[Feature] Choose different read and write rate for the hardware components #1570

saikishor · 2024-06-16T13:26:56Z

Hello!

This PR helps to obtain different read and write update rates rather than having the same update rate as of the controller manager. With these changes, each and every component can run at their own chosen rate and they update the State and Command interfaces according to that rate. This is very useful for system with different communication layers such as EtherCAT, CAN and Serial. Hope this helps the community.

y axis corresponds to the nanoseconds

Thank you

codecov · 2024-06-16T13:36:48Z

Codecov Report

Attention: Patch coverage is 95.93909% with 8 lines in your changes missing coverage. Please review.

Project coverage is 87.09%. Comparing base (4472287) to head (dbfe3a0).

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	77.77%	4 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1570      +/-   ##
==========================================
+ Coverage   86.77%   87.09%   +0.31%     
==========================================
  Files         116      116              
  Lines       10703    10860     +157     
  Branches      981      988       +7     
==========================================
+ Hits         9288     9458     +170     
+ Misses       1062     1053       -9     
+ Partials      353      349       -4

Flag	Coverage Δ
unittests	`87.09% <95.93%> (+0.31%)`	⬆️

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

Files with missing lines	Coverage Δ
..._interface/include/hardware_interface/actuator.hpp	`100.00% <ø> (ø)`
...rface/include/hardware_interface/hardware_info.hpp	`100.00% <ø> (ø)`
...re_interface/include/hardware_interface/sensor.hpp	`66.66% <ø> (+16.66%)`	⬆️
...re_interface/include/hardware_interface/system.hpp	`100.00% <ø> (ø)`
hardware_interface/src/actuator.cpp	`78.67% <100.00%> (+6.49%)`	⬆️
hardware_interface/src/component_parser.cpp	`94.62% <100.00%> (+0.19%)`	⬆️
hardware_interface/src/sensor.cpp	`74.56% <100.00%> (+4.02%)`	⬆️
hardware_interface/src/system.cpp	`78.67% <100.00%> (+6.49%)`	⬆️
...dware_interface/test/test_component_interfaces.cpp	`96.21% <100.00%> (+0.05%)`	⬆️
hardware_interface/test/test_component_parser.cpp	`98.88% <100.00%> (+0.06%)`	⬆️
... and 3 more

... and 2 files with indirect coverage changes

christophfroehlich

Great addition 👍

Why not just use update_rate as attribute name (same as for controller_manager or the controllers)

Please update the docs and add also a paragraph to the release notes.

saikishor · 2024-06-16T21:30:54Z

Great addition 👍

Why not just use update_rate as attribute name (same as for controller_manager or the controllers)

Please update the docs and add also a paragraph to the release notes.

Sure. I forgot about the docs. I'll update it tomorrow at the earliest. Thanks for reminding me.

Well regarding the parameter name, I thought of using different because, we have update_rate for the update callback of the controllers and for the hardware I wanted to use the appropriate one, so I used rw_rate to specify the read/write_rate. How the changes are done, in future we can also have different read and write rates if needed, with just changing the parsing part. I'm open to the discussion on the parameter naming part.

christophfroehlich

Thanks for the docs 👍

hardware_interface/src/resource_manager.cpp

mergify · 2024-06-25T10:57:20Z