Async Function Handler for Controllers #1489

saikishor · 2024-04-18T13:56:28Z

Hello!

In this PR, I've added a specific class AsyncFunctionHandler which basically will help us run the update method in the case of the controller manager and read/write method in the case of hardware components asynchronously. This PR takes a bit different approach compared to PR : #1041. The idea behind both approaches is the same. The key objectives of this approach include:

The controller manager functions solely as a scheduler, with each controller/hardware component responsible for managing its own threads.
Enhancing modularity by enabling the reuse of the same class and logic across controllers and hardware components.
Ensuring proper isolation for testing of the asynchronous handling aspect.
This might break ABI but is backward compatible.

I would like to hear your opinion on this approach. @VX792 It would be great if you could take a look at this approach and comment with your opinion.

Thank you!

Needs: ros-controls/realtime_tools#168
Closes #1469

VX792

I think the concept is pretty cool, especially because this is what I also think would be intuitive from the user's point of view.
For the technical side I left a few comments / questions for a few things that are not yet clear to me, but I think the overall approach is good. The only thing I'm not entirely convinced about is the synchronization part, because I think it would make the most sense inside the handles.

As an example, instead of triggering the entire async controller update, it would be better to trigger only the set_ and get_value() operations that the update executes; that way we could block for a very minimal amount of time.

Also, if we're going with this implementation, then feel free to delete the unused ControllerThreadWrapper and the other leftover stuff from the controller manager's header too.

controller_interface/include/controller_interface/async_function_handler.hpp

VX792 · 2024-04-18T21:09:48Z

controller_interface/include/controller_interface/async_function_handler.hpp

+            {
+              break;
+            }
+            async_update_return_ = async_function_(current_update_time_, current_update_period_);


So this is the issue I wasn't able to solve without rewriting the handles. Do you have an idea on how we could make this thread safe?

This calls the controller update(), and if it coincides with the CM thread's write or read, then this is a data race, as both of those write to the same memory through a double ptr.

With the current version, I agree we will have this issue. WIth #1240 we might be able to avoid this issue with the getter and setters that it is going to provide

Actually I'm not sure even that will solve it, because if you take this code from the JTC for example:

for (size_t index = 0; index < dof_; ++index) { trajectory_point_interface[index] = joint_interface[index].get().get_value(); // get_state() from #1240 }

and you're in the async update cycle, while the HWIF from the CM thread does

for (size_t index = 0; index < dof_; ++index) { hw_states_[index] = some_value // set_state() with the updated version }

at the same time, then it doesn't matter if the access itself is thread safe, the async JTC will do the assignment and calculations based on a mixture of old and new state interfaces.

For async HW, maybe it could be possible to disable plain getters / setters and instead use a grouped set_states and get_states function? That way you could wait until all values are set by the JTC, and update the states only after that! (e.g. lock until all states are read, or all states are set)

As a quick example something like this could easily be extended for multiple types:

std::map<const char*, double> interface_name_and_value = { {"Chocolate", 12.0}, {"Coffee", 14.0}, {"Cake", 15.0}}; template<typename T> struct my_pair { my_pair() = delete; my_pair(const char* first, T second) : first_(first), second_(second) {} const char* first_; T second_; }; template <typename T, typename ...Pairs> void fun(const my_pair<T>& first_pair, const Pairs&... pairs) { interface_name_and_value[first_pair.first_] = first_pair.second_; if constexpr (sizeof...(pairs) > 0) { fun(pairs...); } } // Usage: // const my_pair p1 = {"Chocolate", 18.0}; // const my_pair p2 = {"Cake", 15.2}; // const my_pair p3 = {"Coffee", 198.2}; // lock(); // fun(p1, p2, p3); // unlock()

Plain folds are not be enough if the data is stored in some data structure though, but I think this could work with index sequences / recursive templates.

What do you think about this? The code might not be very readable, but I think this could ensure data consistency later.

