Check for missing hardware interfaces that use the gpio tag. (#975)

Co-authored-by: Ryan Sandzimier <[email protected]>
ros-controls · Mar 20, 2023 · 7422030 · 7422030
1 parent 1d6ac80
commit 7422030
Showing 1 changed file with 17 additions and 0 deletions.
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -1183,6 +1183,23 @@ void ResourceManager::validate_storage(
         }
       }
     }
+    for (const auto & gpio : hardware.gpios)
+    {
+      for (const auto & state_interface : gpio.state_interfaces)
+      {
+        if (!state_interface_exists(gpio.name + "/" + state_interface.name))
+        {
+          missing_state_keys.emplace_back(gpio.name + "/" + state_interface.name);
+        }
+      }
+      for (const auto & command_interface : gpio.command_interfaces)
+      {
+        if (!command_interface_exists(gpio.name + "/" + command_interface.name))
+        {
+          missing_command_keys.emplace_back(gpio.name + "/" + command_interface.name);
+        }
+      }
+    }
   }
 
   if (!missing_state_keys.empty() || !missing_command_keys.empty())