add minor fixes

ros-controls · Jan 2, 2025 · 169ba83 · 169ba83
1 parent 37964b7
commit 169ba83
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
@@ -168,7 +168,7 @@ class Handle
     {
       return std::nullopt;
     }
-    return std::get<T>(value_);
+    return value_ptr_ != nullptr ? *value_ptr_ : std::get<T>(value_);
   }
 
   template <typename T = double>
@@ -181,7 +181,7 @@ class Handle
       return T();
     }
     status = true;
-    return std::get<T>(value_);
+    return value_ptr_ != nullptr ? *value_ptr_ : std::get<T>(value_);
   }
 
   [[nodiscard]] bool get_value(double & value) const

diff --git a/hardware_interface/test/test_handle.cpp b/hardware_interface/test/test_handle.cpp
@@ -32,7 +32,9 @@ TEST(TestHandle, command_interface)
   double value = 1.337;
   CommandInterface interface{JOINT_NAME, FOO_INTERFACE, &value};
   EXPECT_DOUBLE_EQ(interface.get_value(), value);
+  ASSERT_TRUE(interface.get_value<double>().has_value());
   EXPECT_DOUBLE_EQ(interface.get_value<double>().value(), value);
+  EXPECT_DOUBLE_EQ(interface.get_value(), value);
   EXPECT_NO_THROW(bool status = interface.set_value(0.0));
   bool status;
   EXPECT_DOUBLE_EQ(interface.get_value(status), 0.0);
@@ -64,7 +66,8 @@ TEST(TestHandle, name_getters_work)
 TEST(TestHandle, value_methods_throw_for_nullptr)
 {
   CommandInterface handle{JOINT_NAME, FOO_INTERFACE};
-  EXPECT_ANY_THROW(handle.get_value<double>());
+  double value;
+  EXPECT_ANY_THROW(handle.get_value(value));
   EXPECT_ANY_THROW(bool status = handle.set_value(0.0));
 }