Regarding this, I agree, that there might be cases where the data might not be perfectly synchronized, this is the case we are more or less talking about in the other thread. For now, we can print the warning message as you mentioned and we shall try to fix it in future versions.

The batch reading and updating is a good idea, but I don't know if the Maintainers allow that level of changes at this point before Jazzy, we can try to do something like that in the future, so we could have some data consistency.

What do you say?

controller_interface/include/controller_interface/async_function_handler.hpp

VX792 · 2024-04-18T21:56:44Z

controller_interface/include/controller_interface/async_function_handler.hpp

+  /**
+   * If the async method is running, it will wait for the current async method call to finish.
+   */
+  void wait_for_trigger_cycle_to_finish()


Is this a placeholder? I haven't seen this fn called anywhere other than the tests.

Well it is for testing purpose, but if can be used alongside before stopping the async thread. If I use this at the beginning of the stop_async_update, may be we won't be having the situation you were describing

VX792 · 2024-04-18T22:20:35Z

controller_interface/include/controller_interface/async_function_handler.hpp

+   * If the async update method is still running, it will return the last return value of the async
+   * function.
+   *
+   * \note In the case of controllers, The controller manager is responsible


Instead of having the controller manager act as the scheduler, would it make sense to trigger the async updates based on whether the hardware component whose command interfaces the controller is using has any data ready?

In the latter case, it might be possible to make async HW and controllers work together!

As an example, let's say I'd like to use an async controller combined with a KUKA-specific external interface, where the timing is always handled inside the internal motion stack instead of the CM, and therefore would work better as an async HW component.

I'm not yet sure if there's a legit use case where this would make sense, I think it's just interesting to think about if the design we choose should permit the combination of the two or not.

This design process would be cool. I'm not sure about triggering only when the data is ready.

For instance, having a chainable controller A -> B -> HW. A is async and running at a lower rate like 200 Hz and controller B is async and running at 500 Hz closing the loop locally with the actual values (So, we will need to trigger the controller B anyway as it needs to close the loop with the same reference values) and then command to the HW on each loop, if the HW is async then it gets the references on it's cycle (Some hardware like elmo respectively they expect a reference sent constantly at a certain frequency, in that case this mechanism would also be a problem right?

Right now, I couldn't think of a way to make both HW and controllers work together for both cases. It would be really cool as we have a data dependency

What do you think?

I see, that makes sense.

Also it's a difficult question because afaik there is no definition on what the behaviour of an async HW and async controller combination should be, so maybe at least a warning could be given if the user tries to use this combination, because otherwise there's no information if a certain configuration is invalid or not.

What do you think about that?

I think it is always nice to warn the user about the data synchronization issue between async controllers and async hardware combination. Where do you think is the right place to do it?. The resource manager at the time of configuring the hardware can print this message of possible discrepancies.

Also in most of the case, the controller manager runs at almost same frequency as the hardware even though it is run async, because mostly it doesn't make sense to compute the same command twice and being unable to send to the hardware.

VX792 · 2024-04-18T22:22:04Z

controller_interface/include/controller_interface/async_function_handler.hpp

+      async_update_condition_.notify_one();
+      trigger_status = true;
+    }
+    const T return_value = async_update_return_;


Do you think std::future would be more idiomatic here, instead of a condition variable? As I see we're doing some calculations in the async thread, and returning it when it's ready. I think we'd also have one less flag to keep track of.

I initially thought of using future, but if there is a case that the update takes time and it doesn't have it's current update cycle's return state, then I think it makes sense to continue with its old return state without triggering another cycle, rather than waiting for the future result.

If this above situation occurs, then the controller manager will print a missing update cycle message, so the user knows that he has to lower the frequency of his controller as the computation is taking longer than what he initially estimated

That's fair.

Maybe it's possible to compute a timeout using the time & period for the future's wait_for() / wait_until() fn but probably it's needless complexity.

