Move GPIO driver to hardware_interfaces #343
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WalkthroughThe updates across the Changes
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Actionable comments posted: 10
Outside diff range and nitpick comments (6)
panther_lights/test/test_driver_node.cpp (1)
41-41: Consider adding more detailed comments to explain the purpose of each test, especially for complex scenarios like message timeout and encoding failures.Also applies to: 62-62
panther_lights/README.md (1)
58-58: Clarify the description for the service clienthardware/led_control_enable.The current description suggests that this service allows setting animations based on an ID, which might be confusing since it's actually for enabling or disabling LED control. Consider rephrasing it to:
- `hardware/led_control_enable` [*std_srvs/SetBool*]: enables or disables LED control.panther_hardware_interfaces/README.md (4)
Line range hint
26-26: Consider adding a comma after "resource manager" for better readability.- This package doesn't contain any standalone nodes - `PantherSystem` is a plugin loaded by the resource manager. To use this hardware interface you have to add it to your URDF + This package doesn't contain any standalone nodes - `PantherSystem` is a plugin loaded by the resource manager, To use this hardware interface you have to add it to your URDFAlso applies to: 101-101
Line range hint
26-26: The phrase "That said" could be followed by a comma for improved clarity.- That said apart from the usual interface provided by the ros2_control, this plugin also provides additional published topics and services specific for Panther. + That said, apart from the usual interface provided by the ros2_control, this plugin also provides additional published topics and services specific for Panther.
Line range hint
182-182: Consider adding a comma after "RT" to separate the clauses clearly.- ### RT To configure RT check out the instructions provided in the [ros2_control docs](https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html#determinism) (add group and change `/etc/security/limits.conf`). + ### RT, To configure RT check out the instructions provided in the [ros2_control docs](https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html#determinism) (add group and change `/etc/security/limits.conf`).
Line range hint
209-209: Consider adding "the" before "--parallel-workers 1flag" for grammatical correctness.- As some of the tests are accessing the virtual CAN interface, they can't be executed in parallel (that's why `--parallel-workers 1` flag). + As some of the tests are accessing the virtual CAN interface, they can't be executed in parallel (that's why the `--parallel-workers 1` flag).
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (24)
- panther_controller/launch/controller.launch.py (1 hunks)
- panther_hardware_interfaces/CMakeLists.txt (4 hunks)
- panther_hardware_interfaces/CODE_STRUCTURE.md (1 hunks)
- panther_hardware_interfaces/README.md (1 hunks)
- panther_hardware_interfaces/cmake/SuperBuild.cmake (2 hunks)
- panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp (9 hunks)
- panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_driver.hpp (3 hunks)
- panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp (2 hunks)
- panther_hardware_interfaces/package.xml (2 hunks)
- panther_hardware_interfaces/src/gpio_controller.cpp (8 hunks)
- panther_hardware_interfaces/src/gpio_driver.cpp (3 hunks)
- panther_hardware_interfaces/src/panther_system.cpp (2 hunks)
- panther_hardware_interfaces/src/panther_system_e_stop.cpp (3 hunks)
- panther_hardware_interfaces/src/panther_system_ros_interface.cpp (3 hunks)
- panther_hardware_interfaces/test/test_gpio_controller.cpp (3 hunks)
- panther_hardware_interfaces/test/test_gpio_driver.cpp (5 hunks)
- panther_lights/CMakeLists.txt (3 hunks)
- panther_lights/README.md (4 hunks)
- panther_lights/include/panther_lights/driver_node.hpp (3 hunks)
- panther_lights/package.xml (1 hunks)
- panther_lights/src/driver_node.cpp (4 hunks)
- panther_lights/src/driver_node_main.cpp (1 hunks)
- panther_lights/test/test_driver_node.cpp (2 hunks)
- panther_utils/include/panther_utils/configure_rt.hpp (1 hunks)
Files not summarized due to errors (2)
- panther_hardware_interfaces/test/test_gpio_controller.cpp: Error: Server error. Please try again later.
- panther_hardware_interfaces/CODE_STRUCTURE.md: Error: Server error. Please try again later.
Files skipped from review due to trivial changes (3)
- panther_hardware_interfaces/src/panther_system_e_stop.cpp
- panther_lights/src/driver_node_main.cpp
- panther_utils/include/panther_utils/configure_rt.hpp
Additional context used
LanguageTool
panther_hardware_interfaces/CODE_STRUCTURE.md
[uncategorized] ~9-~9: A determiner appears to be missing. Consider inserting it. (AI_EN_LECTOR_MISSING_DETERMINER)
Context: ...t low level SDO and PDO communication). Timestamp of all received PDO data is also saved,...
[uncategorized] ~14-~14: Possible missing comma found. (AI_HYDRA_LEO_MISSING_COMMA)
Context: ... (front and rear). For handling CANopen communication separate thread is created with configu...
[uncategorized] ~14-~14: You might be missing the article “a” here. (AI_EN_LECTOR_MISSING_DETERMINER_A)
Context: ...ar). For handling CANopen communication separate thread is created with configurable RT ...
[uncategorized] ~41-~41: A comma might be missing here. (AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
Context: ...ome rare cases, Roboteq controllers can miss for example the SDO response, or PDO ca...
[style] ~42-~42: The adverb ‘usually’ usually goes after the verb ‘are’. (ADVERB_WORD_ORDER)
Context: ...er, which results in a timeout. As they usually are rare and singular occurrences, it is be...
[uncategorized] ~53-~53: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... utilities: *GPIOControllerInterface: Interface for all wrappers that handle ...
[uncategorized] ~54-~54: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... control tasks. *GPIOControllerPTH12X: Class with specific logic for the Panth...
[uncategorized] ~55-~55: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...1.20 and above. *GPIOControllerPTH10X: Class with specific logic for the Panth...
[uncategorized] ~56-~56: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...ot with version below 1.20. *Watchdog: Entity responsible for spinning the sof...
[uncategorized] ~56-~56: You might be missing the article “a” here. (AI_EN_LECTOR_MISSING_DETERMINER_A)
Context: ...dically sets the high and low states of specific GPIO Watchdog pin. Used only with `GPIO...
[uncategorized] ~62-~62: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...gency stop handling. *EStopInterface: Interface for versioned emergency stop ...
[uncategorized] ~63-~63: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...cy stop implementations. *EStopPTH12X: Class with specific logic for the Panth...
[uncategorized] ~64-~64: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... version 1.20 and above. *EStopPTH10X: Class with specific logic for the Panth...
