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Use weak_ptr to avoid circular dependency in panther_battery package #310

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merged 4 commits into from
May 27, 2024
Merged

Use weak_ptr to avoid circular dependency in panther_battery package #310

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e941ea1
use weak_ptr to avoid circular dependency
KmakD May 17, 2024
03c0a78
Merge branch 'ros2' of https://github.com/husarion/panther_ros into r…
KmakD May 27, 2024
5278d27
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KmakD May 27, 2024
990d6c0
Merge branch 'ros2' into ros2-fix-circular-dependency
rafal-gorecki May 27, 2024
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10 changes: 7 additions & 3 deletions panther_battery/include/panther_battery/battery_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,12 +49,16 @@ class BatteryPublisher
virtual void DiagnoseErrors(diagnostic_updater::DiagnosticStatusWrapper & status) = 0;
virtual void DiagnoseStatus(diagnostic_updater::DiagnosticStatusWrapper & status) = 0;

bool TimeoutReached() const;
void BatteryStatusLogger(const BatteryStateMsg & battery_state) const;
bool TimeoutReached();
void BatteryStatusLogger(const BatteryStateMsg & battery_state);
bool ChargerConnected() const;
std::string MapPowerSupplyStatusToString(uint8_t power_supply_status) const;

rclcpp::Node::SharedPtr node_;
rclcpp::Logger GetLogger();
rclcpp::Clock::SharedPtr GetClock();

// Use weak pointer to prevent circular dependency
rclcpp::Node::WeakPtr node_;
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Maybe add info to do not forget why is that?

std::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_;

private:
Expand Down
38 changes: 27 additions & 11 deletions panther_battery/src/battery_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,13 +29,13 @@ BatteryPublisher::BatteryPublisher(
const std::shared_ptr<diagnostic_updater::Updater> & diagnostic_updater)
: node_(std::move(node)), diagnostic_updater_(std::move(diagnostic_updater))
{
node_->declare_parameter<float>("battery_timeout", 1.0);
battery_timeout_ = node_->get_parameter("battery_timeout").as_double();
node->declare_parameter<float>("battery_timeout", 1.0);
battery_timeout_ = node->get_parameter("battery_timeout").as_double();

charger_connected_ = false;
last_battery_info_time_ = rclcpp::Time(std::int64_t(0), RCL_ROS_TIME);

io_state_sub_ = node_->create_subscription<IOStateMsg>(
io_state_sub_ = node->create_subscription<IOStateMsg>(
"hardware/io_state", 3,
[&](const IOStateMsg::SharedPtr msg) { charger_connected_ = msg->charger_connected; });

Expand All @@ -47,10 +47,10 @@ void BatteryPublisher::Publish()
{
try {
this->Update();
last_battery_info_time_ = node_->get_clock()->now();
last_battery_info_time_ = GetClock()->now();
} catch (const std::runtime_error & e) {
RCLCPP_ERROR_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 1000, "Error reading battery data: " << e.what());
GetLogger(), *GetClock(), 1000, "Error reading battery data: " << e.what());

diagnostic_updater_->broadcast(
diagnostic_msgs::msg::DiagnosticStatus::ERROR,
Expand All @@ -65,13 +65,13 @@ void BatteryPublisher::Publish()
this->LogErrors();
}

bool BatteryPublisher::TimeoutReached() const
bool BatteryPublisher::TimeoutReached()
{
return (node_->get_clock()->now() - last_battery_info_time_) >
return (GetClock()->now() - last_battery_info_time_) >
rclcpp::Duration::from_seconds(battery_timeout_);
}

void BatteryPublisher::BatteryStatusLogger(const BatteryStateMsg & battery_state) const
void BatteryPublisher::BatteryStatusLogger(const BatteryStateMsg & battery_state)
{
std::string msg{};

Expand All @@ -81,20 +81,20 @@ void BatteryPublisher::BatteryStatusLogger(const BatteryStateMsg & battery_state
"The charger has been plugged in, but the charging process has not started. Check if the "
"charger is connected to a power source.";

RCLCPP_WARN_STREAM_THROTTLE(node_->get_logger(), *node_->get_clock(), 10000, msg);
RCLCPP_WARN_STREAM_THROTTLE(GetLogger(), *GetClock(), 10000, msg);
break;

case BatteryStateMsg::POWER_SUPPLY_STATUS_CHARGING:
msg = "The robot is charging. Current battery percentage: " +
std::to_string(static_cast<int>(round(battery_state.percentage * 100.0))) + "%.";

