From 3d49765bba0c1166e17826a4c4819c92d63c20ec Mon Sep 17 00:00:00 2001
From: "Dr. Denis" <denis@stoglrobotics.de>
Date: Mon, 22 Dec 2025 20:01:03 +0100
Subject: [PATCH] Refactor read and write operation handling

Removed timing and return value checks from read and write operations.
---
 .../hardware_component_interface.hpp          | 25 +++++++++----------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/hardware_interface/include/hardware_interface/hardware_component_interface.hpp b/hardware_interface/include/hardware_interface/hardware_component_interface.hpp
index 9a5c3c00d6..700f044a4e 100644
--- a/hardware_interface/include/hardware_interface/hardware_component_interface.hpp
+++ b/hardware_interface/include/hardware_interface/hardware_component_interface.hpp
@@ -130,17 +130,6 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
       async_handler_->init(
         [this, is_sensor_type](const rclcpp::Time & time, const rclcpp::Duration & period)
         {
-          const auto read_start_time = std::chrono::steady_clock::now();
-          const auto ret_read = read(time, period);
-          const auto read_end_time = std::chrono::steady_clock::now();
-          read_return_info_.store(ret_read, std::memory_order_release);
-          read_execution_time_.store(
-            std::chrono::duration_cast<std::chrono::nanoseconds>(read_end_time - read_start_time),
-            std::memory_order_release);
-          if (ret_read != return_type::OK)
-          {
-            return ret_read;
-          }
           if (
             !is_sensor_type && lifecycle_id_cache_.load(std::memory_order_acquire) ==
                                  lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
@@ -153,9 +142,19 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
               std::chrono::duration_cast<std::chrono::nanoseconds>(
                 write_end_time - write_start_time),
               std::memory_order_release);
-            return ret_write;
+            if (ret_write != return_type::OK)
+            {
+              return ret_write;
+            }
           }
-          return return_type::OK;
+          const auto read_start_time = std::chrono::steady_clock::now();
+          const auto ret_read = read(time, period);
+          const auto read_end_time = std::chrono::steady_clock::now();
+          read_return_info_.store(ret_read, std::memory_order_release);
+          read_execution_time_.store(
+            std::chrono::duration_cast<std::chrono::nanoseconds>(read_end_time - read_start_time),
+            std::memory_order_release);
+          return ret_read;
         },
         async_thread_params);
       async_handler_->start_thread();