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Set chained controller interfaces as available for activated controllers #1098

Merged
merged 15 commits into from
Dec 17, 2023
Merged

Set chained controller interfaces as available for activated controllers #1098

merged 15 commits into from
Dec 17, 2023

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saikishor
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@saikishor saikishor commented Aug 10, 2023 •
edited

This PR addresses the issue with the current list_hardware_interfaces service which lists the interfaces exposed by the chainable controllers as unavailable instead of available until they are in chained mode

Current behavior:

  • Configured chainable controller: Listed exported interfaces are unavailable and unclaimed
  • Active chainable controller(not in chained mode): Listed exported interfaces are unavailable and unclaimed
  • Active chainable controller(in chained mode): Listed exported interfaces are available and claimed

New behavior:

  • Configured chainable controller: Listed exported interfaces are unavailable and unclaimed
  • Active chainable controller(not in chained mode): Listed exported interfaces are available but unclaimed
  • Active chainable controller(in chained mode): Listed exported interfaces are available and claimed

@saikishor saikishor changed the title Set chained controller interfaces as available Set chained controller interfaces as available for activated controllers Aug 10, 2023
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codecov-commenter commented Aug 10, 2023 •
edited by codecov bot

Codecov Report

Merging #1098 (333e0bf) into master (3313796) will increase coverage by 0.14%.
Report is 3 commits behind head on master.
The diff coverage is 0.00%.

Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #1098      +/-   ##
==========================================
+ Coverage   47.65%   47.79%   +0.14%     
==========================================
  Files          40       40              
  Lines        3448     3450       +2     
  Branches     1867     1869       +2     
==========================================
+ Hits         1643     1649       +6     
+ Misses        480      457      -23     
- Partials     1325     1344      +19
Flag Coverage Δ
unittests 47.79% <0.00%> (+0.14%) ⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files Coverage Δ
controller_manager/src/controller_manager.cpp 39.22% <0.00%> (+0.44%) ⬆️

christophfroehlich
christophfroehlich previously approved these changes Aug 11, 2023
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LGTM as far as I understand the chainable controllers.

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mergify bot commented Aug 11, 2023

This pull request is in conflict. Could you fix it @saikishor?

@saikishor saikishor force-pushed the set_chained_controller_interfaces_as_available branch from 10bc21c to 00f29cc Compare August 11, 2023 12:43
destogl
destogl previously approved these changes Oct 15, 2023
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mergify bot commented Dec 3, 2023

This pull request is in conflict. Could you fix it @saikishor?

@saikishor
added method to check if interface is a reference interface from a co…
d1339d6 
…ntroller in resource manager
@saikishor
set hardware interfaces to available if they belong to chainable cont…
1c7905e 
…rollers
@saikishor
added test for list_hardware_interfaces service
2824112
@saikishor
for a configured controller the exported interfaces should be unavail…
9984f92 
…able
@saikishor
update the logic to check if the controller is active or not
17d3b10
@saikishor
Revert "added method to check if interface is a reference interface f…
0f8bf2f 
…rom a controller in resource manager"

This reverts commit 6301d64.
@saikishor
remove new lines at the end of the file
6bcfaad
@saikishor
undo the logic of checking if the controller is active
4cb248c 
This reverts commit d78caff.
@saikishor
update tests so the claimed interfaces are available upon deactivation
d06f8c9
@saikishor
control reference interface availability based on the controller state
4ed6bf8
@saikishor saikishor force-pushed the set_chained_controller_interfaces_as_available branch from 94361ba to 4ed6bf8 Compare December 3, 2023 18:05
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@bmagyar I think the rebase I've done after the conflict has invalidated the review of @destogl and @christophfroehlich. In this case, do they have to review again? or what's the exact process to follow?

Thank you

christophfroehlich
christophfroehlich previously approved these changes Dec 4, 2023
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LstillGTM, and please don't forget to update docs with details on that. E.g. here: https://control.ros.org/master/doc/ros2_control/controller_manager/doc/controller_chaining.html#debugging-outputs

@saikishor
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still LGTM, and please don't forget to update docs with details on that. E.g. here: https://control.ros.org/master/doc/ros2_control/controller_manager/doc/controller_chaining.html#debugging-outputs

@christophfroehlich I've updated the docs now. Please review and let me know your opinion.

Thank you

christophfroehlich
christophfroehlich previously approved these changes Dec 4, 2023
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Great!

@saikishor saikishor mentioned this pull request Dec 13, 2023
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destogl
destogl previously approved these changes Dec 17, 2023
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@destogl destogl dismissed stale reviews from christophfroehlich and themself via 333e0bf December 17, 2023 14:09
@destogl destogl self-requested a review December 17, 2023 14:11
@destogl destogl merged commit b6f32c3 into ros-controls:master Dec 17, 2023
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@destogl destogl destogl approved these changes

@christophfroehlich christophfroehlich christophfroehlich left review comments

@bmagyar bmagyar Awaiting requested review from bmagyar

@homalozoa homalozoa Awaiting requested review from homalozoa

@malapatiravi malapatiravi Awaiting requested review from malapatiravi

@mhubii mhubii Awaiting requested review from mhubii

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@saikishor @codecov-commenter @destogl @christophfroehlich