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Use the pointers instead of reference in loaned interfaces #2634

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331a393
Use the pointers instead of reference in loaned interfaces
saikishor Oct 7, 2025
e8d794a
Fix the destructor
saikishor Oct 8, 2025
38d130f
Merge branch 'master' into use/pointers/loaned_interfaces
saikishor Oct 8, 2025
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68 changes: 38 additions & 30 deletions hardware_interface/include/hardware_interface/loaned_command_interface.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ class LoanedCommandInterface
}

explicit LoanedCommandInterface(CommandInterface::SharedPtr command_interface, Deleter && deleter)
: command_interface_(*command_interface), deleter_(std::forward<Deleter>(deleter))
: command_interface_(command_interface), deleter_(std::forward<Deleter>(deleter))
{
}

Expand All @@ -47,38 +47,46 @@ class LoanedCommandInterface

virtual ~LoanedCommandInterface()
{
auto logger = rclcpp::get_logger(command_interface_.get_name());
RCLCPP_WARN_EXPRESSION(
rclcpp::get_logger(get_name()),
(get_value_statistics_.failed_counter > 0 || get_value_statistics_.timeout_counter > 0),
"LoanedCommandInterface %s has %u (%.4f %%) timeouts and %u (~ %.4f %%) missed calls out of "
"%u get_value calls",
get_name().c_str(), get_value_statistics_.timeout_counter,
(get_value_statistics_.timeout_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.failed_counter,
(get_value_statistics_.failed_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.total_counter);
RCLCPP_WARN_EXPRESSION(
rclcpp::get_logger(get_name()),
(set_value_statistics_.failed_counter > 0 || set_value_statistics_.timeout_counter > 0),
"LoanedCommandInterface %s has %u (%.4f %%) timeouts and %u (~ %.4f %%) missed calls out of "
"%u set_value calls",
get_name().c_str(), set_value_statistics_.timeout_counter,
(set_value_statistics_.timeout_counter * 100.0) / set_value_statistics_.total_counter,
set_value_statistics_.failed_counter,
(set_value_statistics_.failed_counter * 100.0) / set_value_statistics_.total_counter,
set_value_statistics_.total_counter);
if (command_interface_)
{
auto logger = rclcpp::get_logger(command_interface_->get_name());
RCLCPP_WARN_EXPRESSION(
rclcpp::get_logger(get_name()),
(get_value_statistics_.failed_counter > 0 || get_value_statistics_.timeout_counter > 0),
"LoanedCommandInterface %s has %u (%.4f %%) timeouts and %u (~ %.4f %%) missed calls out "
"of "
"%u get_value calls",
get_name().c_str(), get_value_statistics_.timeout_counter,
(get_value_statistics_.timeout_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.failed_counter,
(get_value_statistics_.failed_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.total_counter);
RCLCPP_WARN_EXPRESSION(
rclcpp::get_logger(get_name()),
(set_value_statistics_.failed_counter > 0 || set_value_statistics_.timeout_counter > 0),
"LoanedCommandInterface %s has %u (%.4f %%) timeouts and %u (~ %.4f %%) missed calls out "
"of "
"%u set_value calls",
get_name().c_str(), set_value_statistics_.timeout_counter,
(set_value_statistics_.timeout_counter * 100.0) / set_value_statistics_.total_counter,
set_value_statistics_.failed_counter,
(set_value_statistics_.failed_counter * 100.0) / set_value_statistics_.total_counter,
set_value_statistics_.total_counter);
}
if (deleter_)
{
deleter_();
}
}

const std::string & get_name() const { return command_interface_.get_name(); }
const std::string & get_name() const { return command_interface_->get_name(); }

const std::string & get_interface_name() const { return command_interface_.get_interface_name(); }
const std::string & get_interface_name() const
{
return command_interface_->get_interface_name();
}

const std::string & get_prefix_name() const { return command_interface_.get_prefix_name(); }
const std::string & get_prefix_name() const { return command_interface_->get_prefix_name(); }

