Revert "Add macro with also enable argument"

ros-controls · Dec 9, 2024 · 140d4ca · 140d4ca
1 parent 90d9896
commit 140d4ca
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Showing 2 changed files with 1 addition and 23 deletions.
diff --git a/doc/introspection.rst b/doc/introspection.rst
@@ -46,10 +46,6 @@ How to register a variable for introspection
        // The variable is introspected only when the controller is active and
        // then deactivated when the controller is deactivated.
        REGISTER_ROS2_CONTROL_INTROSPECTION("my_variable_name", &my_variable_);
-       // Register the variable for introspection that starts with the introspection enabled
-       // So, that the variable starts to be introspected, when the controller is in configured state.
-       // However, once the controller is activated and deactivated, the introspection is disabled.
-       REGISTER_ROS2_CONTROL_INTROSPECTION("my_active_variable", &my_active_variable_, true);
        ...
      }
 

diff --git a/hardware_interface/include/hardware_interface/introspection.hpp b/hardware_interface/include/hardware_interface/introspection.hpp
@@ -24,28 +24,10 @@ namespace hardware_interface
 constexpr char DEFAULT_REGISTRY_KEY[] = "ros2_control";
 constexpr char DEFAULT_INTROSPECTION_TOPIC[] = "~/introspection_data";
 
-#define REGISTER_ROS2_CONTROL_INTROSPECTION_2_ARGS(ID, ENTITY)               \
+#define REGISTER_ROS2_CONTROL_INTROSPECTION(ID, ENTITY)                      \
   REGISTER_ENTITY(                                                           \
     hardware_interface::DEFAULT_REGISTRY_KEY, get_name() + "." + ID, ENTITY, \
     &stats_registrations_, false)
-
-#define REGISTER_ROS2_CONTROL_INTROSPECTION_3_ARGS(ID, ENTITY, ENABLE)       \
-  REGISTER_ENTITY(                                                           \
-    hardware_interface::DEFAULT_REGISTRY_KEY, get_name() + "." + ID, ENTITY, \
-    &stats_registrations_, ENABLE)
-
-#ifndef GET_4TH_ARG
-#define GET_4TH_ARG(arg1, arg2, arg3, arg4, ...) arg4
-#endif
-
-#define REGISTER_ROS2_CONTROL_INTROSPECTION_MACRO_CHOOSER(...) \
-  GET_4TH_ARG(                                                 \
-    __VA_ARGS__, REGISTER_ROS2_CONTROL_INTROSPECTION_3_ARGS,   \
-    REGISTER_ROS2_CONTROL_INTROSPECTION_2_ARGS)
-
-#define REGISTER_ROS2_CONTROL_INTROSPECTION(...) \
-  REGISTER_ROS2_CONTROL_INTROSPECTION_MACRO_CHOOSER(__VA_ARGS__)(__VA_ARGS__)
-
 }  // namespace hardware_interface
 
 #endif  // HARDWARE_INTERFACE__INTROSPECTION_HPP_