Yeah, I thought so, but I rather prefer that the conditional variable is not awake after a certain duration, because that's exactly what we want to avoid with proper triggering

saikishor

@VX792 Thank you for the extensive review. I've answered the comments

The only thing I'm not entirely convinced about is the synchronization part, because I think it would make the most sense inside the handles.

I'm expecting to achieve some sort of synchronization with #1240 and also triggering this way, if we have a chainable controller, the async will be triggered in the same order, so some sort of synchronization would be achieved better than the current one

As an example, instead of triggering the entire async controller update, it would be better to trigger only the set_ and get_value() operations that the update executes; that way we could block for a very minimal amount of time.

How do we deal with the cases, where the update cycle of a controller take longer?. For instance, the modern techniques like Model Predictive Control, Whole Body Control etc runs some optimization in the update cycle and this time entirely depends on the objective or constraints they are solving along with the degrees of freedom of the robot

Also, if we're going with this implementation, then feel free to delete the unused ControllerThreadWrapper and the other leftover stuff from the controller manager's header too.

Okay, first I wanted to get the feedback if this approach is interesting for the community or not and in a different PR I could remove them so we have less changes in the PR to review

controller_interface/include/controller_interface/async_function_handler.hpp

saikishor · 2024-04-19T22:01:12Z

controller_interface/include/controller_interface/async_function_handler.hpp

+            {
+              break;
+            }
+            async_update_return_ = async_function_(current_update_time_, current_update_period_);


With the current version, I agree we will have this issue. WIth #1240 we might be able to avoid this issue with the getter and setters that it is going to provide

saikishor · 2024-04-19T22:02:43Z

controller_interface/include/controller_interface/async_function_handler.hpp

+  /**
+   * If the async method is running, it will wait for the current async method call to finish.
+   */
+  void wait_for_trigger_cycle_to_finish()


Well it is for testing purpose, but if can be used alongside before stopping the async thread. If I use this at the beginning of the stop_async_update, may be we won't be having the situation you were describing

saikishor · 2024-04-20T07:34:33Z

controller_interface/include/controller_interface/async_function_handler.hpp

+      async_update_condition_.notify_one();
+      trigger_status = true;
+    }
+    const T return_value = async_update_return_;


I initially thought of using future, but if there is a case that the update takes time and it doesn't have it's current update cycle's return state, then I think it makes sense to continue with its old return state without triggering another cycle, rather than waiting for the future result.

If this above situation occurs, then the controller manager will print a missing update cycle message, so the user knows that he has to lower the frequency of his controller as the computation is taking longer than what he initially estimated

saikishor · 2024-04-20T08:01:35Z

controller_interface/include/controller_interface/async_function_handler.hpp

+   * If the async update method is still running, it will return the last return value of the async
+   * function.
+   *
+   * \note In the case of controllers, The controller manager is responsible


This design process would be cool. I'm not sure about triggering only when the data is ready.

For instance, having a chainable controller A -> B -> HW. A is async and running at a lower rate like 200 Hz and controller B is async and running at 500 Hz closing the loop locally with the actual values (So, we will need to trigger the controller B anyway as it needs to close the loop with the same reference values) and then command to the HW on each loop, if the HW is async then it gets the references on it's cycle (Some hardware like elmo respectively they expect a reference sent constantly at a certain frequency, in that case this mechanism would also be a problem right?

Right now, I couldn't think of a way to make both HW and controllers work together for both cases. It would be really cool as we have a data dependency

What do you think?

codecov · 2024-04-21T22:20:01Z

Codecov Report

Attention: Patch coverage is 92.17391% with 9 lines in your changes missing coverage. Please review.

