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Add new get_value API for Handles and Interfaces #1976

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Add new get_value API for Handles and Interfaces #1976

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f2be0f9
Add new get_value API for handles and interfaces
saikishor Jan 2, 2025
37964b7
Merge branch 'ros-controls:master' into add_new/get_value/api
saikishor Jan 2, 2025
169ba83
add minor fixes
saikishor Jan 2, 2025
a01be64
update the other get_value method
saikishor Jan 2, 2025
4403195
Fix tests
saikishor Jan 2, 2025
e732160
Remove the status arg implementation
saikishor Jan 16, 2025
91936b0
use get_value<double>() instead of get_value()
saikishor Jan 16, 2025
3deb8b2
Merge branch 'master' into add_new/get_value/api
saikishor Jan 16, 2025
7cd44c2
use (void) to discard set_value return statement
saikishor Jan 16, 2025
6dc3af7
Add assertion instead of discarding the output
saikishor Jan 16, 2025
45d8e71
Apply suggestions from code review
saikishor Jan 19, 2025
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4 changes: 2 additions & 2 deletions controller_interface/include/semantic_components/force_torque_sensor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
{
if (existing_axes_[i])
{
forces[i] = state_interfaces_[interface_counter].get().get_value();
forces[i] = state_interfaces_[interface_counter].get().get_value<double>().value();
++interface_counter;
}
}
Expand All @@ -123,7 +123,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
{
if (existing_axes_[i + FORCES_SIZE])
{
torques[i] = state_interfaces_[torque_interface_counter].get().get_value();
torques[i] = state_interfaces_[torque_interface_counter].get().get_value<double>().value();
++torque_interface_counter;
}
}
Expand Down
8 changes: 5 additions & 3 deletions controller_interface/include/semantic_components/imu_sensor.hpp
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Expand Up @@ -52,7 +52,7 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
std::array<double, 4> orientation;
for (auto i = 0u; i < orientation.size(); ++i)
{
orientation[i] = state_interfaces_[i].get().get_value();
orientation[i] = state_interfaces_[i].get().get_value<double>().value();
}
return orientation;
}
Expand All @@ -69,7 +69,8 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
const std::size_t interface_offset{4};
for (auto i = 0u; i < angular_velocity.size(); ++i)
{
angular_velocity[i] = state_interfaces_[interface_offset + i].get().get_value();
angular_velocity[i] =
state_interfaces_[interface_offset + i].get().get_value<double>().value();
}
return angular_velocity;
}
Expand All @@ -86,7 +87,8 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
const std::size_t interface_offset{7};
for (auto i = 0u; i < linear_acceleration.size(); ++i)
{
linear_acceleration[i] = state_interfaces_[interface_offset + i].get().get_value();
linear_acceleration[i] =
state_interfaces_[interface_offset + i].get().get_value<double>().value();
}
return linear_acceleration;
}
Expand Down
4 changes: 2 additions & 2 deletions controller_interface/include/semantic_components/pose_sensor.hpp
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Expand Up @@ -50,7 +50,7 @@ class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose>
std::array<double, 3> position;
for (auto i = 0u; i < position.size(); ++i)
{
position[i] = state_interfaces_[i].get().get_value();
position[i] = state_interfaces_[i].get().get_value<double>().value();
}
return position;
}
Expand All @@ -67,7 +67,7 @@ class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose>
const std::size_t interface_offset{3};
for (auto i = 0u; i < orientation.size(); ++i)
{
orientation[i] = state_interfaces_[interface_offset + i].get().get_value();
orientation[i] = state_interfaces_[interface_offset + i].get().get_value<double>().value();
}
return orientation;
}
Expand Down
2 changes: 1 addition & 1 deletion controller_interface/include/semantic_components/range_sensor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
*
* \return value of the range in meters
*/
float get_range() const { return state_interfaces_[0].get().get_value(); }
float get_range() const { return state_interfaces_[0].get().get_value<double>().value(); }

