From 52eae6158cefaa5488f9bc3ef2eac3aa2e5d6f20 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Tue, 10 Dec 2024 23:23:30 +0100
Subject: [PATCH] Add condition in all the hardware component test plugins

---
 .../test/test_components/test_actuator.cpp               | 9 +++++++++
 .../test/test_components/test_sensor.cpp                 | 9 +++++++++
 .../test/test_components/test_system.cpp                 | 9 +++++++++
 3 files changed, 27 insertions(+)

diff --git a/hardware_interface_testing/test/test_components/test_actuator.cpp b/hardware_interface_testing/test/test_components/test_actuator.cpp
index 86debc1f4d..630cb9f27c 100644
--- a/hardware_interface_testing/test/test_components/test_actuator.cpp
+++ b/hardware_interface_testing/test/test_components/test_actuator.cpp
@@ -15,6 +15,7 @@
 #include <vector>
 
 #include "hardware_interface/actuator_interface.hpp"
+#include "rclcpp/logging.hpp"
 #include "ros2_control_test_assets/test_hardware_interface_constants.hpp"
 
 using hardware_interface::ActuatorInterface;
@@ -35,6 +36,14 @@ class TestActuator : public ActuatorInterface
     {
       return CallbackReturn::ERROR;
     }
+    if (get_hardware_info().rw_rate == 0u)
+    {
+      RCLCPP_WARN(
+        get_logger(),
+        "Actuator hardware component '%s' from plugin '%s' failed to initialize as rw_rate is 0.",
+        get_hardware_info().name.c_str(), get_hardware_info().hardware_plugin_name.c_str());
+      return CallbackReturn::ERROR;
+    }
 
     /*
      * a hardware can optional prove for incorrect info here.
diff --git a/hardware_interface_testing/test/test_components/test_sensor.cpp b/hardware_interface_testing/test/test_components/test_sensor.cpp
index 16692f55d9..40f27530c0 100644
--- a/hardware_interface_testing/test/test_components/test_sensor.cpp
+++ b/hardware_interface_testing/test/test_components/test_sensor.cpp
@@ -15,6 +15,7 @@
 #include <vector>
 
 #include "hardware_interface/sensor_interface.hpp"
+#include "rclcpp/logging.hpp"
 
 using hardware_interface::return_type;
 using hardware_interface::SensorInterface;
@@ -33,6 +34,14 @@ class TestSensor : public SensorInterface
     {
       return CallbackReturn::ERROR;
     }
+    if (get_hardware_info().rw_rate == 0u)
+    {
+      RCLCPP_WARN(
+        get_logger(),
+        "Sensor hardware component '%s' from plugin '%s' failed to initialize as rw_rate is 0.",
+        get_hardware_info().name.c_str(), get_hardware_info().hardware_plugin_name.c_str());
+      return CallbackReturn::ERROR;
+    }
     return CallbackReturn::SUCCESS;
   }
 
diff --git a/hardware_interface_testing/test/test_components/test_system.cpp b/hardware_interface_testing/test/test_components/test_system.cpp
index 795787eb9e..395935e314 100644
--- a/hardware_interface_testing/test/test_components/test_system.cpp
+++ b/hardware_interface_testing/test/test_components/test_system.cpp
@@ -17,6 +17,7 @@
 
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/logging.hpp"
 #include "ros2_control_test_assets/test_hardware_interface_constants.hpp"
 
 using hardware_interface::CommandInterface;
@@ -39,6 +40,14 @@ class TestSystem : public SystemInterface
       return CallbackReturn::ERROR;
     }
 
+    if (get_hardware_info().rw_rate == 0u)
+    {
+      RCLCPP_WARN(
+        get_logger(),
+        "System hardware component '%s' from plugin '%s' failed to initialize as rw_rate is 0.",
+        get_hardware_info().name.c_str(), get_hardware_info().hardware_plugin_name.c_str());
+      return CallbackReturn::ERROR;
+    }
     return CallbackReturn::SUCCESS;
   }