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Fix controller addition logic in ControllersConfigfix: enforce uniqfix: enforce unique controller names in Setup Assistantue… #3715

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Fix controller addition logic in ControllersConfigfix: enforce uniqfix: enforce unique controller names in Setup Assistantue… #3715

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14 changes: 13 additions & 1 deletion moveit_setup_assistant/moveit_setup_controllers/src/controllers_config.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
/*********************************************************************
* Software License Agreement (BSD License)
* Software License Agreement (BSD License)
*
* Copyright (c) 2022, Metro Robots
Expand Down Expand Up @@ -32,12 +33,15 @@
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/


/* Author: David V. Lu!! */


#include <moveit_setup_controllers/controllers_config.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>


namespace moveit_setup
{
namespace controllers
Expand All @@ -52,26 +56,32 @@ bool ControllersConfig::addController(const std::string& name, const std::string
return addController(controller);
}


bool ControllersConfig::addController(const ControllerInfo& new_controller)
{
// Used for holding our search results
ControllerInfo* searched_ros_controller = nullptr;


// Find if there is an existing controller with the same name
searched_ros_controller = findControllerByName(new_controller.name_);

if (searched_ros_controller && searched_ros_controller->type_ == new_controller.type_)

if (searched_ros_controller)
return false;


controllers_.push_back(new_controller);
return true;
}


ControllerInfo* ControllersConfig::findControllerByName(const std::string& controller_name)
{
// Find the Controller we are editing based on the Controller name string
ControllerInfo* searched_ros_controller = nullptr; // used for holding our search results


for (ControllerInfo& ros_control_config : controllers_)
{
if (ros_control_config.name_ == controller_name) // string match
Expand All @@ -81,9 +91,11 @@ ControllerInfo* ControllersConfig::findControllerByName(const std::string& contr
}
}


return searched_ros_controller;
}


bool ControllersConfig::deleteController(const std::string& controller_name)
{
for (std::vector<ControllerInfo>::iterator controller_it = controllers_.begin(); controller_it != controllers_.end();
Expand Down