/// Return Range message with range in meters
/**
Expand Down
2 changes: 1 addition & 1 deletion controller_interface/include/semantic_components/semantic_component_interface.hpp
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Expand Up @@ -93,7 +93,7 @@ class SemanticComponentInterface
// insert all the values
for (auto i = 0u; i < state_interfaces_.size(); ++i)
{
values.emplace_back(state_interfaces_[i].get().get_value());
values.emplace_back(state_interfaces_[i].get().get_value<double>().value());
}
return true;
}
Expand Down
13 changes: 8 additions & 5 deletions controller_interface/test/test_chainable_controller_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,8 @@ TEST_F(ChainableControllerInterfaceTest, export_state_interfaces)
EXPECT_EQ(exported_state_interfaces[0]->get_prefix_name(), TEST_CONTROLLER_NAME);
EXPECT_EQ(exported_state_interfaces[0]->get_interface_name(), "test_state");

EXPECT_EQ(exported_state_interfaces[0]->get_value(), EXPORTED_STATE_INTERFACE_VALUE);
EXPECT_EQ(
exported_state_interfaces[0]->get_value<double>().value(), EXPORTED_STATE_INTERFACE_VALUE);
}

TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces)
Expand All @@ -72,7 +73,7 @@ TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces)
EXPECT_EQ(reference_interfaces[0]->get_prefix_name(), TEST_CONTROLLER_NAME);
EXPECT_EQ(reference_interfaces[0]->get_interface_name(), "test_itf");

EXPECT_EQ(reference_interfaces[0]->get_value(), INTERFACE_VALUE);
EXPECT_EQ(reference_interfaces[0]->get_value<double>().value(), INTERFACE_VALUE);
}

TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
Expand Down Expand Up @@ -120,7 +121,7 @@ TEST_F(ChainableControllerInterfaceTest, setting_chained_mode)
EXPECT_FALSE(controller.is_in_chained_mode());

// Fail setting chained mode
EXPECT_EQ(reference_interfaces[0]->get_value(), INTERFACE_VALUE);
EXPECT_EQ(reference_interfaces[0]->get_value<double>().value(), INTERFACE_VALUE);

EXPECT_FALSE(controller.set_chained_mode(true));
EXPECT_FALSE(controller.is_in_chained_mode());
Expand All @@ -129,11 +130,13 @@ TEST_F(ChainableControllerInterfaceTest, setting_chained_mode)
EXPECT_FALSE(controller.is_in_chained_mode());

// Success setting chained mode
reference_interfaces[0]->set_value(0.0);
(void)reference_interfaces[0]->set_value(0.0);

EXPECT_TRUE(controller.set_chained_mode(true));
EXPECT_TRUE(controller.is_in_chained_mode());
EXPECT_EQ(exported_state_interfaces[0]->get_value(), EXPORTED_STATE_INTERFACE_VALUE_IN_CHAINMODE);
EXPECT_EQ(
exported_state_interfaces[0]->get_value<double>().value(),
EXPORTED_STATE_INTERFACE_VALUE_IN_CHAINMODE);

controller.configure();
EXPECT_TRUE(controller.set_chained_mode(false));
Expand Down
10 changes: 6 additions & 4 deletions controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,21 +101,23 @@ controller_interface::return_type TestChainableController::update_and_write_comm

for (size_t i = 0; i < command_interfaces_.size(); ++i)
{
command_interfaces_[i].set_value(reference_interfaces_[i] - state_interfaces_[i].get_value());
(void)command_interfaces_[i].set_value(
reference_interfaces_[i] - state_interfaces_[i].get_value<double>().value());
}
// If there is a command interface then integrate and set it to the exported state interface data
for (size_t i = 0; i < exported_state_interface_names_.size() && i < command_interfaces_.size();
++i)
{
state_interfaces_values_[i] = command_interfaces_[i].get_value() * CONTROLLER_DT;
state_interfaces_values_[i] =
command_interfaces_[i].get_value<double>().value() * CONTROLLER_DT;
}
// If there is no command interface and if there is a state interface then just forward the same
// value as in the state interface
for (size_t i = 0; i < exported_state_interface_names_.size() && i < state_interfaces_.size() &&
command_interfaces_.empty();
++i)
{
state_interfaces_values_[i] = state_interfaces_[i].get_value();
state_interfaces_values_[i] = state_interfaces_[i].get_value<double>().value();
}

