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Move communication setup to on_configure instead of on_activate (backport #732) #936

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Feb 26, 2024
Merged

Move communication setup to on_configure instead of on_activate (backport #732) #936

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5 changes: 3 additions & 2 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,8 +96,9 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface

std::vector<hardware_interface::CommandInterface> export_command_interfaces() final;

hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) final;
hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) final;
hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) final;
hardware_interface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State& previous_state) final;

hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) final;
hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) final;
Expand Down Expand Up @@ -223,7 +224,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
std::unique_ptr<urcl::UrDriver> ur_driver_;
std::shared_ptr<std::thread> async_thread_;

bool rtde_comm_has_been_started_ = false;
std::atomic_bool rtde_comm_has_been_started_ = false;
};
} // namespace ur_robot_driver

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21 changes: 15 additions & 6 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ URPositionHardwareInterface::~URPositionHardwareInterface()
{
// If the controller manager is shutdown via Ctrl + C the on_deactivate methods won't be called.
// We therefore need to make sure to actually deactivate the communication
on_deactivate(rclcpp_lifecycle::State());
on_cleanup(rclcpp_lifecycle::State());
}

hardware_interface::CallbackReturn
Expand Down Expand Up @@ -302,7 +302,7 @@ std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::e
}

hardware_interface::CallbackReturn
URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous_state)
URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previous_state)
{
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Starting ...please wait...");

Expand Down Expand Up @@ -463,13 +463,22 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
}

hardware_interface::CallbackReturn
URPositionHardwareInterface::on_deactivate(const rclcpp_lifecycle::State& previous_state)
URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous_state)
{
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Activating HW interface");
return hardware_interface::CallbackReturn::SUCCESS;
}

hardware_interface::CallbackReturn
URPositionHardwareInterface::on_cleanup(const rclcpp_lifecycle::State& previous_state)
{
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Stopping ...please wait...");

async_thread_shutdown_ = true;
async_thread_->join();
async_thread_.reset();
if (async_thread_) {
async_thread_shutdown_ = true;
async_thread_->join();
async_thread_.reset();
}

ur_driver_.reset();

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