bugfix: double insertion if dobule on_configure

Author: nicolapedrocchi

plc_controller/include/plc_controller/parameter_utils.hpp

@@ -24,15 +24,17 @@ namespace parameter_utils
  * @return InterfacesNames Vector of "gpio/interface" strings in iteration order.
  */
 template <typename GpioMap>
-void flatten_gpio_interface_map(const GpioMap & gpios_map, InterfacesNames& result)
+InterfacesNames flatten_gpio_interface_map(const GpioMap & gpios_map)
 {
+  InterfacesNames result;
   for (const auto & [gpio_name, interface_data] : gpios_map)
   {
     std::transform(
       interface_data.interfaces.cbegin(), interface_data.interfaces.cend(),
       std::back_inserter(result),
       [&gpio_name](const std::string & interface_name) { return gpio_name + '/' + interface_name; });
   }
+  return result;
 }
 
 /**

plc_controller/include/plc_controller/plc_controller.hpp

@@ -325,7 +325,7 @@ class PLCController : public controller_interface::ControllerInterface
    * 
    * Used when state_interfaces not explicitly configured in YAML (auto-discovery).
    */
-  void set_all_state_interfaces_of_configured_gpios();
+  InterfacesNames set_all_state_interfaces_of_configured_gpios();
 
   /**
    * @brief Parse URDF hardware information to extract GPIO definitions.

plc_controller/src/plc_controller.cpp

@@ -386,7 +386,7 @@ bool PLCController::update_dynamic_map_parameters()
  */
 void PLCController::store_command_interface_types()
 {
-  parameter_utils::flatten_gpio_interface_map(params_.command_interfaces.gpios_map, command_interface_types_);
+  command_interface_types_ = parameter_utils::flatten_gpio_interface_map(params_.command_interfaces.gpios_map);
 }
 
 
@@ -444,8 +444,9 @@ catch (const std::exception & e)
  * 
  * Result stored in: state_interface_types_
  */
-void PLCController::set_all_state_interfaces_of_configured_gpios()
+InterfacesNames PLCController::set_all_state_interfaces_of_configured_gpios()
 {
+  InterfacesNames result;
   const auto gpios{get_gpios_from_urdf()};
   for (const auto & gpio_name : params_.gpios)
   {
@@ -455,12 +456,13 @@ void PLCController::set_all_state_interfaces_of_configured_gpios()
       {
         std::transform(
           gpio.state_interfaces.begin(), gpio.state_interfaces.end(),
-          std::back_insert_iterator(state_interface_types_),
+          std::back_insert_iterator(result),
           [&gpio_name](const auto & interface_name)
           { return gpio_name + '/' + interface_name.name; });
       }
     }
   }
+  return result;
 }
 
 
@@ -485,11 +487,11 @@ void PLCController::store_state_interface_types()
       get_node()->get_logger(),
       "State interfaces are not configured. All available interfaces of configured GPIOs will be "
       "broadcasted.");
-    set_all_state_interfaces_of_configured_gpios();
+    state_interface_types_ = set_all_state_interfaces_of_configured_gpios();
     return;
   }
 
-  parameter_utils::flatten_gpio_interface_map(params_.state_interfaces.gpios_map, state_interface_types_);
+  state_interface_types_ = parameter_utils::flatten_gpio_interface_map(params_.state_interfaces.gpios_map);
 }
 
 

plc_controller/test/unit/test_parameter_utils.cpp

@@ -27,7 +27,7 @@ TEST(ParameterUtils, FlattenGpioInterfaceMapBuildsQualifiedNames)
   };
 
   InterfacesNames flattened;
-  parameter_utils::flatten_gpio_interface_map(config, flattened);
+  flattened = parameter_utils::flatten_gpio_interface_map(config);
 
   ASSERT_EQ(flattened.size(), 3u);
   EXPECT_EQ(flattened[0], "alpha_gpio/one");
@@ -39,7 +39,7 @@ TEST(ParameterUtils, FlattenGpioInterfaceMapHandlesEmptyMap)
 {
   std::map<std::string, FakeInterfaceSet> config{};
   InterfacesNames flattened;
-  parameter_utils::flatten_gpio_interface_map(config, flattened);
+  flattened = parameter_utils::flatten_gpio_interface_map(config);
   EXPECT_TRUE(flattened.empty());
 }