return controller_interface::return_type::OK;
Expand Down Expand Up @@ -240,7 +242,7 @@ std::vector<double> TestChainableController::get_state_interface_data() const
std::vector<double> state_intr_data;
for (const auto & interface : state_interfaces_)
{
state_intr_data.push_back(interface.get_value());
state_intr_data.push_back(interface.get_value<double>().value());
}
return state_intr_data;
}
Expand Down
6 changes: 3 additions & 3 deletions controller_manager/test/test_controller/test_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ controller_interface::return_type TestController::update(
// set value to hardware to produce and test different behaviors there
if (!std::isnan(set_first_command_interface_value_to))
{
command_interfaces_[0].set_value(set_first_command_interface_value_to);
(void)command_interfaces_[0].set_value(set_first_command_interface_value_to);
// reset to be easier to test
set_first_command_interface_value_to = std::numeric_limits<double>::quiet_NaN();
}
Expand All @@ -90,7 +90,7 @@ controller_interface::return_type TestController::update(
RCLCPP_DEBUG(
get_node()->get_logger(), "Setting value of command interface '%s' to %f",
command_interfaces_[i].get_name().c_str(), external_commands_for_testing_[i]);
command_interfaces_[i].set_value(external_commands_for_testing_[i]);
(void)command_interfaces_[i].set_value(external_commands_for_testing_[i]);
}
}

Expand Down Expand Up @@ -187,7 +187,7 @@ std::vector<double> TestController::get_state_interface_data() const
std::vector<double> state_intr_data;
for (const auto & interface : state_interfaces_)
{
state_intr_data.push_back(interface.get_value());
state_intr_data.push_back(interface.get_value<double>().value());
}
return state_intr_data;
}
Expand Down
79 changes: 59 additions & 20 deletions controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -520,8 +520,12 @@ class TestControllerChainingWithControllerManager
// Command of DiffDrive controller are references of PID controllers
EXP_LEFT_WHEEL_REF = chained_ctrl_calculation(reference[0], EXP_LEFT_WHEEL_HW_STATE);
EXP_RIGHT_WHEEL_REF = chained_ctrl_calculation(reference[1], EXP_RIGHT_WHEEL_HW_STATE);
ASSERT_EQ(diff_drive_controller->command_interfaces_[0].get_value(), EXP_LEFT_WHEEL_REF);
ASSERT_EQ(diff_drive_controller->command_interfaces_[1].get_value(), EXP_RIGHT_WHEEL_REF);
ASSERT_EQ(
diff_drive_controller->command_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_REF);
ASSERT_EQ(
diff_drive_controller->command_interfaces_[1].get_value<double>().value(),
EXP_RIGHT_WHEEL_REF);
ASSERT_EQ(pid_left_wheel_controller->reference_interfaces_[0], EXP_LEFT_WHEEL_REF);
ASSERT_EQ(pid_right_wheel_controller->reference_interfaces_[0], EXP_RIGHT_WHEEL_REF);

Expand All @@ -537,21 +541,32 @@ class TestControllerChainingWithControllerManager

EXP_LEFT_WHEEL_CMD = chained_ctrl_calculation(EXP_LEFT_WHEEL_REF, EXP_LEFT_WHEEL_HW_STATE);
EXP_LEFT_WHEEL_HW_STATE = hardware_calculation(EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(pid_left_wheel_controller->command_interfaces_[0].get_value(), EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(pid_left_wheel_controller->state_interfaces_[0].get_value(), EXP_LEFT_WHEEL_HW_STATE);
ASSERT_EQ(
pid_left_wheel_controller->command_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(
pid_left_wheel_controller->state_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_HW_STATE);
// DiffDrive uses the same state
ASSERT_EQ(diff_drive_controller->state_interfaces_[0].get_value(), EXP_LEFT_WHEEL_HW_STATE);
ASSERT_EQ(
diff_drive_controller->state_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_HW_STATE);
// The state doesn't change wrt to any data from the hardware calculation
ASSERT_EQ(robot_localization_controller->get_state_interface_data()[0], EXP_STATE_ODOM_X);
ASSERT_EQ(odom_publisher_controller->get_state_interface_data()[0], EXP_STATE_ODOM_X);

