From d7d534e68ab83815d9f183e99c87c23251cf1f51 Mon Sep 17 00:00:00 2001
From: Manuel M <mamueluth@gmail.com>
Date: Wed, 24 Jan 2024 09:43:53 +0100
Subject: [PATCH] review suggestions

---
 .../include/hardware_interface/actuator_interface.hpp     | 8 ++++----
 .../include/hardware_interface/sensor_interface.hpp       | 8 ++++----
 .../include/hardware_interface/system_interface.hpp       | 8 ++++----
 .../types/hardware_interface_emergency_stop_signal.hpp    | 2 +-
 .../types/hardware_interface_error_signals.hpp            | 2 +-
 .../types/hardware_interface_warning_signals.hpp          | 2 +-
 .../test/test_component_interfaces_custom_export.cpp      | 2 +-
 hardware_interface/test/test_error_warning_codes.cpp      | 2 +-
 8 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
index 72544663577..19408f1f9fd 100644
--- a/hardware_interface/include/hardware_interface/actuator_interface.hpp
+++ b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -159,13 +159,13 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
     // create error signal interface
     InterfaceInfo error_interface_info;
     error_interface_info.name = hardware_interface::ERROR_SIGNAL_INTERFACE_NAME;
-    error_interface_info.data_type = "std::array<uint8_t>";
+    error_interface_info.data_type = "array<uint8_t>[32]";
     InterfaceDescription error_interface_descr(info_.name, error_interface_info);
     error_signal_ = std::make_shared<StateInterface>(error_interface_descr);
     // create error signal report message interface
     InterfaceInfo error_msg_interface_info;
     error_msg_interface_info.name = hardware_interface::ERROR_SIGNAL_MESSAGE_INTERFACE_NAME;
-    error_msg_interface_info.data_type = "std::array<std::string>";
+    error_msg_interface_info.data_type = "array<string>[32]";
     InterfaceDescription error_msg_interface_descr(info_.name, error_msg_interface_info);
     error_signal_message_ = std::make_shared<StateInterface>(error_msg_interface_descr);
 
@@ -173,13 +173,13 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
     //  create warning signal interface
     InterfaceInfo warning_interface_info;
     warning_interface_info.name = hardware_interface::WARNING_SIGNAL_INTERFACE_NAME;
-    warning_interface_info.data_type = "std::array<uint8_t>";
+    warning_interface_info.data_type = "array<int8_t>[32]";
     InterfaceDescription warning_interface_descr(info_.name, warning_interface_info);
     warning_signal_ = std::make_shared<StateInterface>(warning_interface_descr);
     // create warning signal report message interface
     InterfaceInfo warning_msg_interface_info;
     warning_msg_interface_info.name = hardware_interface::WARNING_SIGNAL_MESSAGE_INTERFACE_NAME;
-    warning_msg_interface_info.data_type = "std::array<std::string>";
+    warning_msg_interface_info.data_type = "array<string>[32]";
     InterfaceDescription warning_msg_interface_descr(info_.name, warning_msg_interface_info);
     warning_signal_message_ = std::make_shared<StateInterface>(warning_msg_interface_descr);
   }
diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
index 0d082163f70..e69c187dab3 100644
--- a/hardware_interface/include/hardware_interface/sensor_interface.hpp
+++ b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -136,13 +136,13 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     // create error signal interface
     InterfaceInfo error_interface_info;
     error_interface_info.name = hardware_interface::ERROR_SIGNAL_INTERFACE_NAME;
-    error_interface_info.data_type = "std::array<uint8_t>";
+    error_interface_info.data_type = "array<uint8_t>[32]";
     InterfaceDescription error_interface_descr(info_.name, error_interface_info);
     error_signal_ = std::make_shared<StateInterface>(error_interface_descr);
     // create error signal report message interface
     InterfaceInfo error_msg_interface_info;
     error_msg_interface_info.name = hardware_interface::ERROR_SIGNAL_MESSAGE_INTERFACE_NAME;
-    error_msg_interface_info.data_type = "std::array<std::string>";
+    error_msg_interface_info.data_type = "array<string>[32]";
     InterfaceDescription error_msg_interface_descr(info_.name, error_msg_interface_info);
     error_signal_message_ = std::make_shared<StateInterface>(error_msg_interface_descr);
 
