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controller_manager.cpp
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controller_manager.cpp
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// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "controller_manager/controller_manager.hpp"
#include <list>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "controller_interface/controller_interface_base.hpp"
#include "controller_manager_msgs/msg/hardware_component_state.hpp"
#include "hardware_interface/types/lifecycle_state_names.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/state.hpp"
namespace // utility
{
static constexpr const char * kControllerInterfaceNamespace = "controller_interface";
static constexpr const char * kControllerInterfaceClassName =
"controller_interface::ControllerInterface";
static constexpr const char * kChainableControllerInterfaceClassName =
"controller_interface::ChainableControllerInterface";
// Changed services history QoS to keep all so we don't lose any client service calls
rclcpp::QoS qos_services =
rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
.reliable()
.durability_volatile();
inline bool is_controller_inactive(const controller_interface::ControllerInterfaceBase & controller)
{
return controller.get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE;
}
inline bool is_controller_inactive(
const controller_interface::ControllerInterfaceBaseSharedPtr & controller)
{
return is_controller_inactive(*controller);
}
inline bool is_controller_active(const controller_interface::ControllerInterfaceBase & controller)
{
return controller.get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE;
}
inline bool is_controller_active(
const controller_interface::ControllerInterfaceBaseSharedPtr & controller)
{
return is_controller_active(*controller);
}
bool controller_name_compare(const controller_manager::ControllerSpec & a, const std::string & name)
{
return a.info.name == name;
}
/// Checks if a command interface belongs to a controller based on its prefix.
/**
* A command interface can be provided by a controller in which case is called "reference"
* interface.
* This means that the @interface_name starts with the name of a controller.
*
* \param[in] interface_name to be found in the map.
* \param[in] controllers list of controllers to compare their names to interface's prefix.
* \param[out] following_controller_it iterator to the following controller that reference interface
* @interface_name belongs to.
* \return true if interface has a controller name as prefix, false otherwise.
*/
bool command_interface_is_reference_interface_of_controller(
const std::string interface_name,
const std::vector<controller_manager::ControllerSpec> & controllers,
controller_manager::ControllersListIterator & following_controller_it)
{
auto split_pos = interface_name.find_first_of('/');
if (split_pos == std::string::npos) // '/' exist in the string (should be always false)
{
RCLCPP_FATAL(
rclcpp::get_logger("ControllerManager::utils"),
"Character '/', was not find in the interface name '%s'. This should never happen. "
"Stop the controller manager immediately and restart it.",
interface_name.c_str());
throw std::runtime_error("Mismatched interface name. See the FATAL message above.");
}
auto interface_prefix = interface_name.substr(0, split_pos);
following_controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, interface_prefix));
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Deduced interface prefix '%s' - searching for the controller with the same name.",
interface_prefix.c_str());
if (following_controller_it == controllers.end())
{
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Required command interface '%s' with prefix '%s' is not reference interface.",
interface_name.c_str(), interface_prefix.c_str());
return false;
}
return true;
}
/**
* A method to retrieve the names of all it's following controllers given a controller name
* For instance, for the following case
* A -> B -> C -> D
* When called with B, returns C and D
* NOTE: A -> B signifies that the controller A is utilizing the reference interfaces exported from
* the controller B (or) the controller B is utilizing the expected interfaces exported from the
* controller A
*
* @param controller_name - Name of the controller for checking the tree
* \param[in] controllers list of controllers to compare their names to interface's prefix.
* @return list of controllers that are following the given controller in a chain. If none, return
* empty.