Project coverage is 87.62%. Comparing base (83fff77) to head (75754de).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...ontroller_manager/test/test_controller_manager.cpp	94.36%	4 Missing ⚠️
...roller_interface/src/controller_interface_base.cpp	87.50%	1 Missing and 2 partials ⚠️
controller_manager/src/controller_manager.cpp	86.66%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1489      +/-   ##
==========================================
+ Coverage   87.33%   87.62%   +0.28%     
==========================================
  Files         121      120       -1     
  Lines       12140    12217      +77     
  Branches     1086     1093       +7     
==========================================
+ Hits        10603    10705     +102     
+ Misses       1148     1123      -25     
  Partials      389      389

Flag	Coverage Δ
unittests	`87.62% <92.17%> (+0.28%)`	⬆️

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

Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	`92.30% <100.00%> (+2.30%)`	⬆️
.../include/controller_manager/controller_manager.hpp	`100.00% <ø> (ø)`
...r_manager/test/test_controller/test_controller.cpp	`95.74% <100.00%> (+0.18%)`	⬆️
controller_manager/src/controller_manager.cpp	`78.17% <86.66%> (+0.60%)`	⬆️
...roller_interface/src/controller_interface_base.cpp	`86.07% <87.50%> (+0.36%)`	⬆️
...ontroller_manager/test/test_controller_manager.cpp	`96.36% <94.36%> (-0.23%)`	⬇️

VX792 · 2024-04-22T13:52:17Z

controller_interface/include/controller_interface/async_function_handler.hpp

+      async_update_condition_.notify_one();
+      trigger_status = true;
+    }
+    const T return_value = async_update_return_;


That's fair.

Maybe it's possible to compute a timeout using the time & period for the future's wait_for() / wait_until() fn but probably it's needless complexity.

VX792 · 2024-04-22T13:56:02Z

controller_interface/include/controller_interface/async_function_handler.hpp

+   * If the async update method is still running, it will return the last return value of the async
+   * function.
+   *
+   * \note In the case of controllers, The controller manager is responsible


I see, that makes sense.

Also it's a difficult question because afaik there is no definition on what the behaviour of an async HW and async controller combination should be, so maybe at least a warning could be given if the user tries to use this combination, because otherwise there's no information if a certain configuration is invalid or not.

What do you think about that?

controller_interface/include/controller_interface/async_function_handler.hpp

VX792 · 2024-04-22T18:59:49Z

controller_interface/include/controller_interface/async_function_handler.hpp

+            {
+              break;
+            }
+            async_update_return_ = async_function_(current_update_time_, current_update_period_);


Actually I'm not sure even that will solve it, because if you take this code from the JTC for example:

for (size_t index = 0; index < dof_; ++index) { trajectory_point_interface[index] = joint_interface[index].get().get_value(); // get_state() from #1240 }

and you're in the async update cycle, while the HWIF from the CM thread does

for (size_t index = 0; index < dof_; ++index) { hw_states_[index] = some_value // set_state() with the updated version }

at the same time, then it doesn't matter if the access itself is thread safe, the async JTC will do the assignment and calculations based on a mixture of old and new state interfaces.

For async HW, maybe it could be possible to disable plain getters / setters and instead use a grouped set_states and get_states function? That way you could wait until all values are set by the JTC, and update the states only after that! (e.g. lock until all states are read, or all states are set)

As a quick example something like this could easily be extended for multiple types:

std::map<const char*, double> interface_name_and_value = { {"Chocolate", 12.0}, {"Coffee", 14.0}, {"Cake", 15.0}}; template<typename T> struct my_pair { my_pair() = delete; my_pair(const char* first, T second) : first_(first), second_(second) {} const char* first_; T second_; }; template <typename T, typename ...Pairs> void fun(const my_pair<T>& first_pair, const Pairs&... pairs) { interface_name_and_value[first_pair.first_] = first_pair.second_; if constexpr (sizeof...(pairs) > 0) { fun(pairs...); } } // Usage: // const my_pair p1 = {"Chocolate", 18.0}; // const my_pair p2 = {"Cake", 15.2}; // const my_pair p3 = {"Coffee", 198.2}; // lock(); // fun(p1, p2, p3); // unlock()

Plain folds are not be enough if the data is stored in some data structure though, but I think this could work with index sequences / recursive templates.

