Move to single rw_rate variable instead of read and write separate rates

ros-controls · Dec 4, 2024 · ef64595 · ef64595
1 parent 98aeea8
commit ef64595
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Showing 3 changed files with 20 additions and 35 deletions.
diff --git a/hardware_interface/include/hardware_interface/hardware_component_info.hpp b/hardware_interface/include/hardware_interface/hardware_component_info.hpp
@@ -48,11 +48,8 @@ struct HardwareComponentInfo
   /// Component is async
   bool is_async;
 
-  //// read rate
-  unsigned int read_rate;
-
-  //// write rate
-  unsigned int write_rate;
+  //// read/write rate
+  unsigned int rw_rate;
 
   /// Component current state.
   rclcpp_lifecycle::State state;

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -142,11 +142,7 @@ class ResourceStorage
         component_info.name = hardware_info.name;
         component_info.type = hardware_info.type;
         component_info.group = hardware_info.group;
-        component_info.read_rate =
-          (hardware_info.rw_rate == 0 || hardware_info.rw_rate > cm_update_rate_)
-            ? cm_update_rate_
-            : hardware_info.rw_rate;
-        component_info.write_rate =
+        component_info.rw_rate =
           (hardware_info.rw_rate == 0 || hardware_info.rw_rate > cm_update_rate_)
             ? cm_update_rate_
             : hardware_info.rw_rate;
@@ -1856,16 +1852,16 @@ HardwareReadWriteStatus ResourceManager::read(
       try
       {
         if (
-          resource_storage_->hardware_info_map_[component.get_name()].read_rate == 0 ||
-          resource_storage_->hardware_info_map_[component.get_name()].read_rate ==
+          resource_storage_->hardware_info_map_[component.get_name()].rw_rate == 0 ||
+          resource_storage_->hardware_info_map_[component.get_name()].rw_rate ==
             resource_storage_->cm_update_rate_)
         {
           ret_val = component.read(time, period);
         }
         else
         {
           const double read_rate =
-            resource_storage_->hardware_info_map_[component.get_name()].read_rate;
+            resource_storage_->hardware_info_map_[component.get_name()].rw_rate;
           const auto current_time = resource_storage_->get_clock()->now();
           const rclcpp::Duration actual_period = current_time - component.get_last_read_time();
           if (actual_period.seconds() * read_rate >= 0.99)
@@ -1942,16 +1938,16 @@ HardwareReadWriteStatus ResourceManager::write(
       try
       {
         if (
-          resource_storage_->hardware_info_map_[component.get_name()].write_rate == 0 ||
-          resource_storage_->hardware_info_map_[component.get_name()].write_rate ==
+          resource_storage_->hardware_info_map_[component.get_name()].rw_rate == 0 ||
+          resource_storage_->hardware_info_map_[component.get_name()].rw_rate ==
             resource_storage_->cm_update_rate_)
         {
           ret_val = component.write(time, period);
         }
         else
         {
           const double write_rate =
-            resource_storage_->hardware_info_map_[component.get_name()].write_rate;
+            resource_storage_->hardware_info_map_[component.get_name()].rw_rate;
           const auto current_time = resource_storage_->get_clock()->now();
           const rclcpp::Duration actual_period = current_time - component.get_last_write_time();
           if (actual_period.seconds() * write_rate >= 0.99)

diff --git a/hardware_interface_testing/test/test_resource_manager.cpp b/hardware_interface_testing/test/test_resource_manager.cpp
@@ -457,14 +457,10 @@ TEST_F(ResourceManagerTest, resource_status)
   EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].type, TEST_ACTUATOR_HARDWARE_TYPE);
   EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].type, TEST_SENSOR_HARDWARE_TYPE);
   EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].type, TEST_SYSTEM_HARDWARE_TYPE);
-  // read_rate
-  EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].read_rate, 50u);
-  EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].read_rate, 20u);
-  EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].read_rate, 25u);
-  // write_rate
-  EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].write_rate, 50u);
-  EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].write_rate, 20u);
-  EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].write_rate, 25u);
+  // read/write_rate
+  EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].rw_rate, 50u);
+  EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].rw_rate, 20u);
+  EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].rw_rate, 25u);
   // plugin_name
   EXPECT_EQ(
     status_map[TEST_ACTUATOR_HARDWARE_NAME].plugin_name, TEST_ACTUATOR_HARDWARE_PLUGIN_NAME);
@@ -1765,17 +1761,13 @@ class ResourceManagerTestReadWriteDifferentReadWriteRate : public ResourceManage
       status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
       lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
 
-    // read_rate
-    EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].read_rate, 50u);
-    EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].read_rate, 20u);
-    EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].read_rate, 25u);
-    // write_rate
-    EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].write_rate, 50u);
-    EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].write_rate, 20u);
-    EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].write_rate, 25u);
-
-    actuator_rw_rate_ = status_map[TEST_ACTUATOR_HARDWARE_NAME].read_rate;
-    system_rw_rate_ = status_map[TEST_SYSTEM_HARDWARE_NAME].read_rate;
+    // read/write_rate
+    EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].rw_rate, 50u);
+    EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].rw_rate, 20u);
+    EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].rw_rate, 25u);
+
+    actuator_rw_rate_ = status_map[TEST_ACTUATOR_HARDWARE_NAME].rw_rate;
+    system_rw_rate_ = status_map[TEST_SYSTEM_HARDWARE_NAME].rw_rate;
 
     claimed_itfs.push_back(
       rm->claim_command_interface(TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES[0]));