@@ -150,13 +150,13 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     //  create warning signal interface
     InterfaceInfo warning_interface_info;
     warning_interface_info.name = hardware_interface::WARNING_SIGNAL_INTERFACE_NAME;
-    warning_interface_info.data_type = "std::array<uint8_t>";
+    warning_interface_info.data_type = "array<int8_t>[32]";
     InterfaceDescription warning_interface_descr(info_.name, warning_interface_info);
     warning_signal_ = std::make_shared<StateInterface>(warning_interface_descr);
     // create warning signal report message interface
     InterfaceInfo warning_msg_interface_info;
     warning_msg_interface_info.name = hardware_interface::WARNING_SIGNAL_MESSAGE_INTERFACE_NAME;
-    warning_msg_interface_info.data_type = "std::array<std::string>";
+    warning_msg_interface_info.data_type = "array<string>[32]";
     InterfaceDescription warning_msg_interface_descr(info_.name, warning_msg_interface_info);
     warning_signal_message_ = std::make_shared<StateInterface>(warning_msg_interface_descr);
   }
diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
index 762299a56f2..fc0aaa53723 100644
--- a/hardware_interface/include/hardware_interface/system_interface.hpp
+++ b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -179,13 +179,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     // create error signal interface
     InterfaceInfo error_interface_info;
     error_interface_info.name = hardware_interface::ERROR_SIGNAL_INTERFACE_NAME;
-    error_interface_info.data_type = "std::array<uint8_t>";
+    error_interface_info.data_type = "array<uint8_t>[32]";
     InterfaceDescription error_interface_descr(info_.name, error_interface_info);
     error_signal_ = std::make_shared<StateInterface>(error_interface_descr);
     // create error signal report message interface
     InterfaceInfo error_msg_interface_info;
     error_msg_interface_info.name = hardware_interface::ERROR_SIGNAL_MESSAGE_INTERFACE_NAME;
-    error_msg_interface_info.data_type = "std::array<std::string>";
+    error_msg_interface_info.data_type = "array<string>[32]";
     InterfaceDescription error_msg_interface_descr(info_.name, error_msg_interface_info);
     error_signal_message_ = std::make_shared<StateInterface>(error_msg_interface_descr);
 
@@ -193,13 +193,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     //  create warning signal interface
     InterfaceInfo warning_interface_info;
     warning_interface_info.name = hardware_interface::WARNING_SIGNAL_INTERFACE_NAME;
-    warning_interface_info.data_type = "std::array<uint8_t>";
+    warning_interface_info.data_type = "array<int8_t>[32]";
     InterfaceDescription warning_interface_descr(info_.name, warning_interface_info);
     warning_signal_ = std::make_shared<StateInterface>(warning_interface_descr);
     // create warning signal report message interface
     InterfaceInfo warning_msg_interface_info;
     warning_msg_interface_info.name = hardware_interface::WARNING_SIGNAL_MESSAGE_INTERFACE_NAME;
-    warning_msg_interface_info.data_type = "std::array<std::string>";
+    warning_msg_interface_info.data_type = "array<string>[32]";
     InterfaceDescription warning_msg_interface_descr(info_.name, warning_msg_interface_info);
     warning_signal_message_ = std::make_shared<StateInterface>(warning_msg_interface_descr);
   }
diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_emergency_stop_signal.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_emergency_stop_signal.hpp
index 1478556f5fd..c74941f9df5 100644
--- a/hardware_interface/include/hardware_interface/types/hardware_interface_emergency_stop_signal.hpp
+++ b/hardware_interface/include/hardware_interface/types/hardware_interface_emergency_stop_signal.hpp
@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_error_signals.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_error_signals.hpp
index 4b5095ef398..d5159f29c81 100644
--- a/hardware_interface/include/hardware_interface/types/hardware_interface_error_signals.hpp
+++ b/hardware_interface/include/hardware_interface/types/hardware_interface_error_signals.hpp
@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_warning_signals.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_warning_signals.hpp
index 434f2ec9880..58af04b80ae 100644
--- a/hardware_interface/include/hardware_interface/types/hardware_interface_warning_signals.hpp
+++ b/hardware_interface/include/hardware_interface/types/hardware_interface_warning_signals.hpp
@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/hardware_interface/test/test_component_interfaces_custom_export.cpp b/hardware_interface/test/test_component_interfaces_custom_export.cpp
index 237d6244b0a..67803b89f84 100644
--- a/hardware_interface/test/test_component_interfaces_custom_export.cpp
+++ b/hardware_interface/test/test_component_interfaces_custom_export.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 ros2_control development team
+// Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/hardware_interface/test/test_error_warning_codes.cpp b/hardware_interface/test/test_error_warning_codes.cpp
index ee847fa1d35..8c3fd3f6372 100644
--- a/hardware_interface/test/test_error_warning_codes.cpp
+++ b/hardware_interface/test/test_error_warning_codes.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 ros2_control development team
+// Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.