Add diagnostics for the hardware components

ros-controls · Sep 25, 2024 · 3246b8c · 3246b8c
1 parent f23f9a4
commit 3246b8c
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Showing 2 changed files with 51 additions and 0 deletions.
diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -443,6 +443,8 @@ class ControllerManager : public rclcpp::Node
 
   void controller_activity_diagnostic_callback(diagnostic_updater::DiagnosticStatusWrapper & stat);
 
+  void hardware_components_diagnostic_callback(diagnostic_updater::DiagnosticStatusWrapper & stat);
+
   /**
    * @brief determine_controller_node_options - A method that retrieves the controller defined node
    * options and adapts them, based on if there is a params file to be loaded or the use_sim_time

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -281,6 +281,9 @@ void ControllerManager::init_controller_manager()
   diagnostics_updater_.setHardwareID("ros2_control");
   diagnostics_updater_.add(
     "Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
+  diagnostics_updater_.add(
+    "Hardware Components Activity", this,
+    &ControllerManager::hardware_components_diagnostic_callback);
 }
 
 void ControllerManager::robot_description_callback(const std_msgs::msg::String & robot_description)
@@ -2780,6 +2783,52 @@ void ControllerManager::controller_activity_diagnostic_callback(
   }
 }
 
+void ControllerManager::hardware_components_diagnostic_callback(
+  diagnostic_updater::DiagnosticStatusWrapper & stat)
+{
+  bool all_active = true;
+  bool atleast_one_hw_active = false;
+  const auto hw_components_info = resource_manager_->get_components_status();
+  for (const auto & [component_name, component_info] : hw_components_info)
+  {
+    stat.add(component_name, component_info.state.label());
+    if (component_info.state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+    {
+      all_active = false;
+    }
+    else
+    {
+      atleast_one_hw_active = true;
+    }
+  }
+  if (!is_resource_manager_initialized())
+  {
+    stat.summary(
+      diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Resource manager is not yet initialized!");
+  }
+  else if (hw_components_info.empty())
+  {
+    stat.summary(
+      diagnostic_msgs::msg::DiagnosticStatus::ERROR, "No hardware components are loaded!");
+  }
+  else
+  {
+    if (!atleast_one_hw_active)
+    {
+      stat.summary(
+        diagnostic_msgs::msg::DiagnosticStatus::ERROR,
+        "No hardware components are currently active");
+    }
+    else
+    {
+      stat.summary(
+        diagnostic_msgs::msg::DiagnosticStatus::OK, all_active
+                                                      ? "All hardware components are active"
+                                                      : "Not all hardware components are active");
+    }
+  }
+}
+
 void ControllerManager::update_list_with_controller_chain(
   const std::string & ctrl_name, std::vector<std::string>::iterator controller_iterator,
   bool append_to_controller)