EXP_RIGHT_WHEEL_CMD = chained_ctrl_calculation(EXP_RIGHT_WHEEL_REF, EXP_RIGHT_WHEEL_HW_STATE);
EXP_RIGHT_WHEEL_HW_STATE = hardware_calculation(EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(pid_right_wheel_controller->command_interfaces_[0].get_value(), EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(
pid_right_wheel_controller->state_interfaces_[0].get_value(), EXP_RIGHT_WHEEL_HW_STATE);
pid_right_wheel_controller->command_interfaces_[0].get_value<double>().value(),
EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(
pid_right_wheel_controller->state_interfaces_[0].get_value<double>().value(),
EXP_RIGHT_WHEEL_HW_STATE);
// DiffDrive uses the same state
ASSERT_EQ(diff_drive_controller->state_interfaces_[1].get_value(), EXP_RIGHT_WHEEL_HW_STATE);
ASSERT_EQ(
diff_drive_controller->state_interfaces_[1].get_value<double>().value(),
EXP_RIGHT_WHEEL_HW_STATE);
// The state doesn't change wrt to any data from the hardware calculation
ASSERT_EQ(robot_localization_controller->get_state_interface_data()[1], EXP_STATE_ODOM_Y);
ASSERT_EQ(odom_publisher_controller->get_state_interface_data()[1], EXP_STATE_ODOM_Y);
Expand Down Expand Up @@ -811,10 +826,16 @@ TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers)
EXP_LEFT_WHEEL_CMD = chained_ctrl_calculation(EXP_LEFT_WHEEL_REF, EXP_LEFT_WHEEL_HW_STATE);
// 32 / 2
EXP_LEFT_WHEEL_HW_STATE = hardware_calculation(EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(pid_left_wheel_controller->command_interfaces_[0].get_value(), EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(pid_left_wheel_controller->state_interfaces_[0].get_value(), EXP_LEFT_WHEEL_HW_STATE);
ASSERT_EQ(
pid_left_wheel_controller->command_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(
pid_left_wheel_controller->state_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_HW_STATE);
// DiffDrive uses the same state
ASSERT_EQ(diff_drive_controller->state_interfaces_[0].get_value(), EXP_LEFT_WHEEL_HW_STATE);
ASSERT_EQ(
diff_drive_controller->state_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_HW_STATE);
// The state doesn't change wrt to any data from the hardware calculation
ASSERT_EQ(robot_localization_controller->get_state_interface_data()[0], EXP_STATE_ODOM_X);
ASSERT_EQ(odom_publisher_controller->get_state_interface_data()[0], EXP_STATE_ODOM_X);
Expand All @@ -823,13 +844,19 @@ TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers)
EXP_RIGHT_WHEEL_CMD = chained_ctrl_calculation(EXP_RIGHT_WHEEL_REF, EXP_RIGHT_WHEEL_HW_STATE);
// 128 / 2
EXP_RIGHT_WHEEL_HW_STATE = hardware_calculation(EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(pid_right_wheel_controller->command_interfaces_[0].get_value(), EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(pid_right_wheel_controller->state_interfaces_[0].get_value(), EXP_RIGHT_WHEEL_HW_STATE);
ASSERT_EQ(
pid_right_wheel_controller->command_interfaces_[0].get_value<double>().value(),
EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(
pid_right_wheel_controller->state_interfaces_[0].get_value<double>().value(),
EXP_RIGHT_WHEEL_HW_STATE);
ASSERT_EQ(odom_publisher_controller->internal_counter, 2u);
ASSERT_EQ(sensor_fusion_controller->internal_counter, 6u);
ASSERT_EQ(robot_localization_controller->internal_counter, 4u);
// DiffDrive uses the same state
ASSERT_EQ(diff_drive_controller->state_interfaces_[1].get_value(), EXP_RIGHT_WHEEL_HW_STATE);
ASSERT_EQ(
diff_drive_controller->state_interfaces_[1].get_value<double>().value(),
EXP_RIGHT_WHEEL_HW_STATE);
// The state doesn't change wrt to any data from the hardware calculation
ASSERT_EQ(robot_localization_controller->get_state_interface_data()[1], EXP_STATE_ODOM_Y);
ASSERT_EQ(odom_publisher_controller->get_state_interface_data()[1], EXP_STATE_ODOM_Y);
Expand Down Expand Up @@ -1986,19 +2013,31 @@ TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_add
EXP_LEFT_WHEEL_CMD = chained_ctrl_calculation(EXP_LEFT_WHEEL_REF, EXP_LEFT_WHEEL_HW_STATE);
// 32 / 2
EXP_LEFT_WHEEL_HW_STATE = hardware_calculation(EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(pid_left_wheel_controller->command_interfaces_[0].get_value(), EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(pid_left_wheel_controller->state_interfaces_[0].get_value(), EXP_LEFT_WHEEL_HW_STATE);
ASSERT_EQ(
pid_left_wheel_controller->command_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_CMD);
ASSERT_EQ(
pid_left_wheel_controller->state_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_HW_STATE);
// DiffDrive uses the same state
ASSERT_EQ(diff_drive_controller->state_interfaces_[0].get_value(), EXP_LEFT_WHEEL_HW_STATE);
ASSERT_EQ(
diff_drive_controller->state_interfaces_[0].get_value<double>().value(),
EXP_LEFT_WHEEL_HW_STATE);

