Fix hardware component unconfiguration

sahand-ghaffari-ocado · sahand-ghaffari-ocado · commit 420cb162c811 · 2024-09-16T18:10:34.000-04:00
diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
@@ -84,12 +84,12 @@ const rclcpp_lifecycle::State & Actuator::cleanup()
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->set_state(rclcpp_lifecycle::State(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+      lifecycle_state_names::UNCONFIGURED));
     switch (impl_->on_cleanup(impl_->get_state()))
     {
       case CallbackReturn::SUCCESS:
-        impl_->set_state(rclcpp_lifecycle::State(
-          lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
-          lifecycle_state_names::UNCONFIGURED));
         break;
       case CallbackReturn::FAILURE:
       case CallbackReturn::ERROR:
diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
@@ -82,12 +82,12 @@ const rclcpp_lifecycle::State & Sensor::cleanup()
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->set_state(rclcpp_lifecycle::State(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+      lifecycle_state_names::UNCONFIGURED));
     switch (impl_->on_cleanup(impl_->get_state()))
     {
       case CallbackReturn::SUCCESS:
-        impl_->set_state(rclcpp_lifecycle::State(
-          lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
-          lifecycle_state_names::UNCONFIGURED));
         break;
       case CallbackReturn::FAILURE:
       case CallbackReturn::ERROR:
diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
@@ -82,12 +82,12 @@ const rclcpp_lifecycle::State & System::cleanup()
 {
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
+    impl_->set_state(rclcpp_lifecycle::State(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+      lifecycle_state_names::UNCONFIGURED));
     switch (impl_->on_cleanup(impl_->get_state()))
     {
       case CallbackReturn::SUCCESS:
-        impl_->set_state(rclcpp_lifecycle::State(
-          lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
-          lifecycle_state_names::UNCONFIGURED));
         break;
       case CallbackReturn::FAILURE:
       case CallbackReturn::ERROR:

Original file line number	Diff line number	Diff line change
`@@ -84,12 +84,12 @@ const rclcpp_lifecycle::State & Actuator::cleanup()`
`84`	`84`	`{`
`85`	`85`	`if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)`
`86`	`86`	`{`
	`87`	`+ impl_->set_state(rclcpp_lifecycle::State(`
	`88`	`+ lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,`
	`89`	`+ lifecycle_state_names::UNCONFIGURED));`
`87`	`90`	`switch (impl_->on_cleanup(impl_->get_state()))`
`88`	`91`	`{`
`89`	`92`	`case CallbackReturn::SUCCESS:`
`90`		`- impl_->set_state(rclcpp_lifecycle::State(`
`91`		`- lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,`
`92`		`- lifecycle_state_names::UNCONFIGURED));`
`93`	`93`	`break;`
`94`	`94`	`case CallbackReturn::FAILURE:`
`95`	`95`	`case CallbackReturn::ERROR:`
Original file line number	Diff line number	Diff line change
`@@ -82,12 +82,12 @@ const rclcpp_lifecycle::State & Sensor::cleanup()`
`82`	`82`	`{`
`83`	`83`	`if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)`
`84`	`84`	`{`
	`85`	`+ impl_->set_state(rclcpp_lifecycle::State(`
	`86`	`+ lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,`
	`87`	`+ lifecycle_state_names::UNCONFIGURED));`
`85`	`88`	`switch (impl_->on_cleanup(impl_->get_state()))`
`86`	`89`	`{`
`87`	`90`	`case CallbackReturn::SUCCESS:`
`88`		`- impl_->set_state(rclcpp_lifecycle::State(`
`89`		`- lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,`
`90`		`- lifecycle_state_names::UNCONFIGURED));`
`91`	`91`	`break;`
`92`	`92`	`case CallbackReturn::FAILURE:`
`93`	`93`	`case CallbackReturn::ERROR:`