*/
std::vector<std::string> get_following_controller_names(
const std::string controller_name,
const std::vector<controller_manager::ControllerSpec> & controllers)
{
std::vector<std::string> following_controllers;
auto controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (controller_it == controllers.end())
{
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Required controller : '%s' is not found in the controller list ", controller_name.c_str());
return following_controllers;
}
// If the controller is not configured, return empty
if (!(is_controller_active(controller_it->c) || is_controller_inactive(controller_it->c)))
{
return following_controllers;
}
const auto cmd_itfs = controller_it->c->command_interface_configuration().names;
for (const auto & itf : cmd_itfs)
{
controller_manager::ControllersListIterator ctrl_it;
if (command_interface_is_reference_interface_of_controller(itf, controllers, ctrl_it))
{
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"The interface is a reference interface of controller : %s", ctrl_it->info.name.c_str());
following_controllers.push_back(ctrl_it->info.name);
const std::vector<std::string> ctrl_names =
get_following_controller_names(ctrl_it->info.name, controllers);
for (const std::string & controller : ctrl_names)
{
if (
std::find(following_controllers.begin(), following_controllers.end(), controller) ==
following_controllers.end())
{
// Only add to the list if it doesn't exist
following_controllers.push_back(controller);
}
}
}
}
return following_controllers;
}
/**
* A method to retrieve the names of all it's preceding controllers given a controller name
* For instance, for the following case
* A -> B -> C -> D
* When called with C, returns A and B
* NOTE: A -> B signifies that the controller A is utilizing the reference interfaces exported from
* the controller B (or) the controller B is utilizing the expected interfaces exported from the
* controller A
*
* @param controller_name - Name of the controller for checking the tree
* \param[in] controllers list of controllers to compare their names to interface's prefix.
* @return list of controllers that are preceding the given controller in a chain. If none, return
* empty.
*/
std::vector<std::string> get_preceding_controller_names(
const std::string controller_name,
const std::vector<controller_manager::ControllerSpec> & controllers)
{
std::vector<std::string> preceding_controllers;
auto controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (controller_it == controllers.end())
{
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Required controller : '%s' is not found in the controller list ", controller_name.c_str());
return preceding_controllers;
}
for (const auto & ctrl : controllers)
{
// If the controller is not configured, then continue
if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c)))
{
continue;
}
auto cmd_itfs = ctrl.c->command_interface_configuration().names;
for (const auto & itf : cmd_itfs)
{
auto split_pos = itf.find_first_of('/');
if ((split_pos != std::string::npos) && (itf.substr(0, split_pos) == controller_name))
{
preceding_controllers.push_back(ctrl.info.name);
auto ctrl_names = get_preceding_controller_names(ctrl.info.name, controllers);
for (const std::string & controller : ctrl_names)
{
if (
std::find(preceding_controllers.begin(), preceding_controllers.end(), controller) ==
preceding_controllers.end())
{
// Only add to the list if it doesn't exist
preceding_controllers.push_back(controller);
}
}
}
}
}
return preceding_controllers;
}
} // namespace
namespace controller_manager
{
rclcpp::NodeOptions get_cm_node_options()
{
rclcpp::NodeOptions node_options;
// Required for getting types of controllers to be loaded via service call
node_options.allow_undeclared_parameters(true);
node_options.automatically_declare_parameters_from_overrides(true);
return node_options;
}
ControllerManager::ControllerManager(
std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
const std::string & namespace_, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, namespace_, options),
resource_manager_(std::make_unique<hardware_interface::ResourceManager>(
update_rate_, this->get_node_clock_interface())),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
{
if (!get_parameter("update_rate", update_rate_))
{
RCLCPP_WARN(get_logger(), "'update_rate' parameter not set, using default value.");
}
robot_description_ = "";
// TODO(destogl): remove support at the end of 2023
get_parameter("robot_description", robot_description_);
if (robot_description_.empty())
{
subscribe_to_robot_description_topic();
}
else
{
RCLCPP_WARN(
get_logger(),
"[Deprecated] Passing the robot description parameter directly to the control_manager node "
"is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.");
init_resource_manager(robot_description_);
}
diagnostics_updater_.setHardwareID("ros2_control");
diagnostics_updater_.add(
"Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
init_services();
}
ControllerManager::ControllerManager(
std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
const std::string & namespace_, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, namespace_, options),
resource_manager_(std::move(resource_manager)),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
{
if (!get_parameter("update_rate", update_rate_))
{
RCLCPP_WARN(get_logger(), "'update_rate' parameter not set, using default value.");
}
subscribe_to_robot_description_topic();
diagnostics_updater_.setHardwareID("ros2_control");
diagnostics_updater_.add(
"Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
init_services();
}
void ControllerManager::subscribe_to_robot_description_topic()
{
// set QoS to transient local to get messages that have already been published
// (if robot state publisher starts before controller manager)
robot_description_subscription_ = create_subscription<std_msgs::msg::String>(
"~/robot_description", rclcpp::QoS(1).transient_local(),
std::bind(&ControllerManager::robot_description_callback, this, std::placeholders::_1));
RCLCPP_INFO(
get_logger(), "Subscribing to '%s' topic for robot description.",
robot_description_subscription_->get_topic_name());
}
void ControllerManager::robot_description_callback(const std_msgs::msg::String & robot_description)
{
RCLCPP_INFO(get_logger(), "Received robot description from topic.");
RCLCPP_DEBUG(
get_logger(), "'Content of robot description file: %s", robot_description.data.c_str());
// TODO(Manuel): errors should probably be caught since we don't want controller_manager node
// to die if a non valid urdf is passed. However, should maybe be fine tuned.
