Add conditioning to protect the hardware statistics

ros-controls · Jan 18, 2025 · 4a67663 · 4a67663
1 parent cdb5427
commit 4a67663
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Showing 2 changed files with 23 additions and 16 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -3393,6 +3393,10 @@ void ControllerManager::hardware_components_diagnostic_callback(
           const std::string & statistics_type_suffix, auto & diag_level, const auto & comp_info,
           const auto & params)
       {
+        if (!statistics)
+        {
+          return;
+        }
         const bool is_async = comp_info.is_async;
         const std::string periodicity_suffix = ".periodicity";
         const std::string exec_time_suffix = ".execution_time";
@@ -3461,12 +3465,9 @@ void ControllerManager::hardware_components_diagnostic_callback(
         component_name, component_info.read_statistics, read_cycle_suffix, level, component_info,
         params_);
       // For components : {actuator and system}
-      if (component_info.write_statistics)
-      {
-        update_stats(
-          component_name, component_info.write_statistics, write_cycle_suffix, level,
-          component_info, params_);
-      }
+      update_stats(
+        component_name, component_info.write_statistics, write_cycle_suffix, level, component_info,
+        params_);
     }
   }
 

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -1774,11 +1774,14 @@ HardwareReadWriteStatus ResourceManager::read(
             ret_val = component.read(current_time, actual_period);
           }
         }
-        const auto & read_statistics_collector = component.get_read_statistics();
-        hardware_component_info.read_statistics->execution_time.update_statistics(
-          read_statistics_collector.execution_time);
-        hardware_component_info.read_statistics->periodicity.update_statistics(
-          read_statistics_collector.periodicity);
+        if (hardware_component_info.read_statistics)
+        {
+          const auto & read_statistics_collector = component.get_read_statistics();
+          hardware_component_info.read_statistics->execution_time.update_statistics(
+            read_statistics_collector.execution_time);
+          hardware_component_info.read_statistics->periodicity.update_statistics(
+            read_statistics_collector.periodicity);
+        }
         const auto component_group = component.get_group_name();
         ret_val =
           resource_storage_->update_hardware_component_group_state(component_group, ret_val);
@@ -1865,11 +1868,14 @@ HardwareReadWriteStatus ResourceManager::write(
             ret_val = component.write(current_time, actual_period);
           }
         }
-        const auto & write_statistics_collector = component.get_write_statistics();
-        hardware_component_info.write_statistics->execution_time.update_statistics(
-          write_statistics_collector.execution_time);
-        hardware_component_info.write_statistics->periodicity.update_statistics(
-          write_statistics_collector.periodicity);
+        if (hardware_component_info.write_statistics)
+        {
+          const auto & write_statistics_collector = component.get_write_statistics();
+          hardware_component_info.write_statistics->execution_time.update_statistics(
+            write_statistics_collector.execution_time);
+          hardware_component_info.write_statistics->periodicity.update_statistics(
+            write_statistics_collector.periodicity);
+        }
         const auto component_group = component.get_group_name();
         ret_val =
           resource_storage_->update_hardware_component_group_state(component_group, ret_val);