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ur_configuration_controller: use try_set on RTBox #1470

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Merged
merged 2 commits into from
Jul 29, 2025
Merged

ur_configuration_controller: use try_set on RTBox #1470

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78151a4
ur_configuration_controller: use try_set on RTBox
urfeex Jul 29, 2025
7eb8281
Remove temp variable
urfeex Jul 29, 2025
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1 change: 1 addition & 0 deletions ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ class URConfigurationController : public controller_interface::ControllerInterfa
realtime_tools::RealtimeBox<std::shared_ptr<VersionInformation>> robot_software_version_{
std::make_shared<VersionInformation>()
};
std::atomic<bool> robot_software_version_set_{ false };

rclcpp::Service<ur_msgs::srv::GetRobotSoftwareVersion>::SharedPtr get_robot_software_version_srv_;

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20 changes: 13 additions & 7 deletions ur_controllers/src/ur_configuration_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,18 +88,21 @@ controller_interface::InterfaceConfiguration URConfigurationController::state_in
controller_interface::return_type URConfigurationController::update(const rclcpp::Time& /* time */,
const rclcpp::Duration& /* period */)
{
if (!robot_software_version_set_) {
robot_software_version_set_ =
robot_software_version_.try_set([this](const std::shared_ptr<VersionInformation>& ptr) {
ptr->major = state_interfaces_[StateInterfaces::ROBOT_VERSION_MAJOR].get_optional().value_or(0.0);
ptr->minor = state_interfaces_[StateInterfaces::ROBOT_VERSION_MINOR].get_optional().value_or(0.0);
ptr->build = state_interfaces_[StateInterfaces::ROBOT_VERSION_BUILD].get_optional().value_or(0.0);
ptr->bugfix = state_interfaces_[StateInterfaces::ROBOT_VERSION_BUGFIX].get_optional().value_or(0.0);
});
}
return controller_interface::return_type::OK;
}

controller_interface::CallbackReturn
URConfigurationController::on_activate(const rclcpp_lifecycle::State& /* previous_state */)
{
robot_software_version_.set([this](const std::shared_ptr<VersionInformation> ptr) {
ptr->major = state_interfaces_[StateInterfaces::ROBOT_VERSION_MAJOR].get_optional().value_or(0.0);
ptr->minor = state_interfaces_[StateInterfaces::ROBOT_VERSION_MINOR].get_optional().value_or(0.0);
ptr->build = state_interfaces_[StateInterfaces::ROBOT_VERSION_BUILD].get_optional().value_or(0.0);
ptr->bugfix = state_interfaces_[StateInterfaces::ROBOT_VERSION_BUGFIX].get_optional().value_or(0.0);
});
return controller_interface::CallbackReturn::SUCCESS;
}

Expand All @@ -113,7 +116,10 @@ bool URConfigurationController::getRobotSoftwareVersion(
ur_msgs::srv::GetRobotSoftwareVersion::Request::SharedPtr /*req*/,
ur_msgs::srv::GetRobotSoftwareVersion::Response::SharedPtr resp)
{
std::shared_ptr<VersionInformation> temp;
if (!robot_software_version_set_) {
RCLCPP_WARN(get_node()->get_logger(), "Robot software version not set yet.");
return false;
}
return robot_software_version_.try_get([resp](const std::shared_ptr<VersionInformation> ptr) {
resp->major = ptr->major;
resp->minor = ptr->minor;
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