From f342a51bf7ab1f5f7362952bcc0f590e40cd4078 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Dr=2E=20Denis=20=C5=A0togl?= <denis@stoglrobotics.de>
Date: Wed, 17 Jan 2024 16:26:11 +0100
Subject: [PATCH] Fixup variable name for clarity.
---
controller_manager/src/controller_manager.cpp | 36 ++++++++++---------
1 file changed, 19 insertions(+), 17 deletions(-)
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index fd02489def..779ed76a5c 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -1257,17 +1257,17 @@ void ControllerManager::deactivate_controllers()
std::vector<ControllerSpec> & rt_controller_list =
rt_controllers_wrapper_.update_and_get_used_by_rt_list();
// stop controllers
- for (const auto & request : deactivate_request_)
+ for (const auto & controller_name : deactivate_request_)
{
auto found_it = std::find_if(
rt_controller_list.begin(), rt_controller_list.end(),
- std::bind(controller_name_compare, std::placeholders::_1, request));
+ std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == rt_controller_list.end())
{
RCLCPP_ERROR(
get_logger(),
"Got request to stop controller '%s' but it is not in the realtime controller list",
- request.c_str());
+ controller_name.c_str());
continue;
}
auto controller = found_it->c;
@@ -1279,7 +1279,7 @@ void ControllerManager::deactivate_controllers()
{
RCLCPP_ERROR(
get_logger(), "After deactivating, controller '%s' is in state '%s', expected Inactive",
- request.c_str(), new_state.label().c_str());
+ controller_name.c_str(), new_state.label().c_str());
}
}
}
@@ -1291,18 +1291,18 @@ void ControllerManager::switch_chained_mode(
std::vector<ControllerSpec> & rt_controller_list =
rt_controllers_wrapper_.update_and_get_used_by_rt_list();
- for (const auto & request : chained_mode_switch_list)
+ for (const auto & controller_name : chained_mode_switch_list)
{
auto found_it = std::find_if(
rt_controller_list.begin(), rt_controller_list.end(),
- std::bind(controller_name_compare, std::placeholders::_1, request));
+ std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == rt_controller_list.end())
{
RCLCPP_FATAL(
get_logger(),
"Got request to turn %s chained mode for controller '%s', but controller is not in the "
"realtime controller list. (This should never happen!)",
- (to_chained_mode ? "ON" : "OFF"), request.c_str());
+ (to_chained_mode ? "ON" : "OFF"), controller_name.c_str());
continue;
}
auto controller = found_it->c;
@@ -1312,11 +1312,11 @@ void ControllerManager::switch_chained_mode(
{
if (to_chained_mode)
{
- resource_manager_->make_controller_reference_interfaces_available(request);
+ resource_manager_->make_controller_reference_interfaces_available(controller_name);
}
else
{
- resource_manager_->make_controller_reference_interfaces_unavailable(request);
+ resource_manager_->make_controller_reference_interfaces_unavailable(controller_name);
}
}
else
@@ -1327,7 +1327,7 @@ void ControllerManager::switch_chained_mode(
"it! The control will probably not work as expected. Try to restart all controllers. "
"If "
"the error persist check controllers' individual configuration.",
- (to_chained_mode ? "ON" : "OFF"), request.c_str());
+ (to_chained_mode ? "ON" : "OFF"), controller_name.c_str());
}
}
else
@@ -1336,7 +1336,7 @@ void ControllerManager::switch_chained_mode(
get_logger(),
"Got request to turn %s chained mode for controller '%s', but this can not happen if "
"controller is in '%s' state. (This should never happen!)",
- (to_chained_mode ? "ON" : "OFF"), request.c_str(),
+ (to_chained_mode ? "ON" : "OFF"), controller_name.c_str(),
hardware_interface::lifecycle_state_names::ACTIVE);
}
}
@@ -1346,17 +1346,17 @@ void ControllerManager::activate_controllers()
{
std::vector<ControllerSpec> & rt_controller_list =
rt_controllers_wrapper_.update_and_get_used_by_rt_list();
- for (const auto & request : activate_request_)
+ for (const auto & controller_name : activate_request_)
{
auto found_it = std::find_if(
rt_controller_list.begin(), rt_controller_list.end(),
- std::bind(controller_name_compare, std::placeholders::_1, request));
+ std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == rt_controller_list.end())
{
RCLCPP_ERROR(
get_logger(),
"Got request to activate controller '%s' but it is not in the realtime controller list",
- request.c_str());
+ controller_name.c_str());
continue;
}
auto controller = found_it->c;
@@ -1385,7 +1385,7 @@ void ControllerManager::activate_controllers()
RCLCPP_ERROR(
get_logger(),
"Resource conflict for controller '%s'. Command interface '%s' is already claimed.",
- request.c_str(), command_interface.c_str());
+ controller_name.c_str(), command_interface.c_str());
assignment_successful = false;
break;
}
@@ -1395,7 +1395,8 @@ void ControllerManager::activate_controllers()
}
catch (const std::exception & e)
{
- RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what());
+ RCLCPP_ERROR(
+ get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
assignment_successful = false;
break;
}
@@ -1429,7 +1430,8 @@ void ControllerManager::activate_controllers()
}
catch (const std::exception & e)
{
- RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what());
+ RCLCPP_ERROR(
+ get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
assignment_successful = false;
break;
}