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[Iron] Fix conflicts of 1661 backport #1736

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Merged
merged 2 commits into from
Aug 31, 2024
Merged

[Iron] Fix conflicts of 1661 backport #1736

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6077445
Fix conflicts
saikishor Aug 31, 2024
53ba97d
added controller_type parameter setting to the spawner
saikishor Aug 31, 2024
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13 changes: 0 additions & 13 deletions controller_manager/controller_manager/controller_manager_services.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -323,17 +323,4 @@ def set_controller_parameters_from_param_file(
node, controller_manager_name, controller_name, "type", controller_type
):
return False

fallback_controllers = get_parameter_from_param_file(
controller_name, spawner_namespace, parameter_file, "fallback_controllers"
)
if fallback_controllers:
if not set_controller_parameters(
node,
controller_manager_name,
controller_name,
"fallback_controllers",
fallback_controllers,
):
return False
return True
88 changes: 9 additions & 79 deletions controller_manager/controller_manager/spawner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,17 +26,14 @@
load_controller,
switch_controllers,
unload_controller,
set_controller_parameters,
set_controller_parameters_from_param_file,
bcolors,
)
from controller_manager.controller_manager_services import ServiceNotFoundError

import rclpy
from rclpy.node import Node
<<<<<<< HEAD
from rclpy.parameter import get_parameter_value
=======
>>>>>>> 0631e3e (Refactor spawner to be able to reuse code for ros2controlcli (#1661))
from rclpy.signals import SignalHandlerOptions


Expand Down Expand Up @@ -160,10 +157,6 @@ def main(args=None):

try:
for controller_name in controller_names:
<<<<<<< HEAD
=======

>>>>>>> 0631e3e (Refactor spawner to be able to reuse code for ros2controlcli (#1661))
if is_controller_loaded(
node, controller_manager_name, controller_name, controller_manager_timeout
):
Expand All @@ -173,77 +166,15 @@ def main(args=None):
+ bcolors.ENDC
)
else:
<<<<<<< HEAD
controller_type = (
args.controller_type
if param_file is None
else get_parameter_from_param_file(
controller_name, spawner_namespace, param_file, "type"
)
)
if controller_type:
parameter = Parameter()
parameter.name = controller_name + ".type"
parameter.value = get_parameter_value(string_value=controller_type)

response = call_set_parameters(
node=node, node_name=controller_manager_name, parameters=[parameter]
)
assert len(response.results) == 1
result = response.results[0]
if result.successful:
node.get_logger().info(
bcolors.OKCYAN
+ 'Set controller type to "'
+ controller_type
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
else:
node.get_logger().fatal(
bcolors.FAIL
+ 'Could not set controller type to "'
+ controller_type
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
if args.controller_type:
if not set_controller_parameters(
node,
controller_manager_name,
controller_name,
"type",
args.controller_type,
):
return 1

if param_file:
parameter = Parameter()
parameter.name = controller_name + ".params_file"
parameter.value = get_parameter_value(string_value=param_file)

response = call_set_parameters(
node=node, node_name=controller_manager_name, parameters=[parameter]
)
assert len(response.results) == 1
result = response.results[0]
if result.successful:
node.get_logger().info(
bcolors.OKCYAN
+ 'Set controller params file to "'
+ param_file
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
else:
node.get_logger().fatal(
bcolors.FAIL
+ 'Could not set controller params file to "'
+ param_file
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
=======
if param_file:
if not set_controller_parameters_from_param_file(
node,
Expand All @@ -252,7 +183,6 @@ def main(args=None):
param_file,
spawner_namespace,
):
>>>>>>> 0631e3e (Refactor spawner to be able to reuse code for ros2controlcli (#1661))
return 1

ret = load_controller(node, controller_manager_name, controller_name)
Expand Down
51 changes: 0 additions & 51 deletions controller_manager/test/test_spawner_unspawner.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -283,57 +283,6 @@ TEST_F(TestLoadController, unload_on_kill)
ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
}

<<<<<<< HEAD
=======
TEST_F(TestLoadController, spawner_test_fallback_controllers)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_fallback_controllers.yaml";

cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME));

ControllerManagerRunner cm_runner(this);
EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager --load-only -p " + test_file_path), 0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);
{
auto ctrl_1 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_1.info.name, "ctrl_1");
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
}

// Try to spawn now the controller with fallback controllers inside the yaml
EXPECT_EQ(
call_spawner("ctrl_2 ctrl_3 -c test_controller_manager --load-only -p " + test_file_path), 0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 3ul);
{
auto ctrl_1 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_1.info.name, "ctrl_1");
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_THAT(
ctrl_2.info.fallback_controllers_names, testing::ElementsAre("ctrl_6", "ctrl_7", "ctrl_8"));
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);

auto ctrl_3 = cm_->get_loaded_controllers()[2];
ASSERT_EQ(ctrl_3.info.name, "ctrl_3");
ASSERT_EQ(ctrl_3.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_THAT(ctrl_3.info.fallback_controllers_names, testing::ElementsAre("ctrl_9"));
ASSERT_EQ(ctrl_3.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
}
}

>>>>>>> 0631e3e (Refactor spawner to be able to reuse code for ros2controlcli (#1661))
TEST_F(TestLoadController, spawner_with_many_controllers)
{
std::stringstream ss;
Expand Down