Gpio command controller #1251

Wiktor-99 · 2024-08-17T10:24:19Z

As I discussed with @christophfroehlich I've opened new pr with gpio controller.

This PR is a follow-up to the thread and implements a controller to send commands to GPIO interfaces, allowing specific command interfaces for each GPIO.

I have made the following changes compared to the original PR:

I utilized the 'DynamicJointState' message for both the command and state interfaces (this allows sending commands with specific GPIO values without having to worry about the order of ports in the command message).
I added a parameters file, and the new input parameters file will look something like this:

gpios:
  - gpio1
  - gpio2
command_interfaces:
  - gpio1:
    - ports:
      - dig1
      - dig2
  - gpio2:
    - ports:
      - ana1

I've done significant refactoring and have added many new UTs.

… params and align UTs

…rams struct instead. Use default member initializer.

…nitialize_gpio_state_msg methods

…e as cmd type

christophfroehlich · 2024-11-11T21:37:45Z

One last comment @saikishor brought up: Using DynamicJointStates for the commands feels semantically more than wrong here. Should we add a copy and name it more appropriate? DynamicResourceValuesor something better. Even for the broadcaster it is questionable.

Wiktor-99 · 2024-11-12T16:56:22Z

Yes, I totally agree with you. Speaking of naming I would propose to add new message DynamicComponentValues, resource sounds like it could be acquired.

I've posted pr in the control_msgs repo ros-controls/control_msgs#155. When it merges, I'll align this pr.

saikishor · 2024-11-16T08:56:05Z

@Wiktor-99 @christophfroehlich may be this PR is also missing dependency in the ros2_controllers metapkg

christophfroehlich · 2024-11-16T09:00:29Z

@Wiktor-99 @christophfroehlich may be this PR is also missing dependency in the ros2_controllers metapkg

you are right!

Wiktor-99 · 2024-11-16T16:25:04Z

Yep, it had been missing. I've aligned it to use DynamicInterfaceGroupValues and fixed dependency in the meta pkg.

christophfroehlich

I once again tested it successfully with the demo PR. One last request from my side: please add a new section to the release notes.

gpio_controllers/doc/userdoc.rst

…userdoc

christophfroehlich

Perfect, thanks!

saikishor

LGTM

Thanks for addressing all the comments @Wiktor-99 and @christophfroehlich

gpio_controllers/CMakeLists.txt

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

gpio_controllers/CMakeLists.txt

--------- Co-authored-by: m.bednarczyk <m.bednarczyk@unistra.fr> Co-authored-by: Maciej Bednarczyk <macbednarczyk@gmail.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> (cherry picked from commit 0590c6a) # Conflicts: # doc/release_notes.rst

christophfroehlich · 2024-11-18T14:09:04Z

@Wiktor-99 could you please review ros-controls/ros2_control_demos#627 ?

Wiktor-99 · 2024-11-18T15:59:39Z

@christophfroehlich Yep I'll do it, can't promise I'll do it today but tomorrow seems feasible.

* Gpio command controller (#1251) --------- Co-authored-by: m.bednarczyk <m.bednarczyk@unistra.fr> Co-authored-by: Maciej Bednarczyk <macbednarczyk@gmail.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> (cherry picked from commit 0590c6a) # Conflicts: # doc/release_notes.rst * Update release_notes.rst * Fix GPIO controller on humble (#1403) * Add compatibility build for humble+jazzy distro (#1368) (#1373) (cherry picked from commit 3b600f2) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> * Fix compilation and align UTs * Update docs --------- Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> * Remove range-loop-construct compile options * Add missing dependency to gpio_controllers (#1410) (#1412) (cherry picked from commit dc60f6f) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> --------- Co-authored-by: Wiktor Bajor <69388767+Wiktor-99@users.noreply.github.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

mcbed and others added 30 commits July 26, 2024 09:25

added gpio_command_controller

5fecf27

added doc to gpio controllers

6ffda9d

changed parameter interface_names to command_interfaces

f88fc7d

added test

56fc1e5

code formating

9e73ab7

added gpio state publisher

1cbd3a6

fixed broken node_state

7228e06

added DynamicJointState message for Gpio state

880aeea

fixed tests and added gpio state tests

94befb0

fixed format

882c936

Apply pre-commit fix

efce87a

Fix compilation on ros rolling

b53bff6

Add parameters file, use generated gpio_command_controller_parameters…

67b6069

… params and align UTs

Remove unnecessary members: interface_names_, gpios_names_ and use pa…

30d2604

…rams struct instead. Use default member initializer.

Refactor of storing interface types

4c824e8

Remove unnecessary includes

dd86d9e

Refacotr on_activate method. Add validate_configured_interfaces and i…

4ac938d

…nitialize_gpio_state_msg methods

Refactor update method, split update of state if and command if

aa59297

Move test fixture form hpp to cpp

6276617

Update docks and package.xml

66bd971

Add state validation

7b70159

Store command and state ifs in the map

58c1afc

Use interface maps for command and state update. Use DynamicJointStat…

e5c65db

…e as cmd type

Use ordered state if vector instead of map

0dc5c87

Restore state if validation

765a3cb

Align logging

a1c8fa3

Update code layout

de8acba

Simplifie test fixture

aebbf0b

Update tests. Stop using pointer, set members as public

0deb417

Add set of test for init

3e7a12a

Merge branch 'master' into gpio_controllers

a8bc556

Wiktor-99 mentioned this pull request Nov 12, 2024

Add Dynamic Interface Group Values message ros-controls/control_msgs#155

Merged

Wiktor-99 added 3 commits November 16, 2024 17:21

Update pkg xmls

9c30814

Add control_msgs to CMakeLists

39d885a

Use DynamicInterfaceGroupValues instead of DynamicInterfaceValues

305ab61

Merge branch 'master' into gpio_controllers

2f49765

christophfroehlich requested changes Nov 17, 2024

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christophfroehlich requested a review from saikishor November 17, 2024 22:42

Add gpio_controllers to the release_notes and add minor fixes to the …

5c32a72

…userdoc

Wiktor-99 requested a review from christophfroehlich November 18, 2024 08:06

christophfroehlich approved these changes Nov 18, 2024

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saikishor approved these changes Nov 18, 2024

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christophfroehlich removed the backport-iron label Nov 18, 2024

mergify bot mentioned this pull request Nov 18, 2024

Add Dynamic Interface Group Values message (backport #155) ros-controls/control_msgs#156

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saikishor reviewed Nov 18, 2024

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Update compile flags

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Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

christophfroehlich reviewed Nov 18, 2024

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christophfroehlich added 2 commits November 18, 2024 14:30

Fix format

6ef4023

Merge branch 'master' into gpio_controllers

bc3eb30

christophfroehlich merged commit 0590c6a into ros-controls:master Nov 18, 2024
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mergify bot mentioned this pull request Nov 18, 2024

Gpio command controller (backport #1251) #1372

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Gpio command controller #1251

Gpio command controller #1251

Wiktor-99 commented Aug 17, 2024 •

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Gpio command controller #1251

Gpio command controller #1251

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