fix the logic for async hardware components

ros-controls · Jan 16, 2025 · b74a55b · b74a55b
1 parent 8b52c3d
commit b74a55b
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
@@ -294,12 +294,12 @@ const rclcpp::Time & Actuator::get_last_write_time() const { return last_write_c
 
 const HardwareComponentStatisticsCollector & Actuator::get_read_statistics() const
 {
-  return read_statistics_;
+  return !impl_->get_hardware_info().is_async ? read_statistics_ : write_statistics_;
 }
 
 const HardwareComponentStatisticsCollector & Actuator::get_write_statistics() const
 {
-  return write_statistics_;
+  return !impl_->get_hardware_info().is_async ? write_statistics_ : read_statistics_;
 }
 
 return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & period)

diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
@@ -292,12 +292,12 @@ const rclcpp::Time & System::get_last_write_time() const { return last_write_cyc
 
 const HardwareComponentStatisticsCollector & System::get_read_statistics() const
 {
-  return read_statistics_;
+  return !impl_->get_hardware_info().is_async ? read_statistics_ : write_statistics_;
 }
 
 const HardwareComponentStatisticsCollector & System::get_write_statistics() const
 {
-  return write_statistics_;
+  return !impl_->get_hardware_info().is_async ? write_statistics_ : read_statistics_;
 }
 
 return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & period)