try
{
robot_description_ = robot_description.data;
if (resource_manager_->is_urdf_already_loaded())
{
RCLCPP_WARN(
get_logger(),
"ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot "
"description file.");
return;
}
init_resource_manager(robot_description_);
}
catch (std::runtime_error & e)
{
RCLCPP_ERROR_STREAM(
get_logger(),
"The published robot description file (urdf) seems not to be genuine. The following error "
"was caught:"
<< e.what());
}
}
void ControllerManager::init_resource_manager(const std::string & robot_description)
{
// TODO(destogl): manage this when there is an error - CM should not die because URDF is wrong...
resource_manager_->load_urdf(robot_description);
// Get all components and if they are not defined in parameters activate them automatically
auto components_to_activate = resource_manager_->get_components_status();
using lifecycle_msgs::msg::State;
auto set_components_to_state =
[&](const std::string & parameter_name, rclcpp_lifecycle::State state)
{
std::vector<std::string> components_to_set = std::vector<std::string>({});
if (get_parameter(parameter_name, components_to_set))
{
for (const auto & component : components_to_set)
{
if (component.empty())
{
continue;
}
if (components_to_activate.find(component) == components_to_activate.end())
{
RCLCPP_WARN(
get_logger(), "Hardware component '%s' is unknown, therefore not set in '%s' state.",
component.c_str(), state.label().c_str());
}
else
{
RCLCPP_INFO(
get_logger(), "Setting component '%s' to '%s' state.", component.c_str(),
state.label().c_str());
resource_manager_->set_component_state(component, state);
components_to_activate.erase(component);
}
}
}
};
// unconfigured (loaded only)
set_components_to_state(
"hardware_components_initial_state.unconfigured",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_UNCONFIGURED, hardware_interface::lifecycle_state_names::UNCONFIGURED));
// inactive (configured)
// BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
std::vector<std::string> configure_components_on_start = std::vector<std::string>({});
get_parameter("configure_components_on_start", configure_components_on_start);
if (!configure_components_on_start.empty())
{
RCLCPP_WARN(
get_logger(),
"Parameter 'configure_components_on_start' is deprecated. "
"Use 'hardware_components_initial_state.inactive' instead, to set component's initial "
"state to 'inactive'. Don't use this parameters in combination with the new "
"'hardware_components_initial_state' parameter structure.");
set_components_to_state(
"configure_components_on_start",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
}
// END: Keep old functionality on humble backwards compatibility (Remove at the end of 2023)
else
{
set_components_to_state(
"hardware_components_initial_state.inactive",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
}
// BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
std::vector<std::string> activate_components_on_start = std::vector<std::string>({});
get_parameter("activate_components_on_start", activate_components_on_start);
rclcpp_lifecycle::State active_state(
State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
if (!activate_components_on_start.empty())
{
RCLCPP_WARN(
get_logger(),
"Parameter 'activate_components_on_start' is deprecated. "
"Components are activated per default. Don't use this parameters in combination with the new "
"'hardware_components_initial_state' parameter structure.");
for (const auto & component : activate_components_on_start)
{
resource_manager_->set_component_state(component, active_state);
}
}
// END: Keep old functionality on humble for backwards compatibility (Remove at the end of 2023)
else
{
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
resource_manager_->set_component_state(component, active_state);
}
}
}
void ControllerManager::init_services()
{
// TODO(anyone): Due to issues with the MutliThreadedExecutor, this control loop does not rely on
// the executor (see issue #260).