/**
* @brief Set the value of the command interface.
Expand All @@ -100,7 +108,7 @@ class LoanedCommandInterface
{
unsigned int nr_tries = 0;
++set_value_statistics_.total_counter;
while (!command_interface_.set_limited_value(value))
while (!command_interface_->set_limited_value(value))
{
++set_value_statistics_.failed_counter;
++nr_tries;
Expand Down Expand Up @@ -151,7 +159,7 @@ class LoanedCommandInterface
do
{
++get_value_statistics_.total_counter;
const std::optional<T> data = command_interface_.get_optional<T>();
const std::optional<T> data = command_interface_->get_optional<T>();
if (data.has_value())
{
return data;
Expand All @@ -169,16 +177,16 @@ class LoanedCommandInterface
* @brief Get the data type of the command interface.
* @return The data type of the command interface.
*/
HandleDataType get_data_type() const { return command_interface_.get_data_type(); }
HandleDataType get_data_type() const { return command_interface_->get_data_type(); }

/**
* @brief Check if the state interface can be casted to double.
* @return True if the state interface can be casted to double, false otherwise.
*/
bool is_castable_to_double() const { return command_interface_.is_castable_to_double(); }
bool is_castable_to_double() const { return command_interface_->is_castable_to_double(); }

protected:
CommandInterface & command_interface_;
CommandInterface::SharedPtr command_interface_;
Deleter deleter_;

private:
Expand Down
41 changes: 22 additions & 19 deletions hardware_interface/include/hardware_interface/loaned_state_interface.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ class LoanedStateInterface
}

explicit LoanedStateInterface(StateInterface::ConstSharedPtr state_interface, Deleter && deleter)
: state_interface_(*state_interface), deleter_(std::forward<Deleter>(deleter))
: state_interface_(state_interface), deleter_(std::forward<Deleter>(deleter))
{
}

Expand All @@ -46,28 +46,31 @@ class LoanedStateInterface

virtual ~LoanedStateInterface()
{
auto logger = rclcpp::get_logger(state_interface_.get_name());
RCLCPP_WARN_EXPRESSION(
logger,
(get_value_statistics_.failed_counter > 0 || get_value_statistics_.timeout_counter > 0),
"LoanedStateInterface %s has %u (%.4f %%) timeouts and %u (%.4f %%) missed calls out of %u "
"get_value calls",
state_interface_.get_name().c_str(), get_value_statistics_.timeout_counter,
(get_value_statistics_.timeout_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.failed_counter,
(get_value_statistics_.failed_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.total_counter);
if (state_interface_)
{
auto logger = rclcpp::get_logger(state_interface_->get_name());
RCLCPP_WARN_EXPRESSION(
logger,
(get_value_statistics_.failed_counter > 0 || get_value_statistics_.timeout_counter > 0),
"LoanedStateInterface %s has %u (%.4f %%) timeouts and %u (%.4f %%) missed calls out of %u "
"get_value calls",
state_interface_->get_name().c_str(), get_value_statistics_.timeout_counter,
(get_value_statistics_.timeout_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.failed_counter,
(get_value_statistics_.failed_counter * 100.0) / get_value_statistics_.total_counter,
get_value_statistics_.total_counter);
}
if (deleter_)
{
deleter_();
}
}

const std::string & get_name() const { return state_interface_.get_name(); }
const std::string & get_name() const { return state_interface_->get_name(); }

const std::string & get_interface_name() const { return state_interface_.get_interface_name(); }
const std::string & get_interface_name() const { return state_interface_->get_interface_name(); }

const std::string & get_prefix_name() const { return state_interface_.get_prefix_name(); }
const std::string & get_prefix_name() const { return state_interface_->get_prefix_name(); }

[[deprecated(
"Use std::optional<T> get_optional() instead to retrieve the value. This method will be "
Expand Down Expand Up @@ -106,7 +109,7 @@ class LoanedStateInterface
do
{
++get_value_statistics_.total_counter;
const std::optional<T> data = state_interface_.get_optional<T>();
const std::optional<T> data = state_interface_->get_optional<T>();
if (data.has_value())
{
return data;
Expand All @@ -124,16 +127,16 @@ class LoanedStateInterface
* @brief Get the data type of the state interface.
* @return The data type of the state interface.
*/
HandleDataType get_data_type() const { return state_interface_.get_data_type(); }
HandleDataType get_data_type() const { return state_interface_->get_data_type(); }

/**
* @brief Check if the state interface can be casted to double.
* @return True if the state interface can be casted to double, false otherwise.
*/
bool is_castable_to_double() const { return state_interface_.is_castable_to_double(); }
bool is_castable_to_double() const { return state_interface_->is_castable_to_double(); }

protected:
const StateInterface & state_interface_;
StateInterface::ConstSharedPtr state_interface_;
Deleter deleter_;

private:
Expand Down
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