Use handle_name_ variable instead of allocating for every get_name …

…call (#1706)
ros-controls · Aug 22, 2024 · 0a607fe · 0a607fe
1 parent ea21561
commit 0a607fe
Showing 1 changed file with 11 additions and 6 deletions.
diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
@@ -36,13 +36,17 @@ class Handle
  Handle(
  const std::string & prefix_name, const std::string & interface_name,
  double * value_ptr = nullptr)
- : prefix_name_(prefix_name), interface_name_(interface_name), value_ptr_(value_ptr)
+ : prefix_name_(prefix_name),
+ interface_name_(interface_name),
+ handle_name_(prefix_name_ + "/" + interface_name_),
+ value_ptr_(value_ptr)
  {
  }
 
  explicit Handle(const InterfaceDescription & interface_description)
  : prefix_name_(interface_description.prefix_name),
- interface_name_(interface_description.interface_info.name)
+ interface_name_(interface_description.interface_info.name),
+ handle_name_(prefix_name_ + "/" + interface_name_)
  {
  // As soon as multiple datatypes are used in HANDLE_DATATYPE
  // we need to initialize according the type passed in interface description
@@ -53,14 +57,14 @@ class Handle
  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
  explicit Handle(const std::string & interface_name)
- : interface_name_(interface_name), value_ptr_(nullptr)
+ : interface_name_(interface_name), handle_name_("/" + interface_name_), value_ptr_(nullptr)
  {
  }
 
  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
 
  explicit Handle(const char * interface_name)
- : interface_name_(interface_name), value_ptr_(nullptr)
+ : interface_name_(interface_name), handle_name_("/" + interface_name_), value_ptr_(nullptr)
  {
  }
 
@@ -77,12 +81,12 @@ class Handle
  /// Returns true if handle references a value.
  inline operator bool() const { return value_ptr_ != nullptr; }
 
- const std::string get_name() const { return prefix_name_ + "/" + interface_name_; }
+ const std::string & get_name() const { return handle_name_; }
 
  const std::string & get_interface_name() const { return interface_name_; }
 
  [[deprecated(
- "Replaced by get_name method, which is semantically more correct")]] const std::string
+ "Replaced by get_name method, which is semantically more correct")]] const std::string &
  get_full_name() const
  {
  return get_name();
@@ -111,6 +115,7 @@ class Handle
 protected:
  std::string prefix_name_;
  std::string interface_name_;
+ std::string handle_name_;
  HANDLE_DATATYPE value_;
  // BEGIN (Handle export change): for backward compatibility
  // TODO(Manuel) redeclare as HANDLE_DATATYPE * value_ptr_ if old functionality is removed