// deterministic_callback_group_ = create_callback_group(
// rclcpp::CallbackGroupType::MutuallyExclusive);
best_effort_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
using namespace std::placeholders;
list_controllers_service_ = create_service<controller_manager_msgs::srv::ListControllers>(
"~/list_controllers", std::bind(&ControllerManager::list_controllers_srv_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
list_controller_types_service_ =
create_service<controller_manager_msgs::srv::ListControllerTypes>(
"~/list_controller_types",
std::bind(&ControllerManager::list_controller_types_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
load_controller_service_ = create_service<controller_manager_msgs::srv::LoadController>(
"~/load_controller", std::bind(&ControllerManager::load_controller_service_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
configure_controller_service_ = create_service<controller_manager_msgs::srv::ConfigureController>(
"~/configure_controller",
std::bind(&ControllerManager::configure_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
reload_controller_libraries_service_ =
create_service<controller_manager_msgs::srv::ReloadControllerLibraries>(
"~/reload_controller_libraries",
std::bind(&ControllerManager::reload_controller_libraries_service_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
switch_controller_service_ = create_service<controller_manager_msgs::srv::SwitchController>(
"~/switch_controller",
std::bind(&ControllerManager::switch_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
unload_controller_service_ = create_service<controller_manager_msgs::srv::UnloadController>(
"~/unload_controller",
std::bind(&ControllerManager::unload_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
list_hardware_components_service_ =
create_service<controller_manager_msgs::srv::ListHardwareComponents>(
"~/list_hardware_components",
std::bind(&ControllerManager::list_hardware_components_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
list_hardware_interfaces_service_ =
create_service<controller_manager_msgs::srv::ListHardwareInterfaces>(
"~/list_hardware_interfaces",
std::bind(&ControllerManager::list_hardware_interfaces_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
set_hardware_component_state_service_ =
create_service<controller_manager_msgs::srv::SetHardwareComponentState>(
"~/set_hardware_component_state",
std::bind(&ControllerManager::set_hardware_component_state_srv_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
}
controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_controller(
const std::string & controller_name, const std::string & controller_type)
{
RCLCPP_INFO(get_logger(), "Loading controller '%s'", controller_name.c_str());
if (
!loader_->isClassAvailable(controller_type) &&
!chainable_loader_->isClassAvailable(controller_type))
{
RCLCPP_ERROR(
get_logger(), "Loader for controller '%s' (type '%s') not found.", controller_name.c_str(),
controller_type.c_str());
RCLCPP_INFO(get_logger(), "Available classes:");
for (const auto & available_class : loader_->getDeclaredClasses())
{
RCLCPP_INFO(get_logger(), " %s", available_class.c_str());
}
for (const auto & available_class : chainable_loader_->getDeclaredClasses())
{
RCLCPP_INFO(get_logger(), " %s", available_class.c_str());
}
return nullptr;
}
RCLCPP_DEBUG(get_logger(), "Loader for controller '%s' found.", controller_name.c_str());
controller_interface::ControllerInterfaceBaseSharedPtr controller;
try
{
if (loader_->isClassAvailable(controller_type))
{
controller = loader_->createSharedInstance(controller_type);
}
if (chainable_loader_->isClassAvailable(controller_type))
{
controller = chainable_loader_->createSharedInstance(controller_type);
}
}
catch (const pluginlib::CreateClassException & e)
{
RCLCPP_ERROR(
get_logger(), "Error happened during creation of controller '%s' with type '%s':\n%s",
controller_name.c_str(), controller_type.c_str(), e.what());
return nullptr;
}
ControllerSpec controller_spec;
controller_spec.c = controller;
controller_spec.info.name = controller_name;
controller_spec.info.type = controller_type;
controller_spec.next_update_cycle_time = std::make_shared<rclcpp::Time>(
0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type());
return add_controller_impl(controller_spec);
}
controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_controller(
const std::string & controller_name)
{
const std::string param_name = controller_name + ".type";
std::string controller_type;
// We cannot declare the parameters for the controllers that will be loaded in the future,
// because they are plugins and we cannot be aware of all of them.
// So when we're told to load a controller by name, we need to declare the parameter if
// we haven't done so, and then read it.