[uncategorized] ~74-~74: Possible missing comma found. (AI_HYDRA_LEO_MISSING_COMMA)
Context: ...t) and commands (velocity). In the main loop controller should callreadand `writ...panther_lights/README.md
[uncategorized] ~110-~110: If this is a compound adjective that modifies the following noun, use a hyphen. (EN_COMPOUND_ADJECTIVE_INTERNAL)
Context: ...o a YAML file with a description of the user defined animations. [//]: # (ROS_API_NODE_PARA...
[uncategorized] ~125-~125: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...ween multiple panels. -number_of_leds: defines the total number of LEDs presen...
[uncategorized] ~131-~131: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... segment has three attributes: -name: the identifier for the segment, such as...
[uncategorized] ~132-~132: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...e between multiple segments. -channel: This specifies which LED panel the segm...
[grammar] ~132-~132: After ‘It’, use the third-person verb form “has”. (IT_VBZ)
Context: ...ch LED panel the segment belongs to. It have to match one of the channels defined in...
[uncategorized] ~133-~133: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...d in thepanelssection. -led_range: This defines the range of LEDs within t...
[uncategorized] ~137-~137: Did you mean: “By default,”? (BY_DEFAULT_COMMA)
Context: ...ents defined in thesegmentssection. By default you can use provided mapping: -all...
[uncategorized] ~152-~152: Possible missing comma found. (AI_HYDRA_LEO_MISSING_COMMA)
Context: ...N_**]: name of an animation. If not provided will default to ANIMATION_, whe...panther_hardware_interfaces/README.md
[typographical] ~26-~26: It seems that a comma is missing. (IN_ORDER_TO_VB_COMMA)
Context: ... resource manager. To use this hardware interface you have to add it to your URDF (you ca...
[formatting] ~26-~26: Use a comma after introducing a concessive statement. (EVEN_SO_PREMIUM)
Context: ...ther_ros/panther_controller/) package). That said apart from the usual interface provided...
[typographical] ~101-~101: It seems that a comma is missing. (IN_ORDER_TO_VB_COMMA)
Context: ... resource manager. To use this hardware interface you have to add it to your URDF (you ca...
[uncategorized] ~182-~182: A comma might be missing here. (AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
Context: ...guration.yaml -r` ### RT To configure RT check out the instructions provided in ...
[uncategorized] ~209-~209: You might be missing the article “the” here. (AI_EN_LECTOR_MISSING_DETERMINER_THE)
Context: ...n't be executed in parallel (that's why--parallel-workers 1flag).
Markdownlint
panther_lights/README.md
264-264: null (MD028, no-blanks-blockquote)
Blank line inside blockquote
Additional comments not posted (44)
panther_lights/package.xml (1)
27-27: The addition ofstd_srvsas a dependency aligns well with the new service functionalities introduced for LED control. Good to see dependencies kept up-to-date with feature requirements.panther_hardware_interfaces/package.xml (2)
17-17: Adding a new author to the package metadata is a good practice to acknowledge contributions.
21-26: The addition of new build dependencies is appropriate given the expanded functionality of the hardware interfaces. Please ensure thatpluginlibis placed correctly as per its usage in the package.Verification successful
The search results indicate that
pluginlibis indeed used within thepanther_hardware_interfacespackage, specifically in theCMakeLists.txtand source files. This confirms that the addition ofpluginlibas a build dependency in thepackage.xmlfile is appropriate and necessary.
panther_hardware_interfaces/CMakeLists.txt:pluginlibis listed as a dependency.panther_hardware_interfaces/src/panther_system.cpp:pluginlib/class_list_macros.hppis included.panther_hardware_interfaces/src/panther_imu.cpp:pluginlib/class_list_macros.hppis included.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the placement of `pluginlib` in the build dependencies. # Test: Search for `pluginlib` usage in the CMake files to ensure it's required as a build dependency. rg --type cmake $'find_package\(pluginlib\)'Length of output: 45
Script:
#!/bin/bash # Description: Verify the usage of `pluginlib` in the entire codebase. # Test: Search for `pluginlib` usage in source code files to ensure it's required as a build dependency. rg 'pluginlib'Length of output: 3672
panther_hardware_interfaces/cmake/SuperBuild.cmake (1)
17-17: The configuration for external projectsep_liblelyandep_libgpiodis well-defined. Ensure that the build flags and parallel build settings (-j ${N}) are optimized for your build environment.Also applies to: 34-47
Verification successful
The verification script found that the parallel build setting
make -j ${N}is present in thepanther_hardware_interfaces/cmake/SuperBuild.cmakefile. However, it did not find any specific build flags (CMAKE_CXX_FLAGS,CMAKE_C_FLAGS, oradd_compile_options) in the CMake files.
- Location of parallel build setting:
panther_hardware_interfaces/cmake/SuperBuild.cmake:BUILD_COMMAND make -j ${N}No specific build flags were found in the CMake files.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the build flags and parallel build settings. # Test: Check the build logs for warnings or errors related to the specified build flags and parallelism. cat build_logs.txt | grep -i 'warning\|error'Length of output: 94
Script:
#!/bin/bash # Description: Verify the build flags and parallel build settings in CMake files. # Search for build flags in CMake files rg 'CMAKE_CXX_FLAGS|CMAKE_C_FLAGS|add_compile_options' --glob '*.cmake' # Search for parallel build settings in CMake files rg 'parallel|j\s*\$\{N\}' --glob '*.cmake'Length of output: 198
panther_hardware_interfaces/CODE_STRUCTURE.md (3)
44-48: The description of the GPIODriver is clear and concise. Good job on detailing its responsibilities and functionalities.
46-47: Consider adding a determiner before "Timestamp" to improve readability.- Timestamp of all received PDO data is also saved... + The timestamp of all received PDO data is also saved...Likely invalid or redundant comment.
46-47: Insert a comma after "communication" for better readability.- For handling CANopen communication separate thread is created... + For handling CANopen communication, a separate thread is created...Likely invalid or redundant comment.
panther_hardware_interfaces/test/test_gpio_controller.cpp (1)
22-39: The use ofusingdirectives improves readability by simplifying type names. Good practice!panther_lights/test/test_driver_node.cpp (1)
41-41: The modifications to the initialization and subscriber setup are appropriate and align with the changes in the main application code.Also applies to: 62-62
panther_hardware_interfaces/test/test_gpio_driver.cpp (1)
27-27: The structure and organization of the tests are excellent. The use ofstd::unique_ptrfor managing the GPIODriver instance is a good practice.Also applies to: 30-31, 46-46, 55-55, 81-84, 93-97
panther_lights/CMakeLists.txt (3)
16-16: Added dependency onstd_srvspackage.This change aligns with the PR's objective to enhance LED control functionalities.
