Reuse TriggerType enum in hardware components (#1962)

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -27,6 +27,7 @@
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
+#include "hardware_interface/types/trigger_type.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/logger.hpp"
@@ -546,11 +547,6 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   // interface names to Handle accessed through getters/setters
   std::unordered_map<std::string, StateInterface::SharedPtr> actuator_states_;
   std::unordered_map<std::string, CommandInterface::SharedPtr> actuator_commands_;
-  enum class TriggerType
-  {
-    READ,
-    WRITE
-  };
   std::atomic<TriggerType> next_trigger_ = TriggerType::READ;
 };
 

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -28,6 +28,7 @@
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
+#include "hardware_interface/types/trigger_type.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/logger.hpp"
@@ -585,11 +586,6 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   // interface names to Handle accessed through getters/setters
   std::unordered_map<std::string, StateInterface::SharedPtr> system_states_;
   std::unordered_map<std::string, CommandInterface::SharedPtr> system_commands_;
-  enum class TriggerType
-  {
-    READ,
-    WRITE
-  };
   std::atomic<TriggerType> next_trigger_ = TriggerType::READ;
 };
 

hardware_interface/include/hardware_interface/types/trigger_type.hpp

@@ -0,0 +1,28 @@
+// Copyright 2024 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.
+
+#ifndef HARDWARE_INTERFACE__TYPES__TRIGGER_TYPE_HPP_
+#define HARDWARE_INTERFACE__TYPES__TRIGGER_TYPE_HPP_
+
+namespace hardware_interface
+{
+enum class TriggerType
+{
+  READ,
+  WRITE
+};
+
+}  // namespace hardware_interface
+
+#endif  // HARDWARE_INTERFACE__TYPES__TRIGGER_TYPE_HPP_