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Cleanup old internal API #2346

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Merged
bmagyar merged 2 commits into from
Jul 1, 2025
Merged

Cleanup old internal API #2346

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2dca78e
Cleanup old internal API
saikishor Jun 28, 2025
60b4f87
Merge branch 'master' into cleanup/old/internal/API
christophfroehlich Jul 1, 2025
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1 change: 1 addition & 0 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -626,6 +626,7 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
params.clock = trigger_clock_;
params.logger = this->get_logger();
params.executor = executor_;
params.update_rate = static_cast<unsigned int>(params_->update_rate);
if (!resource_manager_->load_and_initialize_components(params))
{
RCLCPP_WARN(
Expand Down
53 changes: 0 additions & 53 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -234,14 +234,6 @@ class ResourceStorage
return is_loaded;
}

template <class HardwareT>
bool initialize_hardware(const HardwareInfo & hardware_info, HardwareT & hardware)
{
hardware_interface::HardwareComponentParams params;
params.hardware_info = hardware_info;
return initialize_hardware(params, hardware);
}

template <class HardwareT>
bool initialize_hardware(
const hardware_interface::HardwareComponentParams & params, HardwareT & hardware)
Expand Down Expand Up @@ -1115,28 +1107,6 @@ class ResourceStorage
}
}

// TODO(destogl): Propagate "false" up, if happens in initialize_hardware
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bool load_and_initialize_actuator(const HardwareInfo & hardware_info)
{
hardware_interface::HardwareComponentParams params;
params.hardware_info = hardware_info;
return load_and_initialize_actuator(params);
}

bool load_and_initialize_sensor(const HardwareInfo & hardware_info)
{
hardware_interface::HardwareComponentParams params;
params.hardware_info = hardware_info;
return load_and_initialize_sensor(params);
}

bool load_and_initialize_system(const HardwareInfo & hardware_info)
{
hardware_interface::HardwareComponentParams params;
params.hardware_info = hardware_info;
return load_and_initialize_system(params);
}

bool load_and_initialize_actuator(const hardware_interface::HardwareComponentParams & params)
{
auto load_and_init_actuators = [&](auto & container)
Expand Down Expand Up @@ -1213,29 +1183,6 @@ class ResourceStorage
return load_and_init_systems(systems_);
}

void initialize_actuator(
std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info)
{
hardware_interface::HardwareComponentParams params;
params.hardware_info = hardware_info;
return initialize_actuator(std::move(actuator), params);
}
void initialize_sensor(
std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info)
{
hardware_interface::HardwareComponentParams params;
params.hardware_info = hardware_info;
return initialize_sensor(std::move(sensor), params);
}

void initialize_system(
std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info)
{
hardware_interface::HardwareComponentParams params;
params.hardware_info = hardware_info;
return initialize_system(std::move(system), params);
}

void initialize_actuator(
std::unique_ptr<ActuatorInterface> actuator,
const hardware_interface::HardwareComponentParams & params)
Expand Down
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