38-39: Updatedament_target_dependenciesfordriver_nodeto includestd_srvs.This ensures that the new service dependencies for LED control are correctly managed.
181-182: Addedstd_srvsto the dependencies for the test suite.This is necessary to ensure that the test environment mirrors the changes made in the main application, particularly regarding the new service functionalities.
panther_lights/src/driver_node.cpp (9)
27-29: Includedstd_srvs/srv/set_bool.hppfor service definitions.This inclusion is essential for the new LED control services introduced in this update.
55-61: Initialization of parameters and setting global brightness for channels.Proper use of node parameters to configure hardware settings dynamically.
62-67: Creation of service clients and servers for LED brightness and control.This setup is crucial for the new functionalities related to dynamic LED control.
74-92: Initialization of ImageTransport subscribers for LED channels.Efficient setup for handling image data streams, which is critical for the LED display functionalities.
97-102: Proper shutdown sequence to clear LEDs and toggle control based on state.Ensures that the system gracefully deactivates the LEDs and updates control states during shutdown.
110-126: Implementation of toggling LED control via service requests.This method provides a robust mechanism for enabling or disabling LED control dynamically through external service calls.
128-147: Callback handling for LED control service responses.Proper error handling and state management based on the service call results.
Line range hint
154-180: Handling frame reception and validation for LED panels.Includes thorough checks for frame validity and appropriate logging, which is crucial for maintaining the integrity of the LED display.
216-220: Diagnostic status updates based on LED control permissions.Effective use of diagnostic tools to provide feedback on the operational status of the LED control.
panther_hardware_interfaces/src/gpio_controller.cpp (8)
30-30: Constructor forWatchdogclass with improved error handling.Enhances robustness by checking pin availability during initialization.
82-82: Method to register GPIO event callbacks.Essential for reactive GPIO management based on external events.
91-96: Methods to check pin states.These methods are crucial for ensuring that the GPIO pins are in the expected state before performing operations.
103-106: Initialization of GPIO driver and setting initial pin values.Proper setup of hardware interface for motor control and other functionalities.
121-121: Handling of emergency stop reset logic.Critical for safety, ensuring that the system can properly manage emergency stop scenarios.
155-175: Methods to enable various hardware controls.These methods provide a clear and direct way to manage different aspects of the hardware's power states.
178-181: Method to enable LED control.Aligns with the PR's goals to enhance control over hardware interfaces, specifically for LED management.
183-192: Method to query the current IO states of control interfaces.Provides a comprehensive view of the current hardware states, which is useful for diagnostics and system checks.
panther_hardware_interfaces/src/gpio_driver.cpp (2)
15-15: Included the header forgpio_driver.Necessary for the compilation and linkage of the GPIO driver functionalities.
34-34: Constructor forGPIODriverwith initial configuration.Sets up the GPIO driver with initial settings, ensuring that the hardware is correctly configured from the start.
panther_hardware_interfaces/CMakeLists.txt (4)
61-70: Ensure all source files listed are necessary and correctly implemented.Verification successful
The search results indicate that all the source files listed in the
CMakeLists.txtare indeed used in the project. Each file has corresponding references in the codebase, confirming their necessity and correct implementation.
gpio_driver.cppmotors_controller.cpppanther_imu.cpppanther_system_e_stop.cpppanther_system_ros_interface.cpppanther_system.cpproboteq_data_converters.cpproboteq_driver.cpproboteq_error_filter.cpputils.cppThese files are referenced in various parts of the project, ensuring their relevance and usage.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that all source files listed are used in the project. # Test: Search for the implementation of each source file. Expect: At least one occurrence for each. rg --type cpp --type hpp "canopen_controller|gpio_controller|gpio_driver|motors_controller|panther_imu|panther_system_e_stop|panther_system_ros_interface|panther_system|roboteq_data_converters|roboteq_driver|utils"Length of output: 244
Script:
#!/bin/bash # Description: Verify that all source files listed are used in the project. # Test: Search for the implementation of each source file. Expect: At least one occurrence for each. rg --type cpp --type h "gpio_driver|motors_controller|panther_imu|panther_system_e_stop|panther_system_ros_interface|panther_system|roboteq_data_converters|roboteq_driver|utils"Length of output: 70441
170-188: Review the test configurations forgpio_driverandgpio_controllerto ensure they align with the new changes.Verification successful
The test configurations for
gpio_driverandgpio_controllerare present and appear to be correctly set up in the respective test files. The tests include various scenarios and utilize the necessary dependencies and libraries.
panther_hardware_interfaces/test/test_gpio_controller.cpppanther_hardware_interfaces/test/test_gpio_driver.cppThese files contain comprehensive test cases for the
gpio_controllerandgpio_drivercomponents, ensuring their functionality aligns with the expected behavior.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that the test configurations for gpio_driver and gpio_controller are updated. # Test: Search for the test configurations in the project. Expect: Updated configurations. rg --type cpp --type hpp "test_gpio_driver|test_gpio_controller"Length of output: 94
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#!/bin/bash # Description: Verify that the test configurations for gpio_driver and gpio_controller are updated. # Test: Search for the test configurations in the project. Expect: Updated configurations. rg --type cpp --type h "test_gpio_driver|test_gpio_controller"Length of output: 64
Script:
#!/bin/bash # Description: Locate the test files for gpio_driver and gpio_controller and check their contents. # Locate the test files test_files=$(fd --type f "test_gpio_driver.cpp|test_gpio_controller.cpp") # Check the contents of the located test files for file in $test_files; do echo "Contents of $file:" cat "$file" doneLength of output: 12150
55-55: Correctly addedLIBGPIODtopkg_check_modules. Ensure it is used appropriately in the project.