What do you think about this? The code might not be very readable, but I think this could ensure data consistency later.

controller_interface/include/controller_interface/async_function_handler.hpp

saikishor · 2024-04-24T07:34:10Z

@VX792 Will you be in today's WG meeting?

VX792 · 2024-04-24T12:03:27Z

@VX792 Will you be in today's WG meeting?

I'm not sure yet,but I think I can make it.

saikishor · 2024-04-24T12:26:02Z

I'm not sure yet, but I think I can make it.

@VX792 Sure. It's just so we can discuss this or the async topic in general. Thank you :)

mergify · 2024-08-05T16:21:12Z

This pull request is in conflict. Could you fix it @saikishor?

…purious wakeups

…rom it

…g the controller

controller_interface/src/controller_interface_base.cpp

controller_interface/include/controller_interface/controller_interface_base.hpp

bmagyar · 2024-10-17T10:24:12Z

controller_manager/src/controller_manager.cpp

+      std::bind(controller_name_compare, std::placeholders::_1, controller));
+    if (controller_it != controllers.end())
+    {
+      controller_it->c->wait_for_trigger_update_to_finish();


cannot this hang for an undetermined amount of time?

Not really, this is just until the current cycle is finished.

it might hang only when there is a crash or throw exception in another thread. That's why I added this one : ros-controls/realtime_tools#172

This is still a bit tricky, as it can easily disturb the update loop. for not is this fine. But I would love to see "async" deactivation of an async controller, or at least that we somehow earlier know what is happening.

The scenario I have in mind. My async controller is probably slow, so I would expect it to be blocking when writing for it to finish. which means that this would break the update loop here. I am not fully sure how to avoid this TBH, of how to manage it properly.

Well but this is inside the nonRT loop, it is inside the switch_controllers method, so waiting there shouldn't be a problem

What would be interesting is to skip the update trigger for the deactivated controllers to avoid it blocking

Co-authored-by: Bence Magyar <[email protected]>

bmagyar · 2024-10-17T11:19:06Z

controller_manager/src/controller_manager.cpp

@@ -2404,6 +2398,15 @@ controller_interface::return_type ControllerManager::update(
          failed_controllers_list.push_back(loaded_controller.info.name);
          ret = controller_ret;
        }
+        else if (!trigger_status)
+        {
+          RCLCPP_WARN(


Suggested change

RCLCPP_WARN(

RCLCPP_WARN(

how often does this trigger in a realistic setup? if something is off by a bit this can massively spam the console... should it be THROTTLED?

It depends this can help you see, if your controller is missing the deadline, may be this can be throttled!

Yeah it would be nice if not only the log level but the throttling ratio was also controllable for logging

destogl

Very nice!

destogl · 2024-07-31T17:26:39Z

controller_interface/package.xml

  <build_export_depend>rclcpp_lifecycle</build_export_depend>

+  <exec_depend>realtime_tools</exec_depend>


For the future: why not just to have this once using <depend> tag?

controller_interface/include/controller_interface/controller_interface_base.hpp

destogl · 2024-10-17T11:20:34Z

controller_manager/src/controller_manager.cpp

+      std::bind(controller_name_compare, std::placeholders::_1, controller));
+    if (controller_it != controllers.end())
+    {
+      controller_it->c->wait_for_trigger_update_to_finish();


This is still a bit tricky, as it can easily disturb the update loop. for not is this fine. But I would love to see "async" deactivation of an async controller, or at least that we somehow earlier know what is happening.

The scenario I have in mind. My async controller is probably slow, so I would expect it to be blocking when writing for it to finish. which means that this would break the update loop here. I am not fully sure how to avoid this TBH, of how to manage it properly.

