GPL custom validator: Use tl_expected from libexpected-dev instead

joint_trajectory_controller/CMakeLists.txt

@@ -18,7 +18,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   rclcpp_lifecycle
   realtime_tools
   rsl
-  tl_expected
   trajectory_msgs
   urdf
 )
@@ -37,7 +36,6 @@ generate_parameter_library(joint_trajectory_controller_parameters
 add_library(joint_trajectory_controller SHARED
   src/joint_trajectory_controller.cpp
   src/trajectory.cpp
-  src/validate_jtc_parameters.cpp
 )
 target_compile_features(joint_trajectory_controller PUBLIC cxx_std_17)
 if(WIN32)
@@ -58,7 +56,6 @@ target_link_libraries(joint_trajectory_controller PUBLIC
                       rclcpp_lifecycle::rclcpp_lifecycle
                       realtime_tools::realtime_tools
                       rsl::rsl
-                      tl_expected::tl_expected
                       urdf::urdf
                       angles::angles
                       ${trajectory_msgs_TARGETS}

joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp

@@ -20,30 +20,83 @@
 
 #include "rclcpp/parameter.hpp"
 #include "rsl/algorithm.hpp"
-#include "tl_expected/expected.hpp"
+#include "tl/expected.hpp"
 
 namespace joint_trajectory_controller
 {
-
-/**
- * \brief Validate command interface type combinations for joint trajectory controller.
- *
- * \param[in] parameter The rclcpp parameter containing the command interface types.
- * \return tl::expected<void, std::string> An empty expected on success, or an error message on
- * failure.
- */
 tl::expected<void, std::string> command_interface_type_combinations(
-  rclcpp::Parameter const & parameter);
-
-/**
- * \brief Validate state interface type combinations for joint trajectory controller.
- *
- * \param[in] parameter The rclcpp parameter containing the state interface types.
- * \return tl::expected<void, std::string> An empty expected on success, or an error message on
- * failure.
- */
+  rclcpp::Parameter const & parameter)
+{
+  auto const & interface_types = parameter.as_string_array();
+
+  // Check if command interfaces combination is valid. Valid combinations are:
+  // 1. effort
+  // 2. velocity
+  // 3. position [velocity, [acceleration]]
+  // 4. position, effort
+
+  if (
+    rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
+    interface_types.size() > 1 &&
+    !rsl::contains<std::vector<std::string>>(interface_types, "position"))
+  {
+    return tl::make_unexpected(
+      "'velocity' command interface can be used either alone or 'position' "
+      "command interface has to be present");
+  }
+
+  if (
+    rsl::contains<std::vector<std::string>>(interface_types, "acceleration") &&
+    (!rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
+     !rsl::contains<std::vector<std::string>>(interface_types, "position")))
+  {
+    return tl::make_unexpected(
+      "'acceleration' command interface can only be used if 'velocity' and "
+      "'position' command interfaces are present");
+  }
+
+  if (
+    rsl::contains<std::vector<std::string>>(interface_types, "effort") &&
+    !(interface_types.size() == 1 ||
+      (interface_types.size() == 2 &&
+       rsl::contains<std::vector<std::string>>(interface_types, "position"))))
+  {
+    return tl::make_unexpected(
+      "'effort' command interface has to be used alone or with a 'position' interface");
+  }
+
+  return {};
+}
+
 tl::expected<void, std::string> state_interface_type_combinations(
-  rclcpp::Parameter const & parameter);
+  rclcpp::Parameter const & parameter)
+{
+  auto const & interface_types = parameter.as_string_array();
+
+  // Valid combinations are
+  // 1. position [velocity, [acceleration]]
+
+  if (
+    rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
+    !rsl::contains<std::vector<std::string>>(interface_types, "position"))
+  {
+    return tl::make_unexpected(
+      "'velocity' state interface cannot be used if 'position' interface "
+      "is missing.");
+  }
+
+  if (
+    rsl::contains<std::vector<std::string>>(interface_types, "acceleration") &&
+    (!rsl::contains<std::vector<std::string>>(interface_types, "position") ||
+     !rsl::contains<std::vector<std::string>>(interface_types, "velocity")))
+  {
+    return tl::make_unexpected(
+      "'acceleration' state interface cannot be used if 'position' and 'velocity' "
+      "interfaces are not present.");
+  }
+
+  return {};
+}
 
 }  // namespace joint_trajectory_controller
 

joint_trajectory_controller/package.xml

@@ -26,13 +26,13 @@
   <depend>control_toolbox</depend>
   <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
+  <depend>libexpected-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>realtime_tools</depend>
   <depend>rsl</depend>
-  <depend>tl_expected</depend>
   <depend>trajectory_msgs</depend>
   <depend>urdf</depend>