ROS 2 lights initialization #365
Conversation
WalkthroughThe updates to Changes
Sequence Diagram(s)sequenceDiagram
participant User
participant ROS2Node
participant DriverNode
participant LEDController
User->>ROS2Node: Sends Image Message
ROS2Node->>DriverNode: Publish Image Message
DriverNode->>LEDController: Process Image and Control LEDs
LEDController-->>DriverNode: LED Status
DriverNode->>User: Update Status
sequenceDiagram
participant DiagnosticSystem
participant DriverNode
participant LEDController
loop Periodic Check
DiagnosticSystem->>DriverNode: Trigger Diagnostic
DriverNode->>LEDController: Get LED Status
LEDController-->>DriverNode: Return Status
DriverNode->>DiagnosticSystem: Report Status
end
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Actionable comments posted: 1
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Files selected for processing (10)
- panther_lights/CMakeLists.txt (4 hunks)
- panther_lights/README.md (2 hunks)
- panther_lights/include/panther_lights/lights_controller_node.hpp (4 hunks)
- panther_lights/include/panther_lights/lights_driver_node.hpp (4 hunks)
- panther_lights/launch/lights.launch.py (3 hunks)
- panther_lights/package.xml (1 hunks)
- panther_lights/src/lights_controller_node.cpp (3 hunks)
- panther_lights/src/lights_driver_node.cpp (8 hunks)
- panther_lights/test/test_lights_controller_node.cpp (2 hunks)
- panther_lights/test/test_lights_driver_node.cpp (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_lights/package.xml
Additional comments not posted (43)
panther_lights/include/panther_lights/lights_driver_node.hpp (6)
15-16: Header guard updated correctly.The header guard has been updated to reflect the new file name.
24-24: Include directive updated correctly.The include directive for
sensor_msgs/msg/image.hpphas been added to replace the removedimage_transport/image_transport.hpp.
38-44: EnumLEDControlStatusdefined correctly.The enum
LEDControlStatusimproves code readability and maintainability.
53-53: Constructor updated to use intra-process communication.The constructor now uses intra-process communication by default, enhancing performance.
59-59: Member variableled_control_status_introduced.The member variable
led_control_status_is necessary to track the LED control status.
113-114: Subscriber declarations updated correctly.The subscriber declarations now use
rclcpp::Subscriptioninstead ofimage_transport::Subscriber.panther_lights/launch/lights.launch.py (6)
26-27: Imports forComposableNodeContainerandComposableNodeadded correctly.These imports are necessary for the new node management approach.
62-66:ComposableNodeContainerinitialized correctly.The
lights_containeris now initialized usingComposableNodeContainer, enhancing modularity and performance.
68-75:DriverNodeadded as aComposableNode.The
DriverNodeis now managed as a component within the container.
76-85:ControllerNodeadded as aComposableNode.The
ControllerNodeis now managed as a component within the container.
96-96:lights_containeradded to actions.The
lights_containeris now included in the launch description.
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1-99:
Launch file structure updated correctly.The overall structure of the launch file has been updated to use composable nodes, improving modularity and performance.
panther_lights/include/panther_lights/lights_controller_node.hpp (3)
15-16: Header guard updated correctly.The header guard has been updated to reflect the new file name.
45-45: Constructor updated to use intra-process communication.The constructor now uses intra-process communication by default, enhancing performance.
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1-159:
Class structure updated correctly.The overall class structure has been updated to remove the
SetAnimationmethod, ensuring consistency with the new design.panther_lights/test/test_lights_driver_node.cpp (5)
33-50:DriverNodeWrapperclass added correctly.The
DriverNodeWrapperclass facilitates testing of theDriverNodeby providing access to protected members.
52-103:TestDriverNodeclass added correctly.The
TestDriverNodeclass sets up the test environment and provides utility functions in a structured manner.
105-115:ServiceTestSuccesstest case added correctly.The
ServiceTestSuccesstest case verifies successful service interaction with valid service requests.
117-127:ServiceTestFailtest case added correctly.The
ServiceTestFailtest case verifies service interaction failure with invalid service requests.
1-215: Test file structure updated correctly.The overall structure of the test file has been updated to include new test cases and classes, improving test coverage and organization.
panther_lights/CMakeLists.txt (7)
15-15: Dependency Addition ApprovedThe addition of
find_package(rclcpp_components REQUIRED)is necessary for the new node components.
