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Fix RCLCPP_WARN_ONCE within handle #2630

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Merged
merged 5 commits into from
Oct 8, 2025
Merged

Fix RCLCPP_WARN_ONCE within handle #2630

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600a5b0
Add missing stdexcept include
christophfroehlich Oct 7, 2025
d647a98
Log every warning really once
christophfroehlich Oct 7, 2025
b5cbef9
Reformat strings
christophfroehlich Oct 7, 2025
b22b719
Use mutable member variable instead
christophfroehlich Oct 7, 2025
a55e11a
Remove map
christophfroehlich Oct 7, 2025
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33 changes: 23 additions & 10 deletions hardware_interface/include/hardware_interface/handle.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <mutex>
#include <optional>
#include <shared_mutex>
#include <stdexcept>
#include <string>
#include <utility>
#include <variant>
Expand Down Expand Up @@ -97,8 +98,7 @@ class Handle
{
throw std::invalid_argument(
fmt::format(
FMT_COMPILE(
"Invalid initial value : '{}' parsed for interface : '{}' with type : '{}'"),
FMT_COMPILE("Invalid initial value: '{}' parsed for interface: '{}' with type: '{}'"),
initial_value, handle_name_, data_type_.to_string()));
}
}
Expand All @@ -112,7 +112,7 @@ class Handle
throw std::runtime_error(
fmt::format(
FMT_COMPILE(
"Invalid data type : '{}' for interface : {}. Supported types are double and bool."),
"Invalid data type: '{}' for interface: {}. Supported types are double and bool."),
data_type, handle_name_));
}
}
Expand Down Expand Up @@ -213,15 +213,22 @@ class Handle
THROW_ON_NULLPTR(value_ptr_);
return *value_ptr_;
case HandleDataType::BOOL:
RCLCPP_WARN_ONCE(
rclcpp::get_logger(get_name()),
"Casting bool to double for interface : %s. Better use get_optional<bool>().",
get_name().c_str());
// TODO(christophfroehlich): replace with RCLCPP_WARN_ONCE once
// https://github.com/ros2/rclcpp/issues/2587
// is fixed
if (!notified_)
{
RCLCPP_WARN(
rclcpp::get_logger(get_name()),
"Casting bool to double for interface: %s. Better use get_optional<bool>().",
get_name().c_str());
notified_ = true;
}
return static_cast<double>(std::get<bool>(value_));
default:
throw std::runtime_error(
fmt::format(
FMT_COMPILE("Data type : '{}' cannot be casted to double for interface : {}"),
FMT_COMPILE("Data type: '{}' cannot be casted to double for interface: {}"),
data_type_.to_string(), get_name()));
}
}
Expand All @@ -233,7 +240,7 @@ class Handle
{
throw std::runtime_error(
fmt::format(
FMT_COMPILE("Invalid data type : '{}' access for interface : {} expected : '{}'"),
FMT_COMPILE("Invalid data type: '{}' access for interface: {} expected: '{}'"),
get_type_name<T>(), get_name(), data_type_.to_string()));
}
// END
Expand Down Expand Up @@ -290,7 +297,7 @@ class Handle
{
throw std::runtime_error(
fmt::format(
FMT_COMPILE("Invalid data type : '{}' access for interface : {} expected : '{}'"),
FMT_COMPILE("Invalid data type: '{}' access for interface: {} expected: '{}'"),
get_type_name<T>(), get_name(), data_type_.to_string()));
}
value_ = value;
Expand Down Expand Up @@ -345,6 +352,12 @@ class Handle
double * value_ptr_;
// END
mutable std::shared_mutex handle_mutex_;

private:
// TODO(christophfroehlich): remove once
// https://github.com/ros2/rclcpp/issues/2587
// is fixed
mutable bool notified_ = false;
};

class StateInterface : public Handle
Expand Down
8 changes: 8 additions & 0 deletions hardware_interface/test/test_handle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,6 +230,14 @@ TEST(TestHandle, interface_description_bool_data_type)
ASSERT_FALSE(handle.get_optional<bool>().value());
ASSERT_EQ(handle.get_optional(), 0.0);

info.name = "some_interface";
interface_descr = InterfaceDescription(itf_name, info);
StateInterface handle2{interface_descr};
EXPECT_EQ(handle2.get_name(), itf_name + "/" + "some_interface");
ASSERT_TRUE(handle2.set_value(false));
ASSERT_FALSE(handle2.get_optional<bool>().value());
ASSERT_EQ(handle2.get_optional(), 0.0);

// Test the assertions
ASSERT_THROW({ std::ignore = handle.set_value(-1.0); }, std::runtime_error);
ASSERT_THROW({ std::ignore = handle.set_value(0.0); }, std::runtime_error);
Expand Down
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