// Check if parameter has been declared
if (!has_parameter(param_name))
{
declare_parameter(param_name, rclcpp::ParameterType::PARAMETER_STRING);
}
if (!get_parameter(param_name, controller_type))
{
RCLCPP_ERROR(
get_logger(), "The 'type' param was not defined for '%s'.", controller_name.c_str());
return nullptr;
}
return load_controller(controller_name, controller_type);
}
controller_interface::return_type ControllerManager::unload_controller(
const std::string & controller_name)
{
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
std::vector<ControllerSpec> & to = rt_controllers_wrapper_.get_unused_list(guard);
const std::vector<ControllerSpec> & from = rt_controllers_wrapper_.get_updated_list(guard);
// Transfers the active controllers over, skipping the one to be removed and the active ones.
to = from;
auto found_it = std::find_if(
to.begin(), to.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == to.end())
{
// Fails if we could not remove the controllers
to.clear();
RCLCPP_ERROR(
get_logger(),
"Could not unload controller with name '%s' because no controller with this name exists",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
auto & controller = *found_it;
if (is_controller_active(*controller.c))
{
to.clear();
RCLCPP_ERROR(
get_logger(), "Could not unload controller with name '%s' because it is still active",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
if (controller.c->is_async())
{
RCLCPP_DEBUG(
get_logger(), "Removing controller '%s' from the list of async controllers",
controller_name.c_str());
async_controller_threads_.erase(controller_name);
}
RCLCPP_DEBUG(get_logger(), "Cleanup controller");
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
controller.c->get_node()->cleanup();
executor_->remove_node(controller.c->get_node()->get_node_base_interface());
to.erase(found_it);
// Destroys the old controllers list when the realtime thread is finished with it.
RCLCPP_DEBUG(get_logger(), "Realtime switches over to new controller list");
rt_controllers_wrapper_.switch_updated_list(guard);
std::vector<ControllerSpec> & new_unused_list = rt_controllers_wrapper_.get_unused_list(guard);
RCLCPP_DEBUG(get_logger(), "Destruct controller");
new_unused_list.clear();
RCLCPP_DEBUG(get_logger(), "Destruct controller finished");
RCLCPP_DEBUG(get_logger(), "Successfully unloaded controller '%s'", controller_name.c_str());
return controller_interface::return_type::OK;
}
std::vector<ControllerSpec> ControllerManager::get_loaded_controllers() const
{
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
return rt_controllers_wrapper_.get_updated_list(guard);
}
controller_interface::return_type ControllerManager::configure_controller(
const std::string & controller_name)
{
RCLCPP_INFO(get_logger(), "Configuring controller '%s'", controller_name.c_str());
const auto & controllers = get_loaded_controllers();
auto found_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == controllers.end())
{
RCLCPP_ERROR(
get_logger(),
"Could not configure controller with name '%s' because no controller with this name exists",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
auto controller = found_it->c;
auto state = controller->get_state();
if (
state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE ||
state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' can not be configured from '%s' state.",
controller_name.c_str(), state.label().c_str());
return controller_interface::return_type::ERROR;
}
auto new_state = controller->get_state();
if (state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_DEBUG(
get_logger(), "Controller '%s' is cleaned-up before configuring", controller_name.c_str());
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
new_state = controller->get_node()->cleanup();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' can not be cleaned-up before configuring",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
}
new_state = controller->configure();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_ERROR(
get_logger(), "After configuring, controller '%s' is in state '%s' , expected inactive.",
controller_name.c_str(), new_state.label().c_str());
return controller_interface::return_type::ERROR;
}
// ASYNCHRONOUS CONTROLLERS: Start background thread for update
if (controller->is_async())
{
async_controller_threads_.emplace(
controller_name, std::make_unique<ControllerThreadWrapper>(controller, update_rate_));
}
const auto controller_update_rate = controller->get_update_rate();
const auto cm_update_rate = get_update_rate();
if (controller_update_rate > cm_update_rate)
{
RCLCPP_WARN(
get_logger(),
"The controller : %s update rate : %d Hz should be less than or equal to controller "
"manager's update rate : %d Hz!. The controller will be updated at controller_manager's "
"update rate.",
controller_name.c_str(), controller_update_rate, cm_update_rate);
}
else if (cm_update_rate % controller_update_rate != 0)
{
RCLCPP_WARN(
get_logger(),
"The controller : %s update cycles won't be triggered at a constant period : %f sec, as the "
"controller's update rate : %d Hz is not a perfect divisor of the controller manager's "
"update rate : %d Hz!.",
controller_name.c_str(), 1.0 / controller_update_rate, controller_update_rate,
cm_update_rate);
}
// CHAINABLE CONTROLLERS: get reference interfaces from chainable controllers
if (controller->is_chainable())
{
RCLCPP_DEBUG(
get_logger(),
"Controller '%s' is chainable. Interfaces are being exported to resource manager.",
controller_name.c_str());
auto interfaces = controller->export_reference_interfaces();
if (interfaces.empty())
{
// TODO(destogl): Add test for this!
