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[Feature] Fallback controllers #1789

Merged
merged 26 commits into from
Oct 16, 2024
Merged

[Feature] Fallback controllers #1789

merged 26 commits into from
Oct 16, 2024

Commits on Oct 11, 2024

  1. Squash all commits of fallback controllers for upstream version 

    add fallback controllers list to the ControllerInterfaceBase

do not activate the controller if it's fallback controllers are not found or not in inactive state

add formatting changes

added the first logic of switching to the fallback controller upon error

Added a method to get the active controllers that use the command interfaces of the given controller

Compute the complete list of active controllers that already use the command interfaces needed by the fallback controllers

added fixes for the compilation

retouch for the new structure
    @saikishor
    saikishor committed Oct 11, 2024
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  2. remove the unnecessary if condition

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    saikishor committed Oct 11, 2024
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  3. check that all command and state interfaces are available for fallbac… 

    …k controllers
    @saikishor
    saikishor committed Oct 11, 2024
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  4. change the logic of the get_active_controllers_using_command_interfac… 

    …es_of_controller method
    @saikishor
    saikishor committed Oct 11, 2024
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  5. deactivate all related controller together

    @saikishor
    saikishor committed Oct 11, 2024
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Commits on Oct 12, 2024

  1. cleanup some redundant conditioning

    @saikishor
    saikishor committed Oct 12, 2024
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  2. add more clear checks on the command interfaces of fallback controllers

    @saikishor
    saikishor committed Oct 12, 2024
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  3. added a separate method to check fallback controllers state

    @saikishor
    saikishor committed Oct 12, 2024
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  4. extend the checks for the needed state interfaces

    @saikishor
    saikishor committed Oct 12, 2024
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  5. remove the newly added unused helper functions

    @saikishor
    saikishor committed Oct 12, 2024
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  6. Use references while iterating in loop

    @saikishor
    saikishor committed Oct 12, 2024
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  7. update the logic in update to activate controllers altogether

    @saikishor
    saikishor committed Oct 12, 2024
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Commits on Oct 13, 2024

  1. fix the logic for existing tests

    @saikishor
    saikishor committed Oct 13, 2024
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  2. add set_external_commands_for_testing method to the TestController class

    @saikishor
    saikishor committed Oct 13, 2024
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  3. Add a add_controller method to controller_manager that accepts Contro… 

    …llerSpec
    @saikishor
    saikishor committed Oct 13, 2024
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  4. Add first basic fallback controller test

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    saikishor committed Oct 13, 2024
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Commits on Oct 14, 2024

  1. Add a test case for the controller cannot be a fallback controller fo… 

    …r itself
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    saikishor committed Oct 14, 2024
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  2. Added a fail test case when the fallback controllers need non existin… 

    …g interface to activate
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    saikishor committed Oct 14, 2024
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  3. Added a fail test case when the fallback controllers need non existin… 

    …g state interface to activate
    @saikishor
    saikishor committed Oct 14, 2024
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  4. Added test to consider when one or more fallback controllers are alre… 

    …ady active
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    saikishor committed Oct 14, 2024
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  5. Improve logging for better introspection

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    saikishor committed Oct 14, 2024
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  6. Add test on the fallback controllers need to be in configured state a… 

    …lready
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    saikishor committed Oct 14, 2024
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  7. Added test cases when using with chainable controllers

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    saikishor committed Oct 14, 2024
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Commits on Oct 15, 2024

  1. added documentation and update release_note.rst

    @saikishor
    saikishor committed Oct 15, 2024
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Commits on Oct 16, 2024

  1. Apply suggestions from code review 

    Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
    @saikishor @bmagyar
    saikishor and bmagyar authored Oct 16, 2024
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  2. Merge branch 'master' into feature/fallback_controllers

    @saikishor
    saikishor authored Oct 16, 2024
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