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

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

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@saikishor saikishor commented Jun 16, 2024 •
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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.

image
y axis corresponds to the nanoseconds

Thank you

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codecov bot commented Jun 16, 2024 •
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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
christophfroehlich requested changes Jun 16, 2024
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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.

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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
christophfroehlich requested changes Jun 17, 2024
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Thanks for the docs 👍

hardware_interface/src/resource_manager.cpp Outdated Show resolved Hide resolved
hardware_interface/src/resource_manager.cpp Outdated Show resolved Hide resolved
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mergify bot commented Jun 25, 2024

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

@saikishor saikishor force-pushed the add/hw_components/update_rate branch from 17a20f7 to bc3d5c2 Compare June 25, 2024 13:28
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Resolved conflicts!

@fmauch fmauch mentioned this pull request Jun 27, 2024
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mergify bot commented Jul 3, 2024

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

@saikishor saikishor force-pushed the add/hw_components/update_rate branch from bc3d5c2 to 84d00da Compare July 4, 2024 13:05
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@christophfroehlich I've just fixed the conflicts after your merged PR on deprecating mimic stuff

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mergify bot commented Jul 8, 2024

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

@saikishor saikishor force-pushed the add/hw_components/update_rate branch from 2540431 to ca62a0b Compare July 8, 2024 20:41
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mergify bot commented Jul 14, 2024

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

@saikishor saikishor force-pushed the add/hw_components/update_rate branch from ca62a0b to 3033380 Compare July 16, 2024 10:53
@saikishor saikishor added this to the Pre-Jazzy (Feb.'24) milestone Jul 18, 2024
@saikishor
added the initial changes for read_rate and write_rate
96a8c3f
@saikishor
add last read and write cycle time to control the rate
79707c1
@saikishor
add read write rate parsing from the ros2_control tag in component pa…
1a799d0 
…rser
@saikishor
fix the component info using the rw_rate in the HardwareInfo
322db85
@saikishor
Add tests to the parsed rw_rate
1eb91c8
@saikishor
change the rw_rate between system and sensor interface for tests
d336e18
@saikishor
for hardware read and write period switch to rclcpp::Duration
9699eaf
@saikishor
update the state of the system test component similar to actuator tes…
593f360 
…t component
@saikishor
Add a test for a different components update rate and verifying with …
0580b3f 
…test components
@saikishor
Add more checks and clean a part of the testing code
779d495
@saikishor
Add the test case of the deactivated case
d0abc30
@saikishor
parameterize the tests for flexibility
5250a9f
@saikishor
Test also for the unconfigured and finalized lifecycle states
bc6dd6d
@saikishor
Add testing for the component parser of the read and write rate
189425f
@saikishor
Update documentation and the release notes
108a4bc
@saikishor
Parse the actual period to the read and write methods
70010f7
@saikishor
Use the current time to trigger the components based on their update …
7f05af8 
…rate
@saikishor
Update tests to reflect the change w.r.t reality
474efb4
@saikishor
update the logic to use the clock to initialize the last read and wri…
41233fc 
…te cycle time
@saikishor
Fix the test_component_interface for missing valid node_clock_interface
9daf9ab
@saikishor
use the internal mutex to skip when occupied by other nonRT things
5509eee
@saikishor
add missing copying of read and write time in the copy constructor
2edfb19
@saikishor
added the corner case of the simulation
dbfe3a0
@saikishor saikishor mentioned this pull request Oct 2, 2024
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@christophfroehlich christophfroehlich christophfroehlich approved these changes

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