// 128 - 0
EXP_RIGHT_WHEEL_CMD = chained_ctrl_calculation(EXP_RIGHT_WHEEL_REF, EXP_RIGHT_WHEEL_HW_STATE);
// 128 / 2
EXP_RIGHT_WHEEL_HW_STATE = hardware_calculation(EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(pid_right_wheel_controller->command_interfaces_[0].get_value(), EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(pid_right_wheel_controller->state_interfaces_[0].get_value(), EXP_RIGHT_WHEEL_HW_STATE);
ASSERT_EQ(
pid_right_wheel_controller->command_interfaces_[0].get_value<double>().value(),
EXP_RIGHT_WHEEL_CMD);
ASSERT_EQ(
pid_right_wheel_controller->state_interfaces_[0].get_value<double>().value(),
EXP_RIGHT_WHEEL_HW_STATE);
// DiffDrive uses the same state
ASSERT_EQ(diff_drive_controller->state_interfaces_[1].get_value(), EXP_RIGHT_WHEEL_HW_STATE);
ASSERT_EQ(
diff_drive_controller->state_interfaces_[1].get_value<double>().value(),
EXP_RIGHT_WHEEL_HW_STATE);

// update all controllers at once and see that all have expected values --> also checks the order
// of controller execution
Expand Down
26 changes: 22 additions & 4 deletions hardware_interface/include/hardware_interface/handle.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include <limits>
#include <memory>
#include <mutex>
#include <optional>
#include <shared_mutex>
#include <string>
#include <utility>
Expand Down Expand Up @@ -142,7 +143,9 @@ class Handle

const std::string & get_prefix_name() const { return prefix_name_; }

[[deprecated("Use bool get_value(double & value) instead to retrieve the value.")]]
[[deprecated(
"Use std::optional<T> get_value() or bool get_value(double & "
"value) instead to retrieve the value.")]]
double get_value() const
{
std::shared_lock<std::shared_mutex> lock(handle_mutex_, std::try_to_lock);
Expand All @@ -157,7 +160,23 @@ class Handle
// END
}

[[nodiscard]] bool get_value(double & value) const
template <typename T = double>
[[nodiscard]] std::optional<T> get_value() const
{
std::shared_lock<std::shared_mutex> lock(handle_mutex_, std::try_to_lock);
if (!lock.owns_lock())
{
return std::nullopt;
}
THROW_ON_NULLPTR(this->value_ptr_);
// TODO(saikishor): uncomment the following line when HANDLE_DATATYPE is used with multiple
// datatypes and remove the line below it.
// return value_ptr_ != nullptr ? *value_ptr_ : std::get<T>(value_);
return *value_ptr_;
}

template <typename T>
[[nodiscard]] bool get_value(T & value) const
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Do we actually need this format of get_value? Are we using this somewhere of do you have specific use-case where this has advantages over std::optional<T> get_value()?

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Right now, we are not using it in ros2_control repositories, but this exists from many releases both in rolling nd jazzy. So, at least not to break API of people that might use it, I haven't removed it here

{
std::shared_lock<std::shared_mutex> lock(handle_mutex_, std::try_to_lock);
if (!lock.owns_lock())
Expand All @@ -166,8 +185,7 @@ class Handle
}
// BEGIN (Handle export change): for backward compatibility
// TODO(Manuel) set value directly if old functionality is removed
THROW_ON_NULLPTR(value_ptr_);
value = *value_ptr_;
value = value_ptr_ != nullptr ? *value_ptr_ : std::get<T>(value_);
return true;
// END
}
Expand Down
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