141,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   {
     // return empty vector by default. For backward compatibility we check if all vectors is empty
     // and if so call on_export_state_interfaces()
-    std::vector<StateInterface> state_interfaces;
-    return state_interfaces;
+    return {};
   }
 
   std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()

diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -176,8 +176,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   {
     // return empty vector by default. For backward compatibility we check if all vectors is empty
     // and if so call on_export_state_interfaces()
-    std::vector<StateInterface> state_interfaces;
-    return state_interfaces;
+    return {};
   }
 
   std::vector<std::shared_ptr<StateInterface>> on_export_state_interfaces()
@@ -227,8 +226,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   {
     // return empty vector by default. For backward compatibility we check if all vectors is empty
     // and if so call on_export_command_interfaces()
-    std::vector<CommandInterface> command_interfaces;
-    return command_interfaces;
+    return {};
   }
 
   std::vector<std::shared_ptr<CommandInterface>> on_export_command_interfaces()