[HW interface] Resource manager publish all Command-/StateInterface values #1244
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aprotyas,
bmagyar,
DasRoteSkelett,
destogl,
livanov93,
peterdavidfagan and
saikishor
aprotyas
reviewed
Dec 22, 2023
Comment on lines
1335
to
1349
| try | ||
| { | ||
| const auto command_interface_value = | ||
| resource_storage_->command_interface_map_.at(command_interface_name).get_value(); | ||
| command_interface_values.interface_names.push_back(command_interface_name); | ||
| command_interface_values.values.push_back(command_interface_value); | ||
| } | ||
| catch (const std::out_of_range & e) | ||
| { | ||
| RCUTILS_LOG_WARN_NAMED( | ||
| "resource_manager", | ||
| "command interface '%s' is in available list, but could not get the interface " | ||
| "command_interface_map_ (std::out_of_range exception thrown).", | ||
| command_interface_name.c_str()); | ||
| } |
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Alternatively you could avoid the cost of throwing-consuming an exception and just emit your log behind a key-exists-in-the-map check?
Suggested change
| try | |
| { | |
| const auto command_interface_value = | |
| resource_storage_->command_interface_map_.at(command_interface_name).get_value(); | |
| command_interface_values.interface_names.push_back(command_interface_name); | |
| command_interface_values.values.push_back(command_interface_value); | |
| } | |
| catch (const std::out_of_range & e) | |
| { | |
| RCUTILS_LOG_WARN_NAMED( | |
| "resource_manager", | |
| "command interface '%s' is in available list, but could not get the interface " | |
| "command_interface_map_ (std::out_of_range exception thrown).", | |
| command_interface_name.c_str()); | |
| } | |
| if (const auto iter = resource_storage_->command_interface_map_.find(command_interface_name); iter != resource_storage_->command_interface_map_.cend()) | |
| { | |
| const auto command_interface_value = | |
| *iter; | |
| command_interface_values.interface_names.push_back(command_interface_name); | |
| command_interface_values.values.push_back(command_interface_value); | |
| } | |
| else | |
| { | |
| RCUTILS_LOG_WARN_NAMED( | |
| "resource_manager", | |
| "command interface '%s' is in available list, but could not get the interface " | |
| "command_interface_map_ (std::out_of_range exception thrown).", | |
| command_interface_name.c_str()); | |
| } |
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Good one. This also makes sense.
I would only change a bit the printed log a bit.
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Done.
How would you change it?
saikishor
suggested changes
Jan 5, 2024
hardware_interface/include/hardware_interface/resource_manager.hpp
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hardware_interface/include/hardware_interface/resource_manager.hpp
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| } | ||
| catch (const std::out_of_range & e) | ||
| { | ||
| RCUTILS_LOG_WARN_NAMED( |
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Out of curiosity, do you think this should be throttled? or do you think it is fine to have like this?
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i am not sure about the performance penalty, but since this case should not happen under normal circumstances, i think its fine like this. But any thoughts/corrections are welcome.
Comment on lines
1335
to
1349
| try | ||
| { | ||
| const auto command_interface_value = | ||
| resource_storage_->command_interface_map_.at(command_interface_name).get_value(); | ||
| command_interface_values.interface_names.push_back(command_interface_name); | ||
| command_interface_values.values.push_back(command_interface_value); | ||
| } | ||
| catch (const std::out_of_range & e) | ||
| { | ||
| RCUTILS_LOG_WARN_NAMED( | ||
| "resource_manager", | ||
| "command interface '%s' is in available list, but could not get the interface " | ||
| "command_interface_map_ (std::out_of_range exception thrown).", | ||
| command_interface_name.c_str()); | ||
| } |
There was a problem hiding this comment.
Good one. This also makes sense.
I would only change a bit the printed log a bit.
livanov93
reviewed
Jun 5, 2024
mamueluth
commented
Jun 5, 2024
mamueluth
commented
Jun 5, 2024
|
The messages were merged and released to Iron, Jazzy and Rolling ;) |
|
This pull request is in conflict. Could you fix it @mamueluth? |
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This adds publishing of all the values of the command-/stateInterfaces by the resource manager. Provides a kind of diagnostic interface. The values are published to
/resource_manager_publisher_node/interface_values.This PR depends on this PR from the control_msgs repos.