[CLI] Add `set_hardware_component_state` verb #1248

christophfroehlich · 2023-12-25T18:58:09Z

I updated the hardware lifecylce demo as part of the multi robot example ros-controls/ros2_control_demos#417 and realized that there is no cli verb for changing hardware lifecycle.

This PR adds the verb set_hardware_component_state to our CLI.

codecov · 2023-12-25T19:10:21Z

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All modified and coverable lines are covered by tests ✅

Project coverage is 48.02%. Comparing base (35bb5f7) to head (5e42962).
Report is 7 commits behind head on master.

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@@             Coverage Diff             @@
##           master    #1248       +/-   ##
===========================================
- Coverage   75.51%   48.02%   -27.49%     
===========================================
  Files          41       41               
  Lines        3328     3525      +197     
  Branches     1921     1912        -9     
===========================================
- Hits         2513     1693      -820     
- Misses        421      442       +21     
- Partials      394     1390      +996

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see 32 files with indirect coverage changes

olivier-stasse

LGTM.
Thanks a lot.

destogl

Few smaller comments and one bigger to discuss

ros2controlcli/ros2controlcli/verb/set_controller_state.py

ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py

destogl · 2024-01-12T17:18:37Z

ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py

+            if args.state == "inactive":
+                inactive_state = State()
+                inactive_state.id = State.PRIMARY_STATE_INACTIVE
+                inactive_state.label = "inactive"
+
+                if matched_hardware_components.state.label == "unconfigured":
+                    response = set_hardware_component_state(
+                        node, args.controller_manager, args.hardware_component_name, inactive_state
+                    )
+                    if not response.ok:
+                        return (
+                            "Error configuring hardware component, check controller_manager logs"
+                        )
+
+                    print(
+                        f"Successfully set {args.hardware_component_name} to state {response.state}"
+                    )
+                    return 0
+
+                elif matched_hardware_components.state.label == "active":
+                    response = set_hardware_component_state(
+                        node, args.controller_manager, args.hardware_component_name, inactive_state
+                    )
+                    if not response.ok:
+                        return "Error stopping hardware component, check controller_manager logs"
+
+                    print(
+                        f"Successfully set {args.hardware_component_name} to state {response.state}"
+                    )
+                    return 0
+
+                else:
+                    return (
+                        f'cannot put {matched_hardware_components.name} in "inactive" state '
+                        f"from its current state {matched_hardware_components.state}"
+                    )
+
+            if args.state == "active":
+                if matched_hardware_components.state.label != "inactive":
+                    return (
+                        f"cannot activate {matched_hardware_components.name} "
+                        f"from its current state {matched_hardware_components.state}"
+                    )


This logic is also written in the ResourceManager, should we just let any request come through and then return here error or success with a message. Not sure if doubling logic is good for maintainability, but it is good for efficiency. Still, not sure that this degree of efficiency is needed here.

I also think that we shouldn't duplicate the logic,
But what I want to avoid is something like with other controller-manager services, where one log-line is an error from controller-manager but the service returns OK. I'll have a look if response.ok is fine for giving useful feedback with the CLI

I removed the logic now..

mateusmenezes95

Just a minor minor fix

ros2controlcli/doc/userdoc.rst

Co-authored-by: Dr. Denis <denis@stoglrobotics.de>

Co-authored-by: Mateus Menezes <mateusmenezes95@gmail.com>

saikishor

LGTM

destogl

Thanks!

Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Mateus Menezes <mateusmenezes95@gmail.com> (cherry picked from commit a902e27)

Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Mateus Menezes <mateusmenezes95@gmail.com> (cherry picked from commit a902e27) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

github-actions bot requested review from bijoua29, bmagyar, destogl, olivier-stasse, peterdavidfagan, VanshGehlot and VX792 December 25, 2023 18:59

christophfroehlich added backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. labels Dec 25, 2023

olivier-stasse approved these changes Dec 26, 2023

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destogl reviewed Jan 12, 2024

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christophfroehlich force-pushed the set_hardware_component_state branch from d8bf1d1 to 5e42962 Compare January 12, 2024 21:45

destogl previously approved these changes Jan 25, 2024

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christophfroehlich dismissed destogl’s stale review via 83eb0da January 26, 2024 17:10

christophfroehlich and others added 4 commits March 23, 2024 15:30

Add set_hardware_component_state_verb

3d44d4e

Apply suggestions from code review

0effe54

Co-authored-by: Dr. Denis <denis@stoglrobotics.de>

Update ros2controlcli/doc/userdoc.rst

41ddf89

Co-authored-by: Mateus Menezes <mateusmenezes95@gmail.com>

Remove checks and just call the service

6fa3492

christophfroehlich force-pushed the set_hardware_component_state branch from 83eb0da to 6fa3492 Compare March 23, 2024 15:44

christophfroehlich requested review from mateusmenezes95 and destogl March 23, 2024 15:44

christophfroehlich mentioned this pull request Mar 23, 2024

[rqt_controller_manager] Add hardware components #1455

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destogl approved these changes Apr 1, 2024

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destogl merged commit a902e27 into ros-controls:master Apr 1, 2024
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mergify bot pushed a commit that referenced this pull request Apr 1, 2024

[CLI] Add set_hardware_component_state verb (#1248)

3786661

Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Mateus Menezes <mateusmenezes95@gmail.com> (cherry picked from commit a902e27)

mergify bot mentioned this pull request Apr 1, 2024

[CLI] Add set_hardware_component_state verb (backport #1248) #1470

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[CLI] Add set_hardware_component_state verb (#1248)

40d080d

Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Mateus Menezes <mateusmenezes95@gmail.com> (cherry picked from commit a902e27)

mergify bot mentioned this pull request Apr 1, 2024

[CLI] Add set_hardware_component_state verb (backport #1248) #1471

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christophfroehlich deleted the set_hardware_component_state branch April 7, 2024 20:32

This was referenced Jun 25, 2024

[rqt_controller_manager] Add hardware components (backport #1455) #1586

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[rqt_controller_manager] Add hardware components (backport #1455) #1587

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[CLI] Add `set_hardware_component_state` verb #1248

[CLI] Add `set_hardware_component_state` verb #1248

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[CLI] Add set_hardware_component_state verb #1248

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[CLI] Add `set_hardware_component_state` verb #1248

[CLI] Add `set_hardware_component_state` verb #1248

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