30-38: Addition oflights_driver_node_componentApprovedThe addition of the
lights_driver_node_componentlibrary and its dependencies is appropriate for the new node component.
42-54: Addition oflights_controller_node_componentApprovedThe addition of the
lights_controller_node_componentlibrary and its dependencies is appropriate for the new node component.
56-58: Registration oflights_driver_node_componentApprovedThe registration of the
lights_driver_node_componentwithrclcpp_componentsis necessary for component usage.
60-62: Registration oflights_controller_node_componentApprovedThe registration of the
lights_controller_node_componentwithrclcpp_componentsis necessary for component usage.
175-189: Addition of Test Cases forlights_controller_nodeApprovedThe addition of test cases for the
lights_controller_nodeensures that the new component's functionality is properly tested.
198-208: Addition of Test Cases forlights_driver_nodeApprovedThe addition of test cases for the
lights_driver_nodeensures that the new component's functionality is properly tested.panther_lights/src/lights_driver_node.cpp (9)
29-29: Header Inclusion ApprovedThe inclusion of
#include "sensor_msgs/msg/image.hpp"is necessary for theImageMsgtype used in the subscriptions.
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42-92: Constructor Updates ApprovedThe updates to the constructor, including the initialization of
led_control_status_, setting up callback groups, and creating subscriptions, are necessary for the new component architecture.
64-68: Callback Group and Client Initialization ApprovedThe creation of the callback group and initialization of the
enable_led_control_client_with the new callback group is appropriate for ensuring mutually exclusive callbacks.
74-85: Subscription Updates ApprovedThe updates to the subscription creation to use
ImageMsg::UniquePtrare appropriate for improving efficiency in intra-process communication.
87-88: Diagnostic Updater Initialization ApprovedThe initialization of the diagnostic updater with the hardware ID and the addition of a diagnostic task for the lights driver status are appropriate for monitoring the node's health.
144-153: Callback Updates ApprovedThe updates to the
ToggleLEDControlCBmethod to handle the newled_control_status_and provide appropriate logging are necessary for the new component architecture.
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159-192: Frame Callback Updates ApprovedThe updates to the
FrameCBmethod to useImageMsg::UniquePtrand handle the newled_control_status_are appropriate for the new component architecture.
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238-242: Diagnostic Method Updates ApprovedThe updates to the
DiagnoseLightsmethod to handle the newled_control_status_and provide appropriate diagnostics are necessary for the new component architecture.
248-249: Node Registration ApprovedThe registration of the
DriverNodewithrclcpp_componentsis necessary for component usage.panther_lights/test/test_lights_controller_node.cpp (1)
35-35: Constructor Update ApprovedThe update to the constructor of
ControllerNodeWrapperto match the new constructor ofControllerNodeensures consistency.panther_lights/src/lights_controller_node.cpp (4)
43-44: Constructor Update ApprovedThe update to the constructor to initialize the node with the new options and parameters, including the use of intra-process communication, is appropriate for the new component architecture.
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159-160: Frame Callback Update ApprovedThe update to the
FrameCBmethod to useImageMsg::UniquePtris appropriate for improving efficiency in intra-process communication.
372-374: Node Registration ApprovedThe registration of the
ControllerNodewithrclcpp_componentsis necessary for component usage.
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248-249: Diagnostic Updater Initialization ApprovedThe initialization of the diagnostic updater with the hardware ID and the addition of a diagnostic task for the lights controller status are appropriate for monitoring the node's health.
panther_lights/README.md (2)
20-20: LGTM! Consistent renaming ofdriver_nodetolights_driver_node.The section has been renamed correctly and the information is consistent.
