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Fix StaticCache::getData() returning true on empty cache #908

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Merged
ahcorde merged 1 commit into from
Mar 24, 2026
+15 −5
Merged

Fix StaticCache::getData() returning true on empty cache #908

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1 change: 1 addition & 0 deletions tf2/include/tf2/time_cache.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,7 @@ class StaticCache : public TimeCacheInterface

private:
TransformStorage storage_;
bool populated_{false};
};
} // namespace tf2
#endif // TF2__TIME_CACHE_HPP_
19 changes: 14 additions & 5 deletions tf2/src/static_cache.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,16 @@ bool tf2::StaticCache::getData(
tf2::TimePoint time,
tf2::TransformStorage & data_out, std::string * error_str, TF2Error * error_code)
{
(void)error_code;
(void)error_str;
(void)time;
if (!populated_) {
if (error_str) {
*error_str = "Static cache is empty";
}
if (error_code) {
*error_code = TF2Error::TF2_LOOKUP_ERROR;
}
return false;
}
data_out = storage_;
data_out.stamp_ = time;
return true;
Expand All @@ -50,12 +58,13 @@ bool tf2::StaticCache::getData(
bool tf2::StaticCache::insertData(const tf2::TransformStorage & new_data)
{
storage_ = new_data;
populated_ = true;
return true;
}

void tf2::StaticCache::clearList() {}
void tf2::StaticCache::clearList() {populated_ = false;}

unsigned tf2::StaticCache::getListLength() {return 1;}
unsigned tf2::StaticCache::getListLength() {return populated_ ? 1 : 0;}

tf2::CompactFrameID tf2::StaticCache::getParent(
tf2::TimePoint time, std::string * error_str,
Expand All @@ -64,7 +73,7 @@ tf2::CompactFrameID tf2::StaticCache::getParent(
(void)time;
(void)error_code;
(void)error_str;
return storage_.frame_id_;
return populated_ ? storage_.frame_id_ : 0;
}

tf2::P_TimeAndFrameID tf2::StaticCache::getLatestTimeAndParent()
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