RCLCPP_INFO_STREAM_THROTTLE(node_->get_logger(), *node_->get_clock(), 180000, msg);
RCLCPP_INFO_STREAM_THROTTLE(GetLogger(), *GetClock(), 180000, msg);
break;

case BatteryStateMsg::POWER_SUPPLY_STATUS_FULL:
msg = "The battery is fully charged. Robot can be disconnected from the charger.";

RCLCPP_INFO_STREAM_THROTTLE(node_->get_logger(), *node_->get_clock(), 180000, msg);
RCLCPP_INFO_STREAM_THROTTLE(GetLogger(), *GetClock(), 180000, msg);
break;

default:
Expand Down Expand Up @@ -122,4 +122,20 @@ std::string BatteryPublisher::MapPowerSupplyStatusToString(uint8_t power_supply_
}
}

rclcpp::Logger BatteryPublisher::GetLogger()
{
if (auto node = node_.lock()) {
return node->get_logger();
}
return rclcpp::get_logger("battery_publisher");
}

rclcpp::Clock::SharedPtr BatteryPublisher::GetClock()
{
if (auto node = node_.lock()) {
return node->get_clock();
}
return std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
}

} // namespace panther_battery
16 changes: 7 additions & 9 deletions panther_battery/src/dual_battery_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,21 +38,21 @@ DualBatteryPublisher::DualBatteryPublisher(
battery_1_(std::move(battery_1)),
battery_2_(std::move(battery_2))
{
battery_pub_ = node_->create_publisher<BatteryStateMsg>("battery", 5);
battery_1_pub_ = node_->create_publisher<BatteryStateMsg>("battery_1_raw", 5);
battery_2_pub_ = node_->create_publisher<BatteryStateMsg>("battery_2_raw", 5);
battery_pub_ = node->create_publisher<BatteryStateMsg>("battery", 5);
battery_1_pub_ = node->create_publisher<BatteryStateMsg>("battery_1_raw", 5);
battery_2_pub_ = node->create_publisher<BatteryStateMsg>("battery_2_raw", 5);
}

void DualBatteryPublisher::Update()
{
const auto header_stamp = node_->get_clock()->now();
const auto header_stamp = this->GetClock()->now();
battery_1_->Update(header_stamp, ChargerConnected());
battery_2_->Update(header_stamp, ChargerConnected());
}

void DualBatteryPublisher::Reset()
{
const auto header_stamp = node_->get_clock()->now();
const auto header_stamp = this->GetClock()->now();
battery_1_->Reset(header_stamp);
battery_2_->Reset(header_stamp);
}
Expand All @@ -71,13 +71,11 @@ void DualBatteryPublisher::LogErrors()
{
if (battery_1_->HasErrorMsg()) {
RCLCPP_ERROR_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 10000,
"Battery nr 1 error: " << battery_1_->GetErrorMsg());
GetLogger(), *GetClock(), 10000, "Battery nr 1 error: " << battery_1_->GetErrorMsg());
}
if (battery_2_->HasErrorMsg()) {
RCLCPP_ERROR_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 10000,
"Battery nr 2 error: " << battery_2_->GetErrorMsg());
GetLogger(), *GetClock(), 10000, "Battery nr 2 error: " << battery_2_->GetErrorMsg());
}
}

Expand Down
11 changes: 5 additions & 6 deletions panther_battery/src/single_battery_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,19 +35,19 @@ SingleBatteryPublisher::SingleBatteryPublisher(
const std::shared_ptr<Battery> & battery)
: BatteryPublisher(std::move(node), std::move(diagnostic_updater)), battery_(std::move(battery))
{
battery_pub_ = node_->create_publisher<BatteryStateMsg>("battery", 5);
battery_1_pub_ = node_->create_publisher<BatteryStateMsg>("battery_1_raw", 5);
battery_pub_ = node->create_publisher<BatteryStateMsg>("battery", 5);
battery_1_pub_ = node->create_publisher<BatteryStateMsg>("battery_1_raw", 5);
}

void SingleBatteryPublisher::Update()
{
const auto header_stamp = node_->get_clock()->now();
const auto header_stamp = this->GetClock()->now();
battery_->Update(header_stamp, ChargerConnected());
}

void SingleBatteryPublisher::Reset()
{
const auto header_stamp = node_->get_clock()->now();
const auto header_stamp = this->GetClock()->now();
battery_->Reset(header_stamp);
}

Expand All @@ -63,8 +63,7 @@ void SingleBatteryPublisher::LogErrors()
{
if (battery_->HasErrorMsg()) {
RCLCPP_ERROR_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 10000,
"Battery error: " << battery_->GetErrorMsg());
GetLogger(), *GetClock(), 10000, "Battery error: " << battery_->GetErrorMsg());
}
}

Expand Down