RCLCPP_ERROR(
get_logger(), "Controller '%s' is chainable, but does not export any reference interfaces.",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
resource_manager_->import_controller_reference_interfaces(controller_name, interfaces);
}
// Now let's reorder the controllers
// lock controllers
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
std::vector<ControllerSpec> & to = rt_controllers_wrapper_.get_unused_list(guard);
const std::vector<ControllerSpec> & from = rt_controllers_wrapper_.get_updated_list(guard);
// Copy all controllers from the 'from' list to the 'to' list
to = from;
// Reordering the controllers
std::stable_sort(
to.begin(), to.end(),
std::bind(
&ControllerManager::controller_sorting, this, std::placeholders::_1, std::placeholders::_2,
to));
RCLCPP_DEBUG(get_logger(), "Reordered controllers list is:");
for (const auto & ctrl : to)
{
RCLCPP_DEBUG(this->get_logger(), "\t%s", ctrl.info.name.c_str());
}
// switch lists
rt_controllers_wrapper_.switch_updated_list(guard);
// clear unused list
rt_controllers_wrapper_.get_unused_list(guard).clear();
return controller_interface::return_type::OK;
}
void ControllerManager::clear_requests()
{
deactivate_request_.clear();
activate_request_.clear();
to_chained_mode_request_.clear();
from_chained_mode_request_.clear();
activate_command_interface_request_.clear();
deactivate_command_interface_request_.clear();
}
controller_interface::return_type ControllerManager::switch_controller(
const std::vector<std::string> & activate_controllers,
const std::vector<std::string> & deactivate_controllers, int strictness, bool activate_asap,
const rclcpp::Duration & timeout)
{
switch_params_ = SwitchParams();
if (!deactivate_request_.empty() || !activate_request_.empty())
{
RCLCPP_FATAL(
get_logger(),
"The internal deactivate and activate request lists are not empty at the beginning of the "
"switch_controller() call. This should never happen.");
throw std::runtime_error("CM's internal state is not correct. See the FATAL message above.");
}
if (
!deactivate_command_interface_request_.empty() || !activate_command_interface_request_.empty())
{
RCLCPP_FATAL(
get_logger(),
"The internal deactivate and activat requests command interface lists are not empty at the "
"switch_controller() call. This should never happen.");
throw std::runtime_error("CM's internal state is not correct. See the FATAL message above.");
}
if (!from_chained_mode_request_.empty() || !to_chained_mode_request_.empty())
{
RCLCPP_FATAL(
get_logger(),
"The internal 'from' and 'to' chained mode requests are not empty at the "
"switch_controller() call. This should never happen.");
throw std::runtime_error("CM's internal state is not correct. See the FATAL message above.");
}
if (strictness == 0)
{
RCLCPP_WARN(
get_logger(),
"Controller Manager: to switch controllers you need to specify a "
"strictness level of controller_manager_msgs::SwitchController::STRICT "
"(%d) or ::BEST_EFFORT (%d). Defaulting to ::BEST_EFFORT",
controller_manager_msgs::srv::SwitchController::Request::STRICT,
controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT);
strictness = controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
}
RCLCPP_DEBUG(get_logger(), "Switching controllers:");
for (const auto & controller : activate_controllers)
{
RCLCPP_DEBUG(get_logger(), "- Activating controller '%s'", controller.c_str());
}
for (const auto & controller : deactivate_controllers)
{
RCLCPP_DEBUG(get_logger(), "- Deactivating controller '%s'", controller.c_str());
}
const auto list_controllers = [this, strictness](
const std::vector<std::string> & controller_list,
std::vector<std::string> & request_list,
const std::string & action)
{
// lock controllers
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
// list all controllers to (de)activate
for (const auto & controller : controller_list)
{
const auto & updated_controllers = rt_controllers_wrapper_.get_updated_list(guard);
auto found_it = std::find_if(