78-78: LGTM! Consistent renaming ofcontroller_nodetolights_controller_node.The section has been renamed correctly and the information is consistent.
panther_lights/include/panther_lights/lights_controller_node.hpp
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Files selected for processing (5)
- panther_lights/include/panther_lights/lights_controller_node.hpp (4 hunks)
- panther_lights/include/panther_lights/lights_driver_node.hpp (4 hunks)
- panther_lights/launch/lights.launch.py (3 hunks)
- panther_lights/src/led_animations_queue.cpp (1 hunks)
- panther_lights/src/lights_driver_node.cpp (8 hunks)
Files skipped from review as they are similar to previous changes (3)
- panther_lights/include/panther_lights/lights_controller_node.hpp
- panther_lights/include/panther_lights/lights_driver_node.hpp
- panther_lights/src/lights_driver_node.cpp
Additional comments not posted (2)
panther_lights/launch/lights.launch.py (1)
62-91: Review ofComposableNodeContainerandComposableNodesetupThe setup of the
ComposableNodeContainerandComposableNodeis correctly implemented. The use of intra-process communication is consistent with the PR's objectives to enhance performance. However, ensure that theextra_argumentsare correctly applied to all nodes within the container to fully utilize intra-process communication capabilities.panther_lights/src/led_animations_queue.cpp (1)
121-121: Logger name updated inValidatefunctionThe update to the logger name to "lights_controller" is consistent with the renaming of nodes and components. This change helps in maintaining clarity and traceability in log outputs.
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Files selected for processing (2)
- panther_lights/include/panther_lights/lights_driver_node.hpp (3 hunks)
- panther_lights/src/lights_driver_node.cpp (8 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_lights/include/panther_lights/lights_driver_node.hpp
- panther_lights/src/lights_driver_node.cpp
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Files skipped from review as they are similar to previous changes (1)
- panther_lights/src/lights_driver_node.cpp
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Outside diff range, codebase verification and nitpick comments (1)
panther_lights/src/lights_driver_node.cpp (1)
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96-101: Review of Shutdown HandlingThe
OnShutdownfunction correctly clears the LEDs and toggles LED control based on theled_control_granted_flag. This ensures that resources are properly released when the node is shutting down. However, based on previous discussions, there seems to be an issue with theToggleLEDControlfreezing the system. This needs further investigation, as it could lead to problems during shutdown.
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (2)
- panther_lights/include/panther_lights/lights_driver_node.hpp (3 hunks)
- panther_lights/src/lights_driver_node.cpp (9 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_lights/include/panther_lights/lights_driver_node.hpp
Additional comments not posted (3)
panther_lights/src/lights_driver_node.cpp (3)
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42-96: Constructor Review: Initialization and SetupThe constructor has been refactored to remove the
node_nameparameter and directly use"lights_driver"as the node name. This simplifies the initialization but assumes that the node name does not need to be configurable, which should be verified if it aligns with the system's requirements.
- Initialization of Parameters: Parameters like
global_brightness,frame_timeout, andnum_ledare declared and retrieved correctly.- Error Handling: There is no error handling if the parameters are set to values that are not sensible (e.g., negative numbers for
num_led). Consider adding checks or constraints on these parameters.- Resource Initialization: The use of
chanel_1_andchanel_2_for setting global brightness directly after declaring parameters is efficient.Overall, the constructor setup appears robust, but adding parameter validation could improve reliability.
108-132: Review of Initialization Timer CallbackThe
InitializationTimerCBfunction implements a retry mechanism for LED control initialization. It uses a combination of state flags (led_control_granted_,led_control_pending_) and timing checks to manage retries. Here are a few points to consider:
- Error Handling: The function throws a runtime error if the maximum number of initialization attempts is exceeded. This is a good practice as it fails fast, preventing the system from being stuck in an indefinite initialization state.
- Resource Management: The function correctly cancels the timer if LED control is granted, which is efficient in terms of resource usage.
- Timing and Delays: The use of
led_control_call_time_to check for service response timeouts is a robust way to handle potential communication delays or failures.This function appears well-implemented with proper error handling and resource management strategies.
257-274: Review of Diagnostic FunctionalityThe
DiagnoseLightsfunction effectively uses the diagnostic updater to report the status of the lights driver. It appropriately sets the error level and message based on the state of LED control. This function is a good example of how to implement diagnostics in a ROS node.
- Error Levels and Messages: The use of different error levels (
ERROR,WARN,OK) based on the state (led_control_granted_,led_control_pending_) is a best practice in ROS diagnostics.- Status Reporting: The function reports the status in a clear and concise manner, which is beneficial for system monitoring and troubleshooting.
This diagnostic implementation is robust and follows best practices.
Description
Modifications
Summary by CodeRabbit
Bug Fixes
Refactor
DriverNodeclass to improve performance and maintainability.New Features