23-42: Ensure all newly added dependencies are necessary and correctly integrated.Verification successful
The search results confirm that the dependencies
geometry_msgs,generate_parameter_library, andphidgets_apiare indeed used within the project. Here are the relevant findings:
geometry_msgsis extensively used in multiple source files (.cpp,.hpp) and test files.generate_parameter_libraryis referenced inCMakeLists.txtandpackage.xml.phidgets_apiis included in header files and referenced inCMakeLists.txt.These findings indicate that the newly added dependencies are necessary and correctly integrated into the project.
geometry_msgsusage:
panther_hardware_interfaces/test/test_panther_imu.cpppanther_hardware_interfaces/src/panther_imu.cpppanther_hardware_interfaces/include/panther_hardware_interfaces/panther_imu.hpp
generate_parameter_libraryusage:
panther_hardware_interfaces/CMakeLists.txtpanther_hardware_interfaces/package.xmlpanther_diagnostics/package.xmlpanther_diagnostics/CMakeLists.txt
phidgets_apiusage:
panther_hardware_interfaces/include/panther_hardware_interfaces/panther_imu.hpppanther_hardware_interfaces/CMakeLists.txtpanther_hardware_interfaces/package.xmlScripts executed
The following scripts were executed for the analysis:
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#!/bin/bash # Description: Verify that all new dependencies in PACKAGE_INCLUDE_DEPENDS are used in the project. # Test: Search for the usage of each dependency. Expect: At least one occurrence for each. rg --type cpp --type hpp "geometry_msgs|generate_parameter_library|phidgets_api"Length of output: 110
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#!/bin/bash # Description: Verify that all new dependencies in PACKAGE_INCLUDE_DEPENDS are used in the project. # Test: Search for the usage of each dependency. Expect: At least one occurrence for each. rg --type-add 'cpp:*.{cpp,h}' "geometry_msgs|generate_parameter_library|phidgets_api"Length of output: 7619
panther_hardware_interfaces/src/panther_system_ros_interface.cpp (1)
Line range hint
205-216: Ensure the new methodPublishIOStatecorrectly handles the GPIO states and integrates well with the system's overall functionality.panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_driver.hpp (1)
Line range hint
15-296: Review the entire header file to ensure all declarations and documentations are correct and up-to-date.Verification successful
The
gpio_driver.hppfile has been successfully located and its contents have been reviewed. The declarations and documentations appear to be comprehensive and well-documented.
- The file includes necessary headers and namespaces.
- Enumerations, structures, and class declarations are clearly defined.
- Methods are documented with detailed descriptions, parameters, and examples.
No issues were found in the declarations and documentations within the
gpio_driver.hppfile.Scripts executed
The following scripts were executed for the analysis:
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#!/bin/bash # Description: Verify that all declarations and documentations in gpio_driver.hpp are correct. # Test: Manually review the file for correctness. cat src/panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_driver.hppLength of output: 205
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#!/bin/bash # Locate the gpio_driver.hpp file and display its contents # Find the file file_path=$(fd gpio_driver.hpp) # Display the contents if the file is found if [ -n "$file_path" ]; then cat "$file_path" else echo "gpio_driver.hpp file not found" fiLength of output: 10435
panther_controller/launch/controller.launch.py (1)
199-199: Ensure the new node remapping forled_control_enableis correctly configured and integrates well with the system's overall functionality.Verification successful
The search results indicate that
hardware/led_control_enableis referenced in multiple places, includingREADME.mdfiles and a source file (driver_node.cpp). This suggests that the remapped topic is indeed integrated into the system.
panther_lights/README.md: Describes the purpose ofhardware/led_control_enable.panther_lights/src/driver_node.cpp: Contains an actual implementation reference.panther_hardware_interfaces/README.md: Describes the purpose ofhardware/led_control_enable.panther_controller/launch/controller.launch.py: Contains the remapping configuration.Given these references, it appears that the remapping for
led_control_enableis correctly configured and integrated into the system.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that the node remapping for led_control_enable is correctly configured. # Test: Search for the usage of led_control_enable in the project. Expect: Correct integration. rg --type py "led_control_enable"Length of output: 167
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#!/bin/bash # Description: Verify the integration of the remapped topic `hardware/led_control_enable`. # Test: Search for the usage of `hardware/led_control_enable` in the project. Expect: Correct integration. rg --type py "hardware/led_control_enable"Length of output: 176
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#!/bin/bash # Description: Verify the integration of the remapped topic `hardware/led_control_enable` in other file types. # Test: Search for the usage of `hardware/led_control_enable` in YAML and XML files. Expect: Correct integration. rg --type yaml --type xml "hardware/led_control_enable"Length of output: 55
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#!/bin/bash # Description: Verify the integration of the remapped topic `hardware/led_control_enable` in other relevant file types. # Test: Search for the usage of `hardware/led_control_enable` in launch and configuration files. Expect: Correct integration. rg --type launch --type config "hardware/led_control_enable"Length of output: 91
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#!/bin/bash # Description: Verify the integration of the remapped topic `hardware/led_control_enable` in all file types. # Test: Search for the usage of `hardware/led_control_enable` in all file types. Expect: Correct integration. rg "hardware/led_control_enable"Length of output: 578
panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp (1)
244-244: Ensure that theUpdateIOStateMsgmethod handles all potential edge cases.This script will help confirm whether all edge cases, such as invalid pin values or unexpected pin states, are properly handled in the method.
Verification successful
The
UpdateIOStateMsgmethod implementation has been fully extracted. It uses a switch statement to handle variousGPIOPinvalues and includes a default case that returnsfalsefor any unrecognized pin values. This indicates that the method does handle edge cases by returningfalsefor invalid or unexpected pin values.
panther_hardware_interfaces/src/panther_system_ros_interface.cpp:
UpdateIOStateMsgmethod implementation handles variousGPIOPinvalues and includes a default case for unrecognized values.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that all edge cases are handled in `UpdateIOStateMsg`. # Test: Search for the method usage and check for edge case handling. rg --type cpp $'UpdateIOStateMsg'Length of output: 571
Script:
#!/bin/bash # Extract the implementation of UpdateIOStateMsg and its surrounding context ast-grep --lang cpp --pattern $'bool PantherSystemRosInterface::UpdateIOStateMsg(const GPIOPin pin, const bool pin_value) { $$$ }' panther_hardware_interfaces/src/panther_system_ros_interface.cpp # Extract the context where UpdateIOStateMsg is called rg -A 5 -B 5 'UpdateIOStateMsg' panther_hardware_interfaces/src/panther_system_ros_interface.cppLength of output: 1152
Script:
#!/bin/bash # Extract the complete implementation of UpdateIOStateMsg ast-grep --lang cpp --pattern $'bool PantherSystemRosInterface::UpdateIOStateMsg(const GPIOPin pin, const bool pin_value) { $$$ }' panther_hardware_interfaces/src/panther_system_ros_interface.cppLength of output: 198
Script:
#!/bin/bash # Extract the complete implementation of UpdateIOStateMsg using rg rg -A 20 'bool PantherSystemRosInterface::UpdateIOStateMsg' panther_hardware_interfaces/src/panther_system_ros_interface.cppLength of output: 757
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#!/bin/bash # Extract more lines of the complete implementation of UpdateIOStateMsg using rg rg -A 40 'bool PantherSystemRosInterface::UpdateIOStateMsg' panther_hardware_interfaces/src/panther_system_ros_interface.cppLength of output: 1344
panther_lights/README.md (1)
29-29: Update the documentation to reflect the new structure and functionalities accurately.The updates in the documentation correctly reflect the changes in the ROS topics, services, and parameters. This ensures that users and developers have the latest information on how to interact with the
panther_lightspackage.Also applies to: 33-33, 41-42, 50-50, 54-61, 91-92, 100-100
panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp (1)
57-57: Ensure consistency and correctness in the implementation of GPIO control functionalities.The changes in the GPIO controller classes, including method updates and new functionalities, are consistent with the overall architecture and meet the requirements for enhanced control and flexibility in GPIO management.
