Fix missing copy and move operations of data_type_ variable (backport #2903) (#2905)

---------

Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>

Author: 3 people

hardware_interface/include/hardware_interface/handle.hpp

@@ -638,6 +638,7 @@ class Handle
     interface_name_ = other.interface_name_;
     handle_name_ = other.handle_name_;
     value_ = other.value_;
+    data_type_ = other.data_type_;
     if (std::holds_alternative<std::monostate>(value_))
     {
       value_ptr_ = other.value_ptr_;
@@ -655,10 +656,12 @@ class Handle
     std::swap(first.interface_name_, second.interface_name_);
     std::swap(first.handle_name_, second.handle_name_);
     std::swap(first.value_, second.value_);
+    std::swap(first.data_type_, second.data_type_);
     std::swap(first.value_ptr_, second.value_ptr_);
   }
 
 protected:
+  /// @note The methods copy and swap need to be updated, if new members are added.
   std::string prefix_name_;
   std::string interface_name_;
   std::string handle_name_;

hardware_interface/test/test_handle.cpp

@@ -234,6 +234,36 @@ TEST(TestHandle, interface_description_bool_data_type)
   ASSERT_THROW({ std::ignore = handle.get_optional<double>(); }, std::runtime_error);
 }
 
+TEST(TestHandle, interface_description_bool_data_type_copy)
+{
+  const std::string collision_interface = "collision";
+  const std::string itf_name = "joint1";
+  InterfaceInfo info;
+  info.name = collision_interface;
+  info.data_type = "bool";
+  InterfaceDescription interface_descr(itf_name, info);
+  StateInterface handle{interface_descr};
+
+  auto handle_copy = handle;  // Copy constructor
+
+  ASSERT_EQ(hardware_interface::HandleDataType::BOOL, interface_descr.get_data_type());
+  ASSERT_EQ(hardware_interface::HandleDataType::BOOL, handle_copy.get_data_type());
+  EXPECT_EQ(handle_copy.get_name(), itf_name + "/" + collision_interface);
+  EXPECT_EQ(handle_copy.get_interface_name(), collision_interface);
+  EXPECT_EQ(handle_copy.get_prefix_name(), itf_name);
+  EXPECT_NO_THROW({ std::ignore = handle_copy.get_optional<bool>(); });
+  ASSERT_FALSE(handle_copy.get_optional<bool>().value()) << "Default value should be false";
+  ASSERT_TRUE(handle_copy.set_value(true));
+  ASSERT_TRUE(handle_copy.get_optional<bool>().value());
+  ASSERT_TRUE(handle_copy.set_value(false));
+  ASSERT_FALSE(handle_copy.get_optional<bool>().value());
+
+  // 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);
+  EXPECT_THROW({ std::ignore = handle.get_optional<double>(); }, std::runtime_error);
+}
+
 TEST(TestHandle, handle_constructor_double_data_type)
 {
   const std::string POSITION_INTERFACE = "position";