[CM] Add more logging for easier debugging

[saikishor]

Hello!

In our tests, we found it difficult with some missing important logs in some places. It would be really interesting to have them upstream.

• When the hardware returns ERROR in the read and write cycle, it is deactivated and the controllers that use the interfaces are also deactivated but no log is printed, so checking always with the CLI is a bit cumbersome.
• It is also interesting to print the activated and deactivated controllers in the switch cycles in non-RT thread
• Printing what controller and type is being loaded in the controller manager helps.

This is needed because when we communicate from some applications without using the spawner it would be interesting to know from the logs.

The following are the prints reported from the tests:

[ERROR] [1722329073.729615011] [test_controller_manager]: Deactivating following hardware components as their read cycle resulted in an error : [ TestActuatorHardware TestSystemHardware ]
[ERROR] [1722329073.729679693] [test_controller_manager]: Deactivating following controllers as their hardware components read cycle resulted in an error : [ test_broadcaster_all test_controller_actuator test_broadcaster_all test_controller_system ]

[INFO] [1722329183.338697199] [foo_namespace.test_controller_manager]: Activating controllers: [ ctrl_2 ctrl_3 ]
[INFO] [1722329184.450285285] [foo_namespace.test_controller_manager]: Deactivating controllers: [ ctrl_1 ctrl_2 ctrl_3 ]

[INFO] [1722329149.544712217] [test_controller_manager]: Loading controller : 'ctrl_1' of type 'controller_manager/test_controller'
[INFO] [1722329149.966687923] [test_controller_manager]: Configuring controller : 'ctrl_1'
[INFO] [1722329183.333766888] [test_controller_manager]: Unloading controller : 'ctrl_1'

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 88.07%. Comparing base (a1ad523) to head (858780a).

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1645   +/-   ##
=======================================
  Coverage   88.07%   88.07%           
=======================================
  Files         108      108           
  Lines       10023    10049   +26     
  Branches      892      894    +2     
=======================================
+ Hits         8828     8851   +23     
- Misses        876      878    +2     
- Partials      319      320    +1     

Flag	Coverage Δ
unittests	88.07% <100.00%> (+<0.01%)	⬆️

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

Files	Coverage Δ
controller_manager/src/controller_manager.cpp	77.80% <100.00%> (+0.25%)	⬆️

[christophfroehlich]

minor comments. LGTM, thanks

[bmagyar]

generally looks ok, just one question about the string concatenation

[saikishor]

@bmagyar How about something like this? Reserving some memory ahead it is better right?. Any other suggestions are welcome

[christophfroehlich]

@bmagyar How about something like this? Reserving some memory ahead it is better right?. Any other suggestions are welcome

don't you also need .append() instead of the plus operator to avoid temporary copies?

[christophfroehlich]

Why not applying the same logic to the activate/deactivate list?

[saikishor]

Well as they are in the non-RT thread, I thought it might not be needed 😅😅

[christophfroehlich]

Well as they are in the non-RT thread, I thought it might not be needed 😅😅

OK this is an argument, haven't checked this but only the diff in the UI 😇

[saikishor]

OK this is an argument, haven't checked this but only the diff in the UI 😇

Applied your suggestions :)

[bmagyar]

Thank you!