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Publish all castable data types to pal_statistics #2633

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fafcf66
Cast all possible values
christophfroehlich Oct 7, 2025
439c970
Merge branch 'master' into publish/bool/pal_statistics
christophfroehlich Oct 7, 2025
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33 changes: 24 additions & 9 deletions hardware_interface/include/hardware_interface/handle.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@
#include <shared_mutex>
#include <string>
#include <utility>
#include <variant>

#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/introspection.hpp"
Expand Down Expand Up @@ -60,8 +59,6 @@ std::string get_type_name()
namespace hardware_interface
{

using HANDLE_DATATYPE = std::variant<std::monostate, double, bool>;

/// A handle used to get and set a value on a given interface.
class Handle
{
Expand Down Expand Up @@ -357,17 +354,26 @@ class StateInterface : public Handle

void registerIntrospection() const
{
if (value_ptr_ || std::holds_alternative<double>(value_))
if (value_ptr_ || data_type_.is_castable_to_double())
{
std::function<double()> f = [this]()
{ return value_ptr_ ? *value_ptr_ : std::get<double>(value_); };
{
if (value_ptr_)
{
return *value_ptr_;
}
else
{
return data_type_.cast_to_double(value_);
}
};
DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION("state_interface." + get_name(), f);
}
}

void unregisterIntrospection() const
{
if (value_ptr_ || std::holds_alternative<double>(value_))
if (value_ptr_ || data_type_.is_castable_to_double())
{
DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION("state_interface." + get_name());
}
Expand Down Expand Up @@ -431,10 +437,19 @@ class CommandInterface : public Handle

void registerIntrospection() const
{
if (value_ptr_ || std::holds_alternative<double>(value_))
if (value_ptr_ || data_type_.is_castable_to_double())
{
std::function<double()> f = [this]()
{ return value_ptr_ ? *value_ptr_ : std::get<double>(value_); };
{
if (value_ptr_)
{
return *value_ptr_;
}
else
{
return data_type_.cast_to_double(value_);
}
};
DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION("command_interface." + get_name(), f);
DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION(
"command_interface." + get_name() + ".is_limited", &is_command_limited_);
Expand All @@ -443,7 +458,7 @@ class CommandInterface : public Handle

void unregisterIntrospection() const
{
if (value_ptr_ || std::holds_alternative<double>(value_))
if (value_ptr_ || data_type_.is_castable_to_double())
{
DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION("command_interface." + get_name());
DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION(
Expand Down
26 changes: 26 additions & 0 deletions hardware_interface/include/hardware_interface/hardware_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,11 @@
#ifndef HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
#define HARDWARE_INTERFACE__HARDWARE_INFO_HPP_

#include <fmt/compile.h>

#include <string>
#include <unordered_map>
#include <variant>
#include <vector>

#include "joint_limits/joint_limits.hpp"
Expand Down Expand Up @@ -133,6 +136,8 @@ struct TransmissionInfo
/**
* Hardware handles supported types
*/

using HANDLE_DATATYPE = std::variant<std::monostate, double, bool>;
class HandleDataType
{
public:
Expand Down Expand Up @@ -202,6 +207,27 @@ class HandleDataType
}
}

/**
* @brief Cast the given value to double.
* @param value The value to be casted.
* @return The casted value.
* @throw std::runtime_error if the HandleDataType cannot be casted to double.
* @note Once we add support for more data types, this function should be updated
*/
double cast_to_double(const HANDLE_DATATYPE & value) const
{
switch (value_)
{
case DOUBLE:
return std::get<double>(value);
case BOOL:
return static_cast<double>(std::get<bool>(value));
default:
throw std::runtime_error(
fmt::format(FMT_COMPILE("Data type : '{}' cannot be casted to double."), to_string()));
}
}

HandleDataType from_string(const std::string & data_type) { return HandleDataType(data_type); }

private:
Expand Down
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