reverted import_component changes

Author: soham2560

hardware_interface/include/hardware_interface/resource_manager.hpp

@@ -393,11 +393,9 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param[in] actuator pointer to the actuator interface.
    * \param[in] hardware_info hardware info
-   * \param[in] executor a weak pointer to the MultiThreadedExecutor used by the controller manager.
    */
   void import_component(
-    std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info,
-    rclcpp::Executor::WeakPtr executor);
+    std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info);
 
   /// Import a hardware component which is not listed in the URDF
   /**
@@ -411,11 +409,9 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param[in] sensor pointer to the sensor interface.
    * \param[in] hardware_info hardware info
-   * \param[in] executor a weak pointer to the MultiThreadedExecutor used by the controller manager.
    */
   void import_component(
-    std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info,
-    rclcpp::Executor::WeakPtr executor);
+    std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info);
 
   /// Import a hardware component which is not listed in the URDF
   /**
@@ -429,11 +425,9 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param[in] system pointer to the system interface.
    * \param[in] hardware_info hardware info
-   * \param[in] executor a weak pointer to the MultiThreadedExecutor used by the controller manager.
    */
   void import_component(
-    std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info,
-    rclcpp::Executor::WeakPtr executor);
+    std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info);
 
   /// Return status for all components.
   /**

hardware_interface/src/resource_manager.cpp

@@ -1837,33 +1837,30 @@ std::string ResourceManager::get_command_interface_data_type(const std::string &
 }
 
 void ResourceManager::import_component(
-  std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info,
-  rclcpp::Executor::WeakPtr executor)
+  std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info)
 {
   std::lock_guard<std::recursive_mutex> guard(resources_lock_);
-  resource_storage_->initialize_actuator(std::move(actuator), hardware_info, executor);
+  resource_storage_->initialize_actuator(std::move(actuator), hardware_info, executor_);
   read_write_status.failed_hardware_names.reserve(
     resource_storage_->actuators_.size() + resource_storage_->sensors_.size() +
     resource_storage_->systems_.size());
 }
 
 void ResourceManager::import_component(
-  std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info,
-  rclcpp::Executor::WeakPtr executor)
+  std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info)
 {
   std::lock_guard<std::recursive_mutex> guard(resources_lock_);
-  resource_storage_->initialize_sensor(std::move(sensor), hardware_info, executor);
+  resource_storage_->initialize_sensor(std::move(sensor), hardware_info, executor_);
   read_write_status.failed_hardware_names.reserve(
     resource_storage_->actuators_.size() + resource_storage_->sensors_.size() +
     resource_storage_->systems_.size());
 }
 
 void ResourceManager::import_component(
-  std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info,
-  rclcpp::Executor::WeakPtr executor)
+  std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info)
 {
   std::lock_guard<std::recursive_mutex> guard(resources_lock_);
-  resource_storage_->initialize_system(std::move(system), hardware_info, executor);
+  resource_storage_->initialize_system(std::move(system), hardware_info, executor_);
   read_write_status.failed_hardware_names.reserve(
     resource_storage_->actuators_.size() + resource_storage_->sensors_.size() +
     resource_storage_->systems_.size());

hardware_interface_testing/test/test_resource_manager.cpp

@@ -406,7 +406,7 @@ TEST_F(ResourceManagerTest, post_initialization_add_components)
   external_component_hw_info.name = "ExternalComponent";
   external_component_hw_info.type = "actuator";
   external_component_hw_info.is_async = false;
-  rm.import_component(std::make_unique<ExternalComponent>(), external_component_hw_info, executor_);
+  rm.import_component(std::make_unique<ExternalComponent>(), external_component_hw_info);
   EXPECT_EQ(2u, rm.actuator_components_size());
 
   ASSERT_THAT(rm.state_interface_keys(), SizeIs(12));