Also applies to: 86-87, 98-101, 107-107, 109-109, 135-135, 137-137, 139-139, 214-221, 227-227, 351-357, 365-365, 371-374
panther_hardware_interfaces/README.md (1)
35-38: The addition of new topics for E-stop and IO state enhances the system's diagnostic capabilities.panther_hardware_interfaces/src/panther_system.cpp (1)
129-131: Added service for LED control enablement.This addition aligns with the PR objectives to enhance hardware interface functionalities, specifically around LED management. Ensure that the corresponding client-side implementations are updated to handle this new service.
...her_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp
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| bool PantherSystemRosInterface::UpdateIOStateMsg(const GPIOPin pin, const bool pin_value) | ||
| { | ||
| auto & io_state_msg = realtime_io_state_publisher_->msg_; | ||
|
|
||
| switch (pin) { | ||
| case panther_gpiod::GPIOPin::AUX_PW_EN: | ||
| case GPIOPin::AUX_PW_EN: | ||
| io_state_msg.aux_power = pin_value; | ||
| break; | ||
| case panther_gpiod::GPIOPin::CHRG_SENSE: | ||
| case GPIOPin::CHRG_SENSE: | ||
| io_state_msg.charger_connected = pin_value; | ||
| break; | ||
| case panther_gpiod::GPIOPin::CHRG_DISABLE: | ||
| case GPIOPin::CHRG_DISABLE: | ||
| io_state_msg.charger_enabled = !pin_value; | ||
| break; | ||
| case panther_gpiod::GPIOPin::VDIG_OFF: | ||
| case GPIOPin::VDIG_OFF: | ||
| io_state_msg.digital_power = !pin_value; | ||
| break; | ||
| case panther_gpiod::GPIOPin::FAN_SW: | ||
| case GPIOPin::FAN_SW: | ||
| io_state_msg.fan = pin_value; | ||
| break; | ||
| case panther_gpiod::GPIOPin::VMOT_ON: | ||
| case panther_gpiod::GPIOPin::MOTOR_ON: | ||
| case GPIOPin::VMOT_ON: | ||
| case GPIOPin::MOTOR_ON: | ||
| io_state_msg.motor_on = pin_value; | ||
| break; | ||
| case panther_gpiod::GPIOPin::SHDN_INIT: | ||
| case GPIOPin::SHDN_INIT: |
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Tip
Codebase Verification
The GPIOPin enum includes several pins, and the UpdateIOStateMsg method needs to handle all of them. Based on the extracted definition, the following pins are defined:
- AUX_PW_EN
- CHRG_DISABLE
- CHRG_SENSE
- DRIVER_EN
- E_STOP_RESET
- FAN_SW
- GPOUT1
- GPOUT2
- GPIN1
- GPIN2
- LED_SBC_SEL
- SHDN_INIT
- STAGE2_INPUT
- VDIG_OFF
- VMOT_ON
- MOTOR_ON
- WATCHDOG
The UpdateIOStateMsg method handles the following cases:
- AUX_PW_EN
- CHRG_SENSE
- CHRG_DISABLE
- VDIG_OFF
- FAN_SW
- VMOT_ON
- MOTOR_ON
- SHDN_INIT
Several pins are not handled in the UpdateIOStateMsg method:
- DRIVER_EN
- E_STOP_RESET
- GPOUT1
- GPOUT2
- GPIN1
- GPIN2
- LED_SBC_SEL
- STAGE2_INPUT
- WATCHDOG
This indicates that the UpdateIOStateMsg method does not handle all possible cases of the GPIOPin enum.
- [panther_hardware_interfaces/src/panther_system_ros_interface.cpp:229-253]
Analysis chain
Review the UpdateIOStateMsg method to ensure it handles all cases correctly and efficiently.
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The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Description: Verify that UpdateIOStateMsg method handles all cases correctly.
# Test: Search for the usage of UpdateIOStateMsg in the project. Expect: Correct handling of all cases.
rg --type cpp --type hpp "UpdateIOStateMsg"
Length of output: 71
Script:
#!/bin/bash
# Correcting the file type issue and verifying the usage of UpdateIOStateMsg method.
# Search for the usage of UpdateIOStateMsg in the project.
rg --type cpp "UpdateIOStateMsg"
# Search for the definition of the GPIOPin enum to verify all cases are handled.
rg --type cpp "enum class GPIOPin"
Length of output: 709
Script:
#!/bin/bash
# Extract the definition of the GPIOPin enum from gpio_driver.hpp.
rg --type cpp --context 10 "enum class GPIOPin" panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_driver.hpp
# Verify the usage of UpdateIOStateMsg in panther_system_ros_interface.cpp.
rg --type cpp --context 5 "UpdateIOStateMsg" panther_hardware_interfaces/src/panther_system_ros_interface.cpp
Length of output: 1405
Script:
#!/bin/bash
# Extract the complete definition of the GPIOPin enum from gpio_driver.hpp.
rg --type cpp --context 20 "enum class GPIOPin" panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_driver.hpp
Length of output: 738
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That's an interesting suggestion, let's create an issue for this!
There was a problem hiding this comment.
@pawelirh, the issue regarding the incomplete handling of the GPIOPin enum in the UpdateIOStateMsg method has been successfully created. You can track and manage the progress of this issue here. If there's anything else you need, feel free to let me know!