…nterface_base.hpp

… missed trigger

destogl · 2024-10-17T14:58:57Z

Thanks for the last fix! This is much appriciated!

destogl · 2024-10-17T14:59:17Z

I will merge this, as it works great!

github-actions bot requested review from bmagyar, DasRoteSkelett, destogl, erickisos, jaron-l, olivier-stasse and peterdavidfagan April 18, 2024 13:56

saikishor added this to the Pre-Jazzy (Feb.'24) milestone Apr 18, 2024

VX792 reviewed Apr 18, 2024

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saikishor commented Apr 20, 2024

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VX792 reviewed Apr 22, 2024

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saikishor force-pushed the async_controllers branch from 40efb15 to 0d04cd3 Compare May 5, 2024 09:38

saikishor mentioned this pull request May 5, 2024

Working async controllers and components [not synchronized] #1041

Merged

VX792 approved these changes May 6, 2024

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saikishor mentioned this pull request Jun 11, 2024

Add Async Function Handler ros-controls/realtime_tools#168

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saikishor changed the title ~~Async Function Handler for Controllers and Hardware Components~~ Async Function Handler for Controllers Jun 13, 2024

saikishor force-pushed the async_controllers branch from b5de991 to f7d015d Compare August 28, 2024 11:25

saikishor mentioned this pull request Sep 12, 2024

[HW_IF] Prepare the handles for async operations #1750

Open

saikishor added 7 commits September 26, 2024 22:55

Add first version of the async controllers

e8130a4

removed extra notify one

062a445

added async_update_ready_ to use with conditional variable to avoid s…

fd270ca

…purious wakeups

call notify_one after setting the async_update_ready

703f91f

add precommit changes

c09339f

add missing this in the conditional variable callback

1f58a2d

change atomic bool to normal bool

c2f7192

saikishor added 10 commits September 26, 2024 22:55

move the async function handler to the realtime_tools and integrate f…

ee64bc7

…rom it

start the async thread when configuring the controller

469682a

remove the get_state bind for API change

f3b5d43

add new API naming changes

408780c

added thread priority argument to be able to set the scheduler priority

8f10adc

stop the thread on cleanup of the controller

a40b005

wait for cycle to finish in the switch controllers before deactivatin…

aa9a81e

…g the controller

fix the thread_priority parameter declaration type

023a204

change conditioning to not trigger logging for a failed return as well

3bd19bf

Add tests for the async controller

ebb69c5

saikishor force-pushed the async_controllers branch from 6c80b9e to ebb69c5 Compare September 26, 2024 20:55

bmagyar reviewed Oct 17, 2024

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bmagyar reviewed Oct 17, 2024

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bmagyar reviewed Oct 17, 2024

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saikishor and others added 2 commits October 17, 2024 12:31

Update controller_interface/src/controller_interface_base.cpp

e38f567

Co-authored-by: Bence Magyar <[email protected]>

Merge branch 'master' into async_controllers

cbc3638

bmagyar reviewed Oct 17, 2024

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bmagyar previously approved these changes Oct 17, 2024

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destogl previously approved these changes Oct 17, 2024

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Update controller_interface/include/controller_interface/controller_i…

00228c4

…nterface_base.hpp

destogl dismissed stale reviews from bmagyar and themself via 00228c4 October 17, 2024 11:23

destogl and others added 4 commits October 17, 2024 13:25

Fixing pre-commit.

df9378f

skip triggeting update cycle before deactivating the async controller

dd89180

fix the testing for the recent change in the deactivation scheme

5a85a24

Add controller update stats to print every 20 seconds when there is a…

75754de

… missed trigger

destogl approved these changes Oct 17, 2024

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destogl merged commit d55def1 into ros-controls:master Oct 17, 2024
17 of 19 checks passed

		<build_export_depend>rclcpp_lifecycle</build_export_depend>

		<exec_depend>realtime_tools</exec_depend>

Async Function Handler for Controllers #1489

Async Function Handler for Controllers #1489

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