From e27e79a9ac252463a2038fda5630dc473546278e Mon Sep 17 00:00:00 2001
From: Manuel M <mamueluth@gmail.com>
Date: Tue, 20 Feb 2024 10:24:03 +0100
Subject: [PATCH] check if is transmission otherwise export normal way

---
 mock_hardware/src/generic_system.cpp | 43 ++++++++++++++++------------
 1 file changed, 25 insertions(+), 18 deletions(-)

diff --git a/mock_hardware/src/generic_system.cpp b/mock_hardware/src/generic_system.cpp
index a5cc4ed1fe..6a65ecdee2 100644
--- a/mock_hardware/src/generic_system.cpp
+++ b/mock_hardware/src/generic_system.cpp
@@ -353,11 +353,20 @@ std::vector<hardware_interface::StateInterface> GenericSystem::export_state_inte
       joint_interfaces_.begin(), joint_interfaces_.end(),
       [&](const InterfaceData & interface) { return interface.name_ == joint.name; });
 
-    // joint is not used by transmissions so we use the storage matrix for each StateInterface
-    if (joint_interface == joint_interfaces_.end())
+    for (const auto & interface : joint.state_interfaces)
     {
-      for (const auto & interface : joint.state_interfaces)
+      // joint is used by transmissions, because we found it in joint_interfaces vector which is
+      // used for storing the transmission and its of the supported types for transmission so we use
+      // separate InterfaceData storage vector.
+      if (
+        joint_interface != joint_interfaces_.end() &&
+        interface.name == hardware_interface::HW_IF_POSITION)
       {
+        state_interfaces.emplace_back(hardware_interface::StateInterface(
+          joint.name, hardware_interface::HW_IF_POSITION, &joint_interface->state_));
+      }
+      else
+      {  // joint is not used by transmissions so we use the storage matrix for each StateInterface
         // Add interface: if not in the standard list then use "other" interface list
         if (!get_interface(
               joint.name, standard_interfaces_, interface.name, i, joint_states_, state_interfaces))
@@ -372,12 +381,6 @@ std::vector<hardware_interface::StateInterface> GenericSystem::export_state_inte
         }
       }
     }
-    // joint is used by transmissions so we use the separate InterfaceData storage vector.
-    else
-    {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-        joint.name, hardware_interface::HW_IF_POSITION, &joint_interface->state_));
-    }
     ++i;
   }
 
@@ -413,11 +416,21 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
       joint_interfaces_.begin(), joint_interfaces_.end(),
       [&](const InterfaceData & interface) { return interface.name_ == joint.name; });
 
-    // joint is not used by transmissions so we use the storage matrix for each CommandInterface
-    if (joint_interface == joint_interfaces_.end())
+    for (const auto & interface : joint.command_interfaces)
     {
-      for (const auto & interface : joint.command_interfaces)
+      // joint is used by transmissions, because we found it in joint_interfaces vector which is
+      // used for storing the transmission and its of the supported types for transmission so we use
+      // separate InterfaceData storage vector.
+      if (
+        joint_interface != joint_interfaces_.end() &&
+        interface.name == hardware_interface::HW_IF_POSITION)
       {
+        command_interfaces.emplace_back(hardware_interface::CommandInterface(
+          joint.name, hardware_interface::HW_IF_POSITION, &joint_interface->command_));
+      }
+      else
+      {
+        // joint is not used by transmissions so we use the storage matrix for each CommandInterface
         // Add interface: if not in the standard list than use "other" interface list
         if (!get_interface(
               joint.name, standard_interfaces_, interface.name, i, joint_commands_,
@@ -434,12 +447,6 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
         }
       }
     }
-    // joint is used by transmissions so we use the separate InterfaceData storage vector.
-    else
-    {
-      command_interfaces.emplace_back(hardware_interface::CommandInterface(
-        joint.name, hardware_interface::HW_IF_POSITION, &joint_interface->command_));
-    }
     ++i;
   }
   // Set position control mode per default