Controller restart by switch_controller (minimal implementation)

This PR is related to #1568. Unlike it, this focuses on implementing the new restart controllers feature while minimizing changes to the master branch code. Additionally, this PR depends on #1591 and is expected to be merged after #1591 is merged.

Note: To focus on meaningful changes, it is recommended to compare the code using "hide whitespace" mode as follows. https://github.com/ros-controls/ros2_control/compare/master...TakashiSato:ros2_control:feature/restart_controllers_minimal?diff=split&w=1

Explanation code changes

Since comparing the final code changes with the master branch is complicated due to the large number of changes, I'll explain the key points of each change in the order of the commits. The changes up to commit number 005a79fb7b961d3237e1b02b3edf0521ed866b61 are included in #1591, so I will only address the commits after that.

1. refactor (de)activate request check refactor (de)activate request check

In this commit, the following refactoring was performed:

Renamed enum class CreateRequestResult to CheckDeActivateRequestResult and moved its definition from inside switch_controller to within the class definition in the header (private).
Moved the implementation of clear_chained_mode_request from inside switch_controller to a member function, and changed the part of clear_requests that performed the same processing to this function call.
Moved the implementation of the check processing related to (de)activation from inside switch_controller to a member function.
- check_activate: from , to
- check_deactivate: from, to

2. add to support restart operations in switch_controller by specifying the same controller name in the start/stop requests

This commit implements the restart controllers feature and its tests.

To achieve the behavior of restart (deactivating first and then activating), I mainly made changes in the followings:

Swapped the order of checking deactivate_request and activate_request to ensure requests for restart (deactivate first, then activate) are not rejected as invalid requests.
Similarly, changed the handling of chained_mode_request during manage_switch to process them in the order of from and to.
To ensure that reference_interfaces can be used appropriately when the following controller is activated immediately after being deactivated, modified the deactivate_controllers function not to execute make_controller_reference_interfaces_unavailable during restart requests.
Adjusted the validation process (1 , 2), to avoid rejecting restart requests as invalid.

I made the following changes to the test implementation:

Changed the test controller to record the number of times on_(de)activate is called for the purpose of verifying the restart behavior.
- test_controller
- test_chainable_controller
Added the TestControllerWithCommand class to test that the reset of commands is correctly performed by the restart.
Added tests to verify the basic behavior of restarting controllers (test_restart_controllers.cpp).
Added tests to cover restarting scenarios with controller chaining (test_controllers_chaining_with_controller_manager.cpp)

fix typo and unnecessary semicolon

This commit contains minor fixes.

Codecov Report

Attention: Patch coverage is 98.72123% with 5 lines in your changes missing coverage. Please review.

Project coverage is 88.36%. Comparing base (fbb893b) to head (4dbe584). Report is 7 commits behind head on master.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #1592 +/- ## ========================================== + Coverage 87.70% 88.36% +0.66% ========================================== Files 102 105 +3 Lines 8704 8262 -442 Branches 780 675 -105 ========================================== - Hits 7634 7301 -333 + Misses 790 720 -70 + Partials 280 241 -39 ``` | [Flag](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | Coverage Δ | | |---|---|---| | [unittests](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | `88.36% <98.72%> (+0.66%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#carryforward-flags-in-the-pull-request-comment) to find out more. | [Files](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?dropdown=coverage&src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | Coverage Δ | | |---|---|---| | [.../include/controller\_manager/controller\_manager.hpp](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?src=pr&el=tree&filepath=controller_manager%2Finclude%2Fcontroller_manager%2Fcontroller_manager.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Y29udHJvbGxlcl9tYW5hZ2VyL2luY2x1ZGUvY29udHJvbGxlcl9tYW5hZ2VyL2NvbnRyb2xsZXJfbWFuYWdlci5ocHA=) | `100.00% <ø> (ø)` | | | [...chainable\_controller/test\_chainable\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?src=pr&el=tree&filepath=controller_manager%2Ftest%2Ftest_chainable_controller%2Ftest_chainable_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Y29udHJvbGxlcl9tYW5hZ2VyL3Rlc3QvdGVzdF9jaGFpbmFibGVfY29udHJvbGxlci90ZXN0X2NoYWluYWJsZV9jb250cm9sbGVyLmNwcA==) | `85.24% <100.00%> (+1.03%)` | :arrow_up: | | [...chainable\_controller/test\_chainable\_controller.hpp](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?src=pr&el=tree&filepath=controller_manager%2Ftest%2Ftest_chainable_controller%2Ftest_chainable_controller.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Y29udHJvbGxlcl9tYW5hZ2VyL3Rlc3QvdGVzdF9jaGFpbmFibGVfY29udHJvbGxlci90ZXN0X2NoYWluYWJsZV9jb250cm9sbGVyLmhwcA==) | `100.00% <ø> (ø)` | | | [...r\_manager/test/test\_controller/test\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?src=pr&el=tree&filepath=controller_manager%2Ftest%2Ftest_controller%2Ftest_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Y29udHJvbGxlcl9tYW5hZ2VyL3Rlc3QvdGVzdF9jb250cm9sbGVyL3Rlc3RfY29udHJvbGxlci5jcHA=) | `95.45% <100.00%> (+0.71%)` | :arrow_up: | | [...r\_manager/test/test\_controller/test\_controller.hpp](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?src=pr&el=tree&filepath=controller_manager%2Ftest%2Ftest_controller%2Ftest_controller.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Y29udHJvbGxlcl9tYW5hZ2VyL3Rlc3QvdGVzdF9jb250cm9sbGVyL3Rlc3RfY29udHJvbGxlci5ocHA=) | `100.00% <ø> (ø)` | | | 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[...ontroller\_manager/test/test\_restart\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?src=pr&el=tree&filepath=controller_manager%2Ftest%2Ftest_restart_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Y29udHJvbGxlcl9tYW5hZ2VyL3Rlc3QvdGVzdF9yZXN0YXJ0X2NvbnRyb2xsZXIuY3Bw) | `100.00% <100.00%> (ø)` | | | [...ller\_with\_command/test\_controller\_with\_command.cpp](https://app.codecov.io/gh/ros-controls/ros2_control/pull/1592?src=pr&el=tree&filepath=controller_manager%2Ftest%2Ftest_controller_with_command%2Ftest_controller_with_command.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Y29udHJvbGxlcl9tYW5hZ2VyL3Rlc3QvdGVzdF9jb250cm9sbGVyX3dpdGhfY29tbWFuZC90ZXN0X2NvbnRyb2xsZXJfd2l0aF9jb21tYW5kLmNwcA==) | `88.23% <88.23%> (ø)` | | | 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ros-controls / ros2_control