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[CM] Add more logging for easier debugging #1645

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merged 7 commits into from
Aug 14, 2024
Merged

[CM] Add more logging for easier debugging #1645

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e1fa775
added error logs for failed hardware components and their cached cont…
saikishor Jul 30, 2024
fb530d0
Add nice logging for activated and deactivated controllers list upon …
saikishor Jul 30, 2024
7f9b51b
Adding logging for loading and unloading controllers as well
saikishor Jul 30, 2024
cf12b2f
Apply suggestions from code review
saikishor Jul 30, 2024
4b1de12
Improve string concatenation for real-time
saikishor Aug 13, 2024
fc3201b
Merge branch 'master' into add/more/introspection/logging
saikishor Aug 13, 2024
858780a
Reserve string also in switch_controllers non-RT method
saikishor Aug 13, 2024
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65 changes: 58 additions & 7 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -530,12 +530,16 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
get_logger(), "The 'type' param was not defined for '%s'.", controller_name.c_str());
return nullptr;
}
RCLCPP_INFO(
get_logger(), "Loading controller : '%s' of type '%s'", controller_name.c_str(),
controller_type.c_str());
return load_controller(controller_name, controller_type);
}

controller_interface::return_type ControllerManager::unload_controller(
const std::string & controller_name)
{
RCLCPP_INFO(get_logger(), "Unloading controller: '%s'", controller_name.c_str());
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
std::vector<ControllerSpec> & to = rt_controllers_wrapper_.get_unused_list(guard);
const std::vector<ControllerSpec> & from = rt_controllers_wrapper_.get_updated_list(guard);
Expand Down Expand Up @@ -633,7 +637,7 @@ std::vector<ControllerSpec> ControllerManager::get_loaded_controllers() const
controller_interface::return_type ControllerManager::configure_controller(
const std::string & controller_name)
{
RCLCPP_INFO(get_logger(), "Configuring controller '%s'", controller_name.c_str());
RCLCPP_INFO(get_logger(), "Configuring controller: '%s'", controller_name.c_str());

const auto & controllers = get_loaded_controllers();

Expand Down Expand Up @@ -919,16 +923,24 @@ controller_interface::return_type ControllerManager::switch_controller(
strictness = controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
}

RCLCPP_DEBUG(get_logger(), "Activating controllers:");
std::string activate_list, deactivate_list;
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activate_list.reserve(500);
deactivate_list.reserve(500);
for (const auto & controller : activate_controllers)
{
RCLCPP_DEBUG(get_logger(), " - %s", controller.c_str());
activate_list.append(controller);
activate_list.append(" ");
}
RCLCPP_DEBUG(get_logger(), "Deactivating controllers:");
for (const auto & controller : deactivate_controllers)
{
RCLCPP_DEBUG(get_logger(), " - %s", controller.c_str());
deactivate_list.append(controller);
deactivate_list.append(" ");
}
RCLCPP_INFO_EXPRESSION(
get_logger(), !activate_list.empty(), "Activating controllers: [ %s]", activate_list.c_str());
RCLCPP_INFO_EXPRESSION(
get_logger(), !deactivate_list.empty(), "Deactivating controllers: [ %s]",
deactivate_list.c_str());

const auto list_controllers = [this, strictness](
const std::vector<std::string> & controller_list,
Expand Down Expand Up @@ -2141,13 +2153,32 @@ void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration &
if (!ok)
{
std::vector<std::string> stop_request = {};
std::string failed_hardware_string;
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failed_hardware_string.reserve(500);
// Determine controllers to stop
for (const auto & hardware_name : failed_hardware_names)
{
failed_hardware_string.append(hardware_name);
failed_hardware_string.append(" ");
auto controllers = resource_manager_->get_cached_controllers_to_hardware(hardware_name);
stop_request.insert(stop_request.end(), controllers.begin(), controllers.end());
}

std::string stop_request_string;
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stop_request_string.reserve(500);
for (const auto & controller : stop_request)
{
stop_request_string.append(controller);
stop_request_string.append(" ");
}
RCLCPP_ERROR(
get_logger(),
"Deactivating following hardware components as their read cycle resulted in an error: [ %s]",
failed_hardware_string.c_str());
RCLCPP_ERROR_EXPRESSION(
get_logger(), !stop_request_string.empty(),
"Deactivating following controllers as their hardware components read cycle resulted in an "
"error: [ %s]",
stop_request_string.c_str());
std::vector<ControllerSpec> & rt_controller_list =
rt_controllers_wrapper_.update_and_get_used_by_rt_list();
deactivate_controllers(rt_controller_list, stop_request);
Expand Down Expand Up @@ -2303,13 +2334,33 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
if (!ok)
{
std::vector<std::string> stop_request = {};
std::string failed_hardware_string;
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failed_hardware_string.reserve(500);
// Determine controllers to stop
for (const auto & hardware_name : failed_hardware_names)
{
failed_hardware_string.append(hardware_name);
failed_hardware_string.append(" ");
auto controllers = resource_manager_->get_cached_controllers_to_hardware(hardware_name);
stop_request.insert(stop_request.end(), controllers.begin(), controllers.end());
}

std::string stop_request_string;
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stop_request_string.reserve(500);
for (const auto & controller : stop_request)
{
stop_request_string.append(controller);
stop_request_string.append(" ");
}
RCLCPP_ERROR(
get_logger(),
"Deactivating following hardware components as their write cycle resulted in an error: [ "
"%s]",
failed_hardware_string.c_str());
RCLCPP_ERROR_EXPRESSION(
get_logger(), !stop_request_string.empty(),
"Deactivating following controllers as their hardware components write cycle resulted in an "
"error: [ %s]",
stop_request_string.c_str());
std::vector<ControllerSpec> & rt_controller_list =
rt_controllers_wrapper_.update_and_get_used_by_rt_list();
deactivate_controllers(rt_controller_list, stop_request);
Expand Down
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