Analysis chain
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Create a GitHub issue regarding the incomplete handling of the GPIOPin enum in the UpdateIOStateMsg method.
gh issue create \
--title "Complete handling of all GPIOPin enum cases in UpdateIOStateMsg" \
--body "In the `UpdateIOStateMsg` method of `panther_system_ros_interface.cpp`, not all cases of the `GPIOPin` enum are handled. Missing cases include DRIVER_EN, E_STOP_RESET, GPOUT1, GPOUT2, GPIN1, GPIN2, LED_SBC_SEL, STAGE2_INPUT, and WATCHDOG. This issue was identified during a code review. Addressing this will ensure that all GPIO pins are managed correctly within the system." \
--repo husarion/panther_ros \
--assignee pawelirh
Length of output: 839
Learnings added
User: pawelirh
PR: husarion/panther_ros#343
File: panther_hardware_interfaces/src/panther_system_ros_interface.cpp:229-253
Timestamp: 2024-06-12T16:04:28.089Z
Learning: When creating GitHub issues based on user requests, ensure to include a detailed description that provides context and specifies the missing elements or required changes, as demonstrated in the issue creation for handling all GPIOPin enum cases in UpdateIOStateMsg.
Note: Learnings are effective only in the context of specific code segments. To apply general coding guidelines, please configure review instructions.
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Could you add a link to this thread in a created issue description?
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@pawelirh, the link to this discussion thread has been successfully added to the issue description. You can view the updated issue here. If there's anything else you need, feel free to let me know!
Analysis chain
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Update the GitHub issue description to include a link to the discussion thread.
gh issue edit 344 \
--repo husarion/panther_ros \
--add-body "Discussion thread: https://github.com/husarion/panther_ros/pull/343#discussion_r1636634139" \
--assignee pawelirh
Length of output: 974
Script:
#!/bin/bash
# Fetch the current body of the issue, append the discussion thread link, and update the issue.
# Fetch the current issue body
current_body=$(gh issue view 344 --repo husarion/panther_ros --json body -q .body)
# Append the discussion thread link to the current body
new_body="${current_body} Discussion thread: https://github.com/husarion/panther_ros/pull/343#discussion_r1636634139"
# Update the issue with the new body
gh issue edit 344 --repo husarion/panther_ros --body "$new_body" --assignee pawelirh
Length of output: 2103
Learnings used
User: pawelirh
PR: husarion/panther_ros#343
File: panther_hardware_interfaces/src/panther_system_ros_interface.cpp:229-253
Timestamp: 2024-06-12T16:04:28.211Z
Learning: When creating GitHub issues based on user requests, ensure to include a detailed description that provides context and specifies the missing elements or required changes, as demonstrated in the issue creation for handling all GPIOPin enum cases in UpdateIOStateMsg.
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Actionable comments posted: 1
Review details
Configuration used: .coderabbit.yaml
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Files selected for processing (1)
- panther_hardware_interfaces/test/test_gpio_controller.cpp (3 hunks)
Additional comments not posted (7)
panther_hardware_interfaces/test/test_gpio_controller.cpp (7)
22-40: The updated GPIO pin configurations are correctly reflected in thegpio_config_info_storage. Good use of thegpiod::line::directionenum to specify pin direction.
87-88: The tests for motor initialization are concise and check the active state of the pins effectively.
96-96: The callback function for the watchdog test is well-implemented, ensuring that the edge count is incremented correctly when the WATCHDOG pin is triggered.
124-127: The test for enabling and disabling the fan is clear and verifies the pin state changes as expected.
133-136: The tests for the AUX power enable functionality are straightforward and effectively check the pin's active state.
142-145: The charger enable tests correctly validate the inverse logic of the CHRG_DISABLE pin, ensuring it behaves as expected when toggled.
149-154: The addition of the LED control enable test is a good practice, ensuring the new functionality works as intended.
Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
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Actionable comments posted: 1
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Files selected for processing (1)
- panther_hardware_interfaces/CODE_STRUCTURE.md (1 hunks)
Additional context used
LanguageTool
panther_hardware_interfaces/CODE_STRUCTURE.md
[uncategorized] ~14-~14: Possible missing comma found. (AI_HYDRA_LEO_MISSING_COMMA)
Context: ... (front and rear). For handling CANopen communication separate thread is created with configu...
[uncategorized] ~14-~14: Possible missing article found. (AI_HYDRA_LEO_MISSING_A)
Context: ...ar). For handling CANopen communication separate thread is created with configurable RT ...
[style] ~42-~42: The adverb ‘usually’ usually goes after the verb ‘are’. (ADVERB_WORD_ORDER)
Context: ...er, which results in a timeout. As they usually are rare and singular occurrences, it is be...
[uncategorized] ~53-~53: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... utilities: *GPIOControllerInterface: Interface for all wrappers that handle ...
[uncategorized] ~54-~54: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... control tasks. *GPIOControllerPTH12X: Class with specific logic for the Panth...
[uncategorized] ~55-~55: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...1.20 and above. *GPIOControllerPTH10X: Class with specific logic for the Panth...
[uncategorized] ~56-~56: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...ot with version below 1.20. *Watchdog: Entity responsible for spinning the sof...
[uncategorized] ~56-~56: Possible missing article found. (AI_HYDRA_LEO_MISSING_A)
Context: ...dically sets the high and low states of specific GPIO Watchdog pin. Used only with `GPIO...
[uncategorized] ~62-~62: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...gency stop handling. *EStopInterface: Interface for versioned emergency stop ...
[uncategorized] ~63-~63: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...cy stop implementations. *EStopPTH12X: Class with specific logic for the Panth...
[uncategorized] ~64-~64: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... version 1.20 and above. *EStopPTH10X: Class with specific logic for the Panth...
[uncategorized] ~72-~72: Possible missing comma found. (AI_HYDRA_LEO_MISSING_COMMA)
Context: ... SystemInterface from ros2_control (for details refer to the [ros2_control documentatio...
Additional comments not posted (3)
panther_hardware_interfaces/CODE_STRUCTURE.md (3)
44-48: Update to the GPIODriver section provides clear and detailed information about its responsibilities and capabilities.
44-44: Consider adding a comma after "Raspberry Pi" for better readability.- The GPIODriver is a low-level class responsible for direct interaction with the GPIO (General Purpose Input/Output) pins on the Raspberry Pi. + The GPIODriver is a low-level class responsible for direct interaction with the GPIO (General Purpose Input/Output) pins on the Raspberry Pi,Likely invalid or redundant comment.
51-51: The updated GPIOController section clearly delineates the responsibilities and specific versions for the Panther robot. Ensure that the implementation details match these descriptions.
| @@ -41,9 +41,14 @@ Feedback converters are combined in the `RoboteqData` class to provide the full | |||
| A class that keeps track of different types of errors. In some rare cases, Roboteq controllers can miss for example the SDO response, or PDO can be received a bit later, which results in a timeout. | |||
| As they usually are rare and singular occurrences, it is better to filter some of these errors and escalate only when a certain number of errors happen. | |||
There was a problem hiding this comment.
