Remove checks and just call the service

ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from controller_manager import list_hardware_components, set_hardware_component_state
+from controller_manager import set_hardware_component_state
 
 from ros2cli.node.direct import add_arguments
 from ros2cli.node.strategy import NodeStrategy
@@ -40,21 +40,8 @@ def add_arguments(self, parser, cli_name):
 
  def main(self, *, args):
  with NodeStrategy(args) as node:
- hardware_components = list_hardware_components(node, args.controller_manager).component
-
- try:
- matched_hardware_components = [
- c for c in hardware_components if c.name == args.hardware_component_name
- ][0]
- except IndexError:
- return f"component {args.hardware_component_name} does not seem to be loaded"
 
  if args.state == "unconfigured":
- if matched_hardware_components.state.label != "inactive":
- return (
- f"cannot cleanup {matched_hardware_components.name} "
- f"from its current state {matched_hardware_components.state}"
- )
 
  unconfigured_state = State()
  unconfigured_state.id = State.PRIMARY_STATE_UNCONFIGURED
@@ -66,52 +53,18 @@ def main(self, *, args):
  if not response.ok:
  return "Error cleaning up hardware component, check controller_manager logs"
 
- print(f"Successfully set {args.hardware_component_name} to state {response.state}")
- return 0
-
  if args.state == "inactive":
  inactive_state = State()
  inactive_state.id = State.PRIMARY_STATE_INACTIVE
  inactive_state.label = "inactive"
 
- if matched_hardware_components.state.label == "unconfigured":
- response = set_hardware_component_state(
- node, args.controller_manager, args.hardware_component_name, inactive_state
- )
- if not response.ok:
- return (
- "Error configuring hardware component, check controller_manager logs"
- )
-
- print(
- f"Successfully set {args.hardware_component_name} to state {response.state}"
- )
- return 0
-
- elif matched_hardware_components.state.label == "active":
- response = set_hardware_component_state(
- node, args.controller_manager, args.hardware_component_name, inactive_state
- )
- if not response.ok:
- return "Error stopping hardware component, check controller_manager logs"
-
- print(
- f"Successfully set {args.hardware_component_name} to state {response.state}"
- )
- return 0
-
- else:
- return (
- f'cannot put {matched_hardware_components.name} in "inactive" state '
- f"from its current state {matched_hardware_components.state}"
- )
+ response = set_hardware_component_state(
+ node, args.controller_manager, args.hardware_component_name, inactive_state
+ )
+ if not response.ok:
+ return "Error stopping hardware component, check controller_manager logs"
 
  if args.state == "active":
- if matched_hardware_components.state.label != "inactive":
- return (
- f"cannot activate {matched_hardware_components.name} "
- f"from its current state {matched_hardware_components.state}"
- )
 
  active_state = State()
  active_state.id = State.PRIMARY_STATE_ACTIVE
@@ -123,5 +76,5 @@ def main(self, *, args):
  if not response.ok:
  return "Error activating hardware component, check controller_manager logs"
 
-  print(f"Successfully set {args.hardware_component_name} to state {response.state}")
-  return 0
+ print(f"Successfully set {args.hardware_component_name} to state {response.state}")
+ return 0