Execute command switch for async hardware components

[trampler]

Call prepare_command_mode_switch and perform_command_mode_switch also on async hardware components. Currently this is not the case as they are stored separately in the resource storage.

[saikishor]

Hello!

We are planning to move to the new approach : #1567 where this won't be needed.

Maybe this could be needed for Humble. Do you mind targeting Humble?

[mergify]

This pull request is in conflict. Could you fix it @trampler?

[mergify]

@trampler, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to humble, but it must be in master
to have these changes reflected into new distributions.

[trampler]

Sure. No problem. Guess I need to create a new pull request.

@saikishor Hmm, there are currently no async components in humble. So this pull request doesn't really make sense there.

[saikishor]

Sure. No problem. Guess I need to create a new pull request.

@saikishor Hmm, there are currently no async components in humble. So this pull request doesn't really make sense there.

That's true. okay, let me bring this topic tomorrow in the WG meeting

[FranekStark]

Hello!

We are planning to move to the new approach : #1567 where this won't be needed.

Maybe this could be needed for Humble. Do you mind targeting Humble?

@saikishor Hi, what is the schedule for the refactoring? A the moment the async HW components are not working due to this bug, maybe it would be a good temporary solution to merge in this fix until the big refactoring is done?

[saikishor]

@FranekStark it is already done. The idea is to merge it soon. Sure, let's open this PR again. I would like to discuss with other maintainers and decide on this. Today we have a WG meeting, I'll discuss it there. If you are interested, feel free to join

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.74%. Comparing base (7374c43) to head (98d50c1).
Report is 5 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1951      +/-   ##
==========================================
+ Coverage   87.73%   87.74%   +0.01%     
==========================================
  Files         122      122              
  Lines       13010    13014       +4     
  Branches     1165     1165              
==========================================
+ Hits        11414    11419       +5     
  Misses       1165     1165              
+ Partials      431      430       -1     

Flag	Coverage Δ
unittests	87.74% <100.00%> (+0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
hardware_interface/src/resource_manager.cpp	73.42% <100.00%> (+0.12%)	⬆️

... and 2 files with indirect coverage changes

[saikishor]

Hello!

With @ros-controls/ros2-maintainers we have decided go with the new approach in #1567 instead of going with this fix.

[bmagyar]

I'm closing this PR now but please reopen it if you think it is still relevant.