dynamically link JTC parameter validation instead of header only

joint_trajectory_controller/CMakeLists.txt

@@ -37,6 +37,7 @@ 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)

joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp

@@ -24,79 +24,26 @@
 
 namespace joint_trajectory_controller
 {
-tl::expected<void, std::string> command_interface_type_combinations(
-  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 {};
-}
 
+/**
+ * \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.
+ */
 tl::expected<void, std::string> state_interface_type_combinations(
-  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 {};
-}
+  rclcpp::Parameter const & parameter);
 
 }  // namespace joint_trajectory_controller
 

joint_trajectory_controller/src/validate_jtc_parameters.cpp

@@ -0,0 +1,94 @@
+// Copyright (c) 2022 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "joint_trajectory_controller/validate_jtc_parameters.hpp"
+
+namespace joint_trajectory_controller
+{
+
+tl::expected<void, std::string> command_interface_type_combinations(
+  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)
+{
+  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