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Adding base class for chained controllers: ChainedControllersInterface #663

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merged 5 commits into from
May 17, 2022
Merged

Adding base class for chained controllers: ChainedControllersInterface #663

merged 5 commits into from
May 17, 2022

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destogl
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@destogl destogl commented Mar 7, 2022

This PR introduces new interfaces for chained controllers.
To simplify logic inside controller manager, ControllerInterface is extended with methods needed for chainable controllers, but with default or without implementation.
ChainableControllerInteface then forces user to implement those methods when adding a chainable controller.

The PR depends on #662 to be merged before. (the commit a3424c4 is duplicated for this PR to be able to cherry-pick the rest of the development.)

@destogl destogl self-assigned this Mar 7, 2022
@destogl destogl force-pushed the chained-controllers-interface-pr branch from 0ee67b8 to 3002db2 Compare March 7, 2022 12:04
@destogl destogl mentioned this pull request Mar 8, 2022
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progtologist
progtologist suggested changes Mar 9, 2022
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Looks good overall, only suggestion to fix the uninitialized variable.

controller_interface/include/controller_interface/chainable_controller_interface.hpp Outdated Show resolved Hide resolved
controller_interface/include/controller_interface/chainable_controller_interface.hpp Show resolved Hide resolved
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mergify bot commented Mar 14, 2022

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

livanov93
livanov93 reviewed Mar 23, 2022
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@destogl Where do we plan to put tests where two controllers are actually chained and the interfaces are claimed, so we can prove value propagation between interfaces/controllers?
In #664 or #667?

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destogl commented Mar 29, 2022

@destogl Where do we plan to put tests where two controllers are actually chained and the interfaces are claimed, so we can prove value propagation between interfaces/controllers? In #664 or #667?

The tests are placed in #667 where management of chained controllers is added into controller manager.

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destogl commented Mar 29, 2022

@livanov93 this PR depends on functionality from #662, but I didn't add it here to make review cleaner. So either you can try to merge them when testing or wait until #662 is merged.

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livanov93 approved these changes Mar 31, 2022
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Looks good! Great job!

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mergify bot commented Apr 6, 2022

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

@destogl destogl force-pushed the chained-controllers-interface-pr branch from 3fd805f to ae6f57e Compare April 6, 2022 10:55
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destogl commented Apr 6, 2022

CI needs update so we can ignore its failing.

@destogl destogl force-pushed the chained-controllers-interface-pr branch from ae6f57e to c605a76 Compare April 14, 2022 15:56
@destogl destogl force-pushed the chained-controllers-interface-pr branch from c605a76 to 3e29adc Compare April 25, 2022 19:13
bmagyar
bmagyar requested changes Apr 29, 2022
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I'd really prefer if we could avoid the chainable API spilling into ControllerInterface.

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I'd really prefer if we could avoid the chainable API spilling into ControllerInterface.

I fully understand your preferences, however, in the current organisation of ros2_control, all the checks regarding claiming interfaces and switching controllers are done at the higher level (e.g. controller manager, resource manager). This is done by calling ControllerInterface methods and makes the idea of not spilling some of the chainable context much harder...

@destogl destogl mentioned this pull request May 15, 2022
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@destogl destogl force-pushed the chained-controllers-interface-pr branch from 8354962 to 757f1e6 Compare May 15, 2022 17:26
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mergify bot commented May 15, 2022

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

@destogl
Extending ControllerInterface with methods for chainable controllers.
d19c724 
Update structure of chainable controller to allow mode chaning only in 'UNCONFIGURED' state.

Switching to chained_mode is only forbidden if controller is active.

Add default implementation for 'on_set_chained_mode' method.

Avoid compile warning about unused variables.

Added check if all reference interface storage is initialized and that interface prefix is equal to controller's name.

Optimize tests and 'usings'.

Use two internal methods instead of 'update' directly on chained controllers.

Reorder constructor.
@destogl
Add ControllerInterfaceBase class and use it in Controller Manager.
03ae2b2
@destogl destogl force-pushed the chained-controllers-interface-pr branch from 757f1e6 to 862987e Compare May 16, 2022 11:55
bmagyar
bmagyar approved these changes May 17, 2022
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Just a few minor fixups otherwise looks good

controller_interface/include/controller_interface/chainable_controller_interface.hpp Outdated Show resolved Hide resolved
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@destogl destogl merged commit c01427c into ros-controls:master May 17, 2022
@destogl destogl deleted the chained-controllers-interface-pr branch May 17, 2022 15:31
pac48 pushed a commit to pac48/ros2_control that referenced this pull request Jan 26, 2024
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Let sphinx add parameter description to documentation (backport ros-c…
e7625ce 
…ontrols#651) (ros-controls#663)
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@progtologist progtologist progtologist approved these changes

@bmagyar bmagyar bmagyar approved these changes

@livanov93 livanov93 livanov93 approved these changes

@arne48 arne48 Awaiting requested review from arne48

@duringhof duringhof Awaiting requested review from duringhof

@mhubii mhubii Awaiting requested review from mhubii

@Serafadam Serafadam Awaiting requested review from Serafadam

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