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Resource Manager API changes for hardware lifecycle #api-breaking #abi-breaking #589

Merged
merged 34 commits into from
Jan 21, 2022
Merged

Resource Manager API changes for hardware lifecycle #api-breaking #abi-breaking #589

merged 34 commits into from
Jan 21, 2022

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destogl
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@destogl destogl commented Dec 3, 2021

This PR also includes tests because they would be broken otherwise.

destogl and others added 25 commits December 1, 2021 13:20
@destogl
Towards selective starting and stoping of hardware components. Cleani…
80cd7bb 
…ng and renaming.
@destogl
Move Lifecycle of hardware componnet to the bottom for better overview.
dcfa12c
@destogl
Use the same nomenclature as for controllers. 'start' -> 'activate'; …
4557a30 
…'stop' -> 'deactivate'
@destogl
Add selective starting and stopping of hardware resources.
85afb4b 
Add HardwareComponentInfo structure in resource manager.

Use constants for HW parameters in tests of resource_manager.

Add list hardware components in CM to get details about them and check their status.

Use clear name for 'guard' and move release cmd itfs for better readability.

RM: Add lock for accesing maps with stored interfaces.

Separate hardware components-related services after controllers-related services.

Add service for activate/deactive hardware components.

Add activation and deactivation through ResourceStorage. This helps to manage available command interfaces.
@destogl
Use lifecycle_msgs/State in ListHardwareCompoents for state represent…
ae50446 
…ation.
@destogl
Simplify repeatable code in methods.
6c9ae01
@destogl
Add HW shutdown structure into ResouceManager.
eb1ce5e
@destogl
Fill out service callback in CM and add parameter for auto-configure.
36e1c4a
@destogl
Move claimed_command_itf_map to ResourceStorage from ResourceManager.
ef7ab05
@destogl
Do not automatically configure hardware in RM.
802c48a
@destogl
Lifecycle and claiming in Resource Manager is working.
5c30673
@destogl
Extend controller manger to support HW lifecycle.
655e8a0
@destogl
Add