From 14ab809b27d579ef7a51254af51a3dcab7c42f68 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Sun, 2 Jul 2023 19:00:03 +0200 Subject: [PATCH 1/2] Create doc file for chained controllers (#985) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Bence Magyar Co-authored-by: Christoph Fröhlich (cherry picked from commit 185fbeafc97334eb9b09fde74e70b9eed30616d2) # Conflicts: # controller_manager/doc/controller_chaining.rst --- .../doc/controller_chaining.rst | 45 ++++++++++++++++++ .../doc/images/chaining_example2.png | Bin 0 -> 37092 bytes doc/index.rst | 6 +-- 3 files changed, 48 insertions(+), 3 deletions(-) create mode 100644 controller_manager/doc/images/chaining_example2.png diff --git a/controller_manager/doc/controller_chaining.rst b/controller_manager/doc/controller_chaining.rst index d79e730d3f..9840717243 100644 --- a/controller_manager/doc/controller_chaining.rst +++ b/controller_manager/doc/controller_chaining.rst @@ -63,6 +63,7 @@ After configuring a chainable controller, controller manager calls ``input_inter This is the same process as done by ``ResourceManager`` and hardware interfaces. Controller manager maintains "claimed" status of interface in a vector (the same as done in ``ResourceManager``). +<<<<<<< HEAD Activation and Deactivation Chained Controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -71,6 +72,50 @@ Chained controllers must be activated and deactivated together or in the proper This means you must first activate all following controllers to have the preceding one activated. For the deactivation there is the inverse rule - all preceding controllers have to be deactivated before the following controller is deactivated. One can also think of it as an actual chain, you can not add a chain link or break the chain in the middle. +======= +Activation and Deactivation Chained Controllers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Controller Manager has an additional parameter that describes how controllers are chained. +In the first version, the parameter-structure would have some semantic meaning embedded into it, as follows: + + +.. code-block:: yaml + + controller_manager: + ros__parameters: + chained_controllers: + + - parallel_group_1: + - controller1_1 + - controller1_2 + + - parallel_group_2: + - controller2_1 + + - parallel_group_3: + - controller3_1 + - controller3_2 + - controller3_3 + + ... + + - parallel_group_N: + - controllerN_1 + - ... + - controllerN_M + + + +This structure is motivated by ``filter_chain`` structure from `ros/filters repository `__, see `this file for implementation `__. + +This structure is stored internally by controller manager into an ordered map (``std::map>``) with group name as key. +When a controller should be deactivated, the controller manager deactivates all the controllers in the preceding groups first. +All other controllers from the group stay active, as well as all controllers in the following groups. +NOTE: In the future this could be done more intelligently, i.e., deactivate only controllers in the preceding groups that actually precede the controller that should be deactivated. + +On the other hand, the controller should be manually activated in the reverse order, i.e., from the those closer to the hardware toward those preceding them. +>>>>>>> 185fbea (Create doc file for chained controllers (#985)) Debugging outputs diff --git a/controller_manager/doc/images/chaining_example2.png b/controller_manager/doc/images/chaining_example2.png new file mode 100644 index 0000000000000000000000000000000000000000..1ba49a116edcba1f365d76d4b52b3464f316a118 GIT binary patch literal 37092 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+30,6 @@ Concepts :titlesonly: Controller Manager <../controller_manager/doc/userdoc.rst> + Controller Chaining / Cascade Control <../controller_manager/doc/controller_chaining.rst> Hardware Components <../hardware_interface/doc/hardware_components_userdoc.rst> Mock Components <../hardware_interface/doc/mock_components_userdoc.rst> From c88debe5511c38de309460ca0dcb6d0659311725 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Sun, 15 Oct 2023 14:37:07 +0200 Subject: [PATCH 2/2] Fixing Conflicts --- .../doc/controller_chaining.rst | 49 +------------------ 1 file changed, 2 insertions(+), 47 deletions(-) diff --git a/controller_manager/doc/controller_chaining.rst b/controller_manager/doc/controller_chaining.rst index 9840717243..363eeb70f7 100644 --- a/controller_manager/doc/controller_chaining.rst +++ b/controller_manager/doc/controller_chaining.rst @@ -63,7 +63,6 @@ After configuring a chainable controller, controller manager calls ``input_inter This is the same process as done by ``ResourceManager`` and hardware interfaces. Controller manager maintains "claimed" status of interface in a vector (the same as done in ``ResourceManager``). -<<<<<<< HEAD Activation and Deactivation Chained Controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -72,59 +71,15 @@ Chained controllers must be activated and deactivated together or in the proper This means you must first activate all following controllers to have the preceding one activated. For the deactivation there is the inverse rule - all preceding controllers have to be deactivated before the following controller is deactivated. One can also think of it as an actual chain, you can not add a chain link or break the chain in the middle. -======= -Activation and Deactivation Chained Controllers -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Controller Manager has an additional parameter that describes how controllers are chained. -In the first version, the parameter-structure would have some semantic meaning embedded into it, as follows: - - -.. code-block:: yaml - - controller_manager: - ros__parameters: - chained_controllers: - - - parallel_group_1: - - controller1_1 - - controller1_2 - - - parallel_group_2: - - controller2_1 - - - parallel_group_3: - - controller3_1 - - controller3_2 - - controller3_3 - - ... - - - parallel_group_N: - - controllerN_1 - - ... - - controllerN_M - - - -This structure is motivated by ``filter_chain`` structure from `ros/filters repository `__, see `this file for implementation `__. - -This structure is stored internally by controller manager into an ordered map (``std::map>``) with group name as key. -When a controller should be deactivated, the controller manager deactivates all the controllers in the preceding groups first. -All other controllers from the group stay active, as well as all controllers in the following groups. -NOTE: In the future this could be done more intelligently, i.e., deactivate only controllers in the preceding groups that actually precede the controller that should be deactivated. - -On the other hand, the controller should be manually activated in the reverse order, i.e., from the those closer to the hardware toward those preceding them. ->>>>>>> 185fbea (Create doc file for chained controllers (#985)) Debugging outputs ---------------------------- -Flag ``unavailable`` on reference interface does not provide much information about anything at the moment. So don't get confused by it. The reason we have it are internal implementation reasons irelevant for the usage. +Flag ``unavailable`` if the reference interface does not provide much information about anything at the moment. So don't get confused by it. The reason we have it are internal implementation reasons irelevant for the usage. Closing remarks ---------------------------- -- Maybe addition of the new controller's type ``ChainableController`` is not necessary. It would also be feasible to add implementation of ``input_interface_configuration()`` method into ``ControllerInterface`` class with default result ``interface_configuration_type::NONE``. +- Maybe addition of the new controller's type ``ChainableController`` is not necessary. It would also be feasible to add an implementation of ``input_interface_configuration()`` method into ``ControllerInterface`` class with default result ``interface_configuration_type::NONE``.