updated_controllers.begin(), updated_controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller));
if (found_it == updated_controllers.end())
{
RCLCPP_WARN(
get_logger(),
"Could not '%s' controller with name '%s' because no controller with this name exists",
action.c_str(), controller.c_str());
if (strictness == controller_manager_msgs::srv::SwitchController::Request::STRICT)
{
RCLCPP_ERROR(get_logger(), "Aborting, no controller is switched! ('STRICT' switch)");
return controller_interface::return_type::ERROR;
}
}
else
{
RCLCPP_DEBUG(
get_logger(), "Found controller '%s' that needs to be %sed in list of controllers",
controller.c_str(), action.c_str());
request_list.push_back(controller);
}
}
RCLCPP_DEBUG(
get_logger(), "'%s' request vector has size %i", action.c_str(), (int)request_list.size());
return controller_interface::return_type::OK;
};
// list all controllers to deactivate (check if all controllers exist)
auto ret = list_controllers(deactivate_controllers, deactivate_request_, "deactivate");
if (ret != controller_interface::return_type::OK)
{
deactivate_request_.clear();
return ret;
}
// list all controllers to activate (check if all controllers exist)
ret = list_controllers(activate_controllers, activate_request_, "activate");
if (ret != controller_interface::return_type::OK)
{
deactivate_request_.clear();
activate_request_.clear();
return ret;
}
// lock controllers
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
const std::vector<ControllerSpec> & controllers = rt_controllers_wrapper_.get_updated_list(guard);
// if a preceding controller is deactivated, all first-level controllers should be switched 'from'
// chained mode
propagate_deactivation_of_chained_mode(controllers);
// check if controllers should be switched 'to' chained mode when controllers are activated
for (auto ctrl_it = activate_request_.begin(); ctrl_it != activate_request_.end(); ++ctrl_it)
{
auto controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it));
controller_interface::return_type status = controller_interface::return_type::OK;
// if controller is not inactive then do not do any following-controllers checks
if (!is_controller_inactive(controller_it->c))
{
RCLCPP_WARN(
get_logger(),
"Controller with name '%s' is not inactive so its following"
"controllers do not have to be checked, because it cannot be activated.",
controller_it->info.name.c_str());
status = controller_interface::return_type::ERROR;
}
else
{
status = check_following_controllers_for_activate(controllers, strictness, controller_it);
}
if (status != controller_interface::return_type::OK)
{
RCLCPP_WARN(
get_logger(),
"Could not activate controller with name '%s'. Check above warnings for more details. "
"Check the state of the controllers and their required interfaces using "
"`ros2 control list_controllers -v` CLI to get more information.",
(*ctrl_it).c_str());
if (strictness == controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT)
{
// TODO(destogl): automatic manipulation of the chain:
// || strictness ==
// controller_manager_msgs::srv::SwitchController::Request::MANIPULATE_CONTROLLERS_CHAIN);
// remove controller that can not be activated from the activation request and step-back
// iterator to correctly step to the next element in the list in the loop
activate_request_.erase(ctrl_it);
--ctrl_it;
}
if (strictness == controller_manager_msgs::srv::SwitchController::Request::STRICT)
{
RCLCPP_ERROR(get_logger(), "Aborting, no controller is switched! (::STRICT switch)");
// reset all lists
clear_requests();
return controller_interface::return_type::ERROR;
}
}
}
// check if controllers should be deactivated if used in chained mode
for (auto ctrl_it = deactivate_request_.begin(); ctrl_it != deactivate_request_.end(); ++ctrl_it)
{
auto controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it));
controller_interface::return_type status = controller_interface::return_type::OK;
// if controller is not active then skip preceding-controllers checks
if (!is_controller_active(controller_it->c))
{
RCLCPP_WARN(