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Fix upstream API #23

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Merged
nbbrooks merged 3 commits into from
Dec 14, 2025
Merged

Fix upstream API #23

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7983150
Fix upstream API
christophfroehlich Dec 4, 2025
6e2a152
Fix potential bad optional access
christophfroehlich Dec 6, 2025
e354494
Use correct state interface again
christophfroehlich Dec 7, 2025
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28 changes: 20 additions & 8 deletions picknik_reset_fault_controller/src/picknik_reset_fault_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,11 +62,14 @@ CallbackReturn PicknikResetFaultController::on_init() { return CallbackReturn::S
controller_interface::return_type PicknikResetFaultController::update(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
{
if (realtime_publisher_ && realtime_publisher_->trylock())
if (realtime_publisher_)
{
state_.data = static_cast<bool>(state_interfaces_[StateInterfaces::IN_FAULT].get_value());
realtime_publisher_->msg_.data = state_.data;
realtime_publisher_->unlockAndPublish();
auto state_op = state_interfaces_[StateInterfaces::IN_FAULT].get_optional();
if (state_op.has_value())
{
state_.data = static_cast<bool>(state_op.value());
}
realtime_publisher_->try_publish(state_);
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}

return controller_interface::return_type::OK;
Expand Down Expand Up @@ -121,14 +124,23 @@ bool PicknikResetFaultController::resetFault(

RCLCPP_INFO(get_node()->get_logger(), "Trying to reset faults on hardware controller.");

while (command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_value() ==
ASYNC_WAITING)
while (command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_optional().value_or(
ASYNC_WAITING) == ASYNC_WAITING)
{
// Asynchronous wait until the hardware interface has set the io value
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
resp->success = static_cast<bool>(
command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_value());
auto async_result_op =
command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_optional();
if (!async_result_op.has_value())
{
RCLCPP_ERROR(
get_node()->get_logger(),
"Failed to get result of fault reset command from hardware controller.");
resp->success = false;
return resp->success;
}
resp->success = static_cast<bool>(async_result_op.value());

RCLCPP_INFO(
get_node()->get_logger(), "Resetting fault on hardware controller '%s'!",
Expand Down
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