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Add has_state and has_command to hw_component_if #2701

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Merged
saikishor merged 3 commits into from
Oct 18, 2025
Merged

Add has_state and has_command to hw_component_if #2701

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0fd7d7f
Add has_state and has_command
christophfroehlich Oct 18, 2025
d56d878
Remove duplicate
christophfroehlich Oct 18, 2025
eafa27b
Test if a state exist but no command with same name
christophfroehlich Oct 18, 2025
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20 changes: 20 additions & 0 deletions hardware_interface/include/hardware_interface/hardware_component_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -693,6 +693,16 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
lifecycle_state_ = new_state;
}

/// Does the state interface exist?
/**
* \param[in] interface_name The name of the state interface.
* \return true if the state interface exists, false otherwise.
*/
bool has_state(const std::string & interface_name) const
{
return hardware_states_.find(interface_name) != hardware_states_.end();
}

/// Set the value of a state interface.
/**
* \tparam T The type of the value to be stored.
Expand Down Expand Up @@ -753,6 +763,16 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
return opt_value.value();
}

/// Does the command interface exist?
/**
* \param[in] interface_name The name of the command interface.
* \return true if the command interface exists, false otherwise.
*/
bool has_command(const std::string & interface_name) const
{
return hardware_commands_.find(interface_name) != hardware_commands_.end();
}

/// Set the value of a command interface.
/**
* \tparam T The type of the value to be stored.
Expand Down
15 changes: 15 additions & 0 deletions hardware_interface/test/test_component_interfaces.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,9 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
{
set_command("joint1/velocity", 0.0);
}
// interfaces are not available
EXPECT_FALSE(has_state("joint1/nonexisting/interface"));
EXPECT_FALSE(has_command("joint1/nonexisting/interface"));
// Should throw as the interface is unknown
EXPECT_THROW(get_state("joint1/nonexisting/interface"), std::runtime_error);
EXPECT_THROW(get_command("joint1/nonexisting/interface"), std::runtime_error);
Expand Down Expand Up @@ -225,6 +228,10 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
{
return hardware_interface::return_type::ERROR;
}
EXPECT_TRUE(has_state("joint1/position"));
EXPECT_TRUE(has_state("joint1/velocity"));
EXPECT_FALSE(has_command("joint1/position")); // only velocity command interface
EXPECT_TRUE(has_command("joint1/velocity"));
auto position_state = get_state("joint1/position");
set_state("joint1/position", position_state + get_command("joint1/velocity"));
set_state("joint1/velocity", get_command("joint1/velocity"));
Expand Down Expand Up @@ -344,6 +351,8 @@ class DummySensorDefault : public hardware_interface::SensorInterface
CallbackReturn on_configure(const rclcpp_lifecycle::State & /*previous_state*/) override
{
set_state("sens1/voltage", 0.0);
// interfaces are not available
EXPECT_FALSE(has_state("joint1/nonexisting/interface"));
// Should throw as the interface is unknown
EXPECT_THROW(get_state("joint1/nonexisting/interface"), std::runtime_error);
EXPECT_THROW(set_state("joint1/nonexisting/interface", 0.0), std::runtime_error);
Expand All @@ -362,6 +371,7 @@ class DummySensorDefault : public hardware_interface::SensorInterface
}

// no-op, static value
EXPECT_TRUE(has_state("sens1/voltage"));
set_state("sens1/voltage", voltage_level_hw_value_);
return hardware_interface::return_type::OK;
}
Expand Down Expand Up @@ -626,6 +636,9 @@ class DummySystemDefault : public hardware_interface::SystemInterface
set_command(velocity_commands_[i], 0.0);
}
}
// interfaces are not available
EXPECT_FALSE(has_state("joint1/nonexisting/interface"));
EXPECT_FALSE(has_command("joint1/nonexisting/interface"));
// Should throw as the interface is unknown
EXPECT_THROW(get_state("joint1/nonexisting/interface"), std::runtime_error);
EXPECT_THROW(get_command("joint1/nonexisting/interface"), std::runtime_error);
Expand Down Expand Up @@ -662,6 +675,8 @@ class DummySystemDefault : public hardware_interface::SystemInterface

for (size_t i = 0; i < 3; ++i)
{
EXPECT_TRUE(has_state(position_states_[i]));
EXPECT_TRUE(has_command(velocity_commands_[i]));
auto current_pos = get_state(position_states_[i]);
set_state(position_states_[i], current_pos + get_command(velocity_commands_[i]));
set_state(velocity_states_[i], get_command(velocity_commands_[i]));
Expand Down
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