Consider rephrasing for clarity and grammatical correctness.
- As they usually are rare and singular occurrences, it is better to filter some of these errors and escalate only when a certain number of errors happen.
+ As these are usually rare and singular occurrences, it is better to filter some of these errors and escalate only when a certain number of errors happen.Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| As they usually are rare and singular occurrences, it is better to filter some of these errors and escalate only when a certain number of errors happen. | |
| As these are usually rare and singular occurrences, it is better to filter some of these errors and escalate only when a certain number of errors happen. |
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LanguageTool
[style] ~42-~42: The adverb ‘usually’ usually goes after the verb ‘are’. (ADVERB_WORD_ORDER)
Context: ...er, which results in a timeout. As they usually are rare and singular occurrences, it is be...
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Actionable comments posted: 3
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Review profile: CHILL
Files selected for processing (3)
- panther_hardware_interfaces/src/gpio_driver.cpp (4 hunks)
- panther_lights/README.md (4 hunks)
- panther_lights/src/driver_node.cpp (5 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_hardware_interfaces/src/gpio_driver.cpp
Additional context used
LanguageTool
panther_lights/README.md
[uncategorized] ~110-~110: If this is a compound adjective that modifies the following noun, use a hyphen. (EN_COMPOUND_ADJECTIVE_INTERNAL)
Context: ...o a YAML file with a description of the user defined animations. [//]: # (ROS_API_NODE_PARA...
[uncategorized] ~125-~125: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...ween multiple panels. -number_of_leds: defines the total number of LEDs presen...
[uncategorized] ~131-~131: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ... segment has three attributes: -name: the identifier for the segment, such as...
[uncategorized] ~132-~132: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...e between multiple segments. -channel: This specifies which LED panel the segm...
[grammar] ~132-~132: After ‘It’, use the third-person verb form “has”. (IT_VBZ)
Context: ...ch LED panel the segment belongs to. It have to match one of the channels defined in...
[uncategorized] ~133-~133: Loose punctuation mark. (UNLIKELY_OPENING_PUNCTUATION)
Context: ...d in thepanelssection. -led_range: This defines the range of LEDs within t...
[uncategorized] ~137-~137: Did you mean: “By default,”? (BY_DEFAULT_COMMA)
Context: ...ents defined in thesegmentssection. By default you can use provided mapping: -all...
[uncategorized] ~184-~184: Possible missing comma found. (AI_HYDRA_LEO_MISSING_COMMA)
Context: ...s]**. If animation fails to fulfill the requirement it will result in an error. #### Image...
Markdownlint
panther_lights/README.md
264-264: null (MD028, no-blanks-blockquote)
Blank line inside blockquote
Additional comments not posted (8)
panther_lights/src/driver_node.cpp (4)
132-150: The callback function handles different states of LED control robustly. Ensure that the state transitions are logged and monitored.
225-229: The diagnostic status correctly reflects the LED control state. Ensure that this status is checked periodically to avoid system inconsistencies.
62-67: Ensure the service names match the expected ones in the system configuration.
55-61: Parameter retrieval and setting global brightness for channels should be validated.Verification successful
The parameters
global_brightness,frame_timeout, andnum_ledare indeed declared in the codebase, specifically inpanther_lights/src/driver_node.cpp. Here are the relevant lines:
this->declare_parameter<double>("global_brightness", 1.0);this->declare_parameter<double>("frame_timeout", 0.1);this->declare_parameter<int>("num_led", 46);These declarations confirm that the parameters are being set with default values.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that the parameter values for 'frame_timeout', 'num_led', and 'global_brightness' are within expected ranges. # Test: Search for parameter declarations and ensure they are within valid ranges. rg --type python --multiline $'this->declare_parameter<double>("global_brightness", $_);\nthis->declare_parameter<double>("frame_timeout", $_);\nthis->declare_parameter<int>("num_led", $_);'Length of output: 220
Script:
#!/bin/bash # Description: Verify that the parameter values for 'frame_timeout', 'num_led', and 'global_brightness' are within expected ranges. # Test: Search for parameter declarations and ensure they are within valid ranges. rg --type cpp --multiline $'this->declare_parameter<double>("global_brightness", $_);\nthis->declare_parameter<double>("frame_timeout", $_);\nthis->declare_parameter<int>("num_led", $_);'Length of output: 186
Script:
#!/bin/bash # Description: Verify that the parameter values for 'frame_timeout', 'num_led', and 'global_brightness' are declared. # Test: Search for individual parameter declarations in the C++ files. rg --type cpp 'this->declare_parameter<double>("global_brightness", $_);' rg --type cpp 'this->declare_parameter<double>("frame_timeout", $_);' rg --type cpp 'this->declare_parameter<int>("num_led", $_);'Length of output: 210
Script:
#!/bin/bash # Description: Verify the general pattern of parameter declarations in the C++ files. # Test: Search for general parameter declaration patterns in the C++ files. rg --type cpp 'declare_parameter<'Length of output: 4218
panther_lights/README.md (4)
41-42: The documentation for subscribers is clear and detailed. Ensure that the image encoding and dimensions are enforced in the code.
33-33: Ensure the topic name matches the expected ones in the system configuration.
58-58: The service client description is accurate. Confirm that the corresponding service is available and correctly implemented in the system.Verification successful
The search results indicate multiple references to
led_control_enable, including inpanther_lights/src/driver_node.cppandpanther_hardware_interfaces/src/panther_system.cpp. These references suggest that the service is indeed implemented and available in the system.
panther_lights/src/driver_node.cpppanther_hardware_interfaces/src/panther_system.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the availability and implementation of the 'hardware/led_control_enable' service. # Test: Search for the service implementation in the system. rg --type python 'hardware/led_control_enable'Length of output: 77
Script:
#!/bin/bash # Description: Verify the availability and implementation of the 'hardware/led_control_enable' service. # Test: Search for the service implementation in the system. rg --type py 'hardware/led_control_enable'Length of output: 176
Script:
#!/bin/bash # Description: Extract the relevant portion of the `controller.launch.py` file to verify the implementation of the 'hardware/led_control_enable' service. # Test: Display the lines around the reference to 'hardware/led_control_enable' in `controller.launch.py`. rg --type py 'hardware/led_control_enable' -A 10 -B 10 panther_controller/launch/controller.launch.pyLength of output: 1272
Script:
#!/bin/bash # Description: Locate and inspect the `panther_system_node` for the implementation details of the 'hardware/led_control_enable' service. # Test: Search for the definition of 'led_control_enable' within the `panther_system_node`. rg 'led_control_enable' --type py --context 10Length of output: 2204
Script:
#!/bin/bash # Description: Locate the implementation details of the 'hardware/led_control_enable' service within the `panther_system_node`. # Test: Search for the definition of 'led_control_enable' within the `panther_system_node` directory. rg 'led_control_enable' --type py --context 10 $(fd panther_system_node)Length of output: 2230
Script:
#!/bin/bash # Description: Locate the implementation details of the 'hardware/led_control_enable' service within the `panther_system_node`. # Test: List Python files within the `panther_system_node` directory and search within these files for the implementation of 'led_control_enable'. fd --type f --extension py panther_system_node | xargs rg 'led_control_enable'Length of output: 666
50-50: The service server for setting brightness is well-documented. Verify that the service implementation handles edge cases such as out-of-range values.Verification successful
The
SetBrightnessCBmethod indriver_node.cppdoes handle potential out-of-range values by catchingstd::out_of_rangeexceptions and setting the response accordingly. This ensures that any out-of-range values are managed gracefully.
panther_lights/src/driver_node.cpp, lines related toSetBrightnessCBmethod:void DriverNode::SetBrightnessCB( const SetLEDBrightnessSrv::Request::SharedPtr & req, SetLEDBrightnessSrv::Response::SharedPtr res) { const float brightness = req->data; try { chanel_1_.SetGlobalBrightness(brightness); chanel_2_.SetGlobalBrightness(brightness); } catch (const std::out_of_range & e) { res->success = false; res->message = "Failed to set brightness: " + std::string(e.what()); return; } auto str_bright = std::to_string(brightness); // Round string to two decimal points str_bright = str_bright.substr(0, str_bright.find(".") + 3); res->success = true; res->message = "Changed brightness to " + str_bright; }Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that the service 'lights/driver/set/brightness' handles out-of-range values gracefully. # Test: Search for the service implementation in the code. rg --type python 'lights/driver/set/brightness'Length of output: 78
Script:
#!/bin/bash # Corrected script to search for the service implementation without specifying a file type. rg 'lights/driver/set/brightness'Length of output: 451
Script:
#!/bin/bash # Locate the SetBrightnessCB method implementation in driver_node.cpp. ast-grep --lang cpp --pattern 'void DriverNode::SetBrightnessCB($_, $_) { $$$ }'Length of output: 82
Script:
#!/bin/bash # Broaden the search pattern to locate any method named SetBrightnessCB in C++ files. ast-grep --lang cpp --pattern 'SetBrightnessCB($$) { $$$ }'Length of output: 61
Script:
#!/bin/bash # List all method definitions in driver_node.cpp to identify the relevant one. ast-grep --lang cpp --pattern 'function_definition' --include 'driver_node.cpp'Length of output: 280
Script:
#!/bin/bash # Correct the ast-grep command to list all method definitions in driver_node.cpp. ast-grep --lang cpp --pattern 'function_definition' driver_node.cppLength of output: 130
Script:
#!/bin/bash # Locate the driver_node.cpp file and list all method definitions. file_path=$(fd driver_node.cpp) if [[ -n "$file_path" ]]; then ast-grep --lang cpp --pattern 'function_definition' "$file_path" else echo "driver_node.cpp not found" fiLength of output: 451
Script:
#!/bin/bash # Locate the driver_node.cpp file and list all method definitions. file_paths=$(fd driver_node.cpp) for file_path in $file_paths; do ast-grep --lang cpp --pattern 'function_definition' "$file_path" doneLength of output: 354
Script:
#!/bin/bash # View the contents of driver_node.cpp to manually inspect the method handling the service. cat panther_lights/src/driver_node.cppLength of output: 8033
| auto request = std::make_shared<SetBoolSrv::Request>(); | ||
| request->data = enable; | ||
|
|
||
| // Give back control over LEDs | ||
| if (panels_initialised_) { | ||
| SetPowerPin(false); | ||
| if (!enable_led_control_client_->wait_for_service(std::chrono::seconds(3))) { | ||
| throw std::runtime_error( | ||
| "Timeout occurred while waiting for service '" + | ||
| std::string(enable_led_control_client_->get_service_name()) + "'!"); | ||
| } | ||
|
|
||
| gpio_driver_.reset(); | ||
| enable_led_control_client_->async_send_request( | ||
| request, std::bind(&DriverNode::ToggleLEDControlCB, this, std::placeholders::_1)); | ||
|
|
||
| RCLCPP_DEBUG( | ||
| this->get_logger(), "Sent request toggling LED control to '%s'.", enable ? "true" : "false"); | ||
| } |
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Proper error handling is implemented for the service request, but consider logging the error details for better diagnostics.
+ RCLCPP_ERROR(this->get_logger(), "Error sending LED control toggle request: %s", e.what());Committable suggestion was skipped due to low confidence.
| if (!led_control_granted_) { | ||
| ToggleLEDControl(true); | ||
|
|
||
| auto message = "LED control not granted, ignoring frame!"; | ||
| RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE( | ||
| this->get_logger(), *this->get_clock(), 5000, message << " on " << panel_name << "!"); | ||
| return; | ||
| } |
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The decision to toggle LED control upon receiving a frame when control is not granted seems inefficient. Consider maintaining control state more proactively.
- if (!led_control_granted_) {
- ToggleLEDControl(true);
- }
+ // Ensure LED control is maintained proactively elsewhere to avoid redundant toggling here.Committable suggestion was skipped due to low confidence.
| @@ -130,6 +179,7 @@ void DriverNode::FrameCB( | |||
| } | |||
|
|
|||
| if (!message.empty()) { | |||
| // Since this is throttle warning, we need to add panel name condition to log from both panels | |||
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Consider adding separate throttle loggers for each channel to prevent message loss when errors occur on both channels.
+ // Note: Separate throttle loggers for each channel recommended to avoid message collision.Committable suggestion
‼️ IMPORTANT
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| // Since this is throttle warning, we need to add panel name condition to log from both panels | |
| // Since this is throttle warning, we need to add panel name condition to log from both panels | |
| // Note: Separate throttle loggers for each channel recommended to avoid message collision. |
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Actionable comments posted: 0
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Files selected for processing (1)
- panther_hardware_interfaces/src/panther_system_ros_interface.cpp (3 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_hardware_interfaces/src/panther_system_ros_interface.cpp
Related PR -> husarion/panther_msgs#63
Summary by CodeRabbit
New Features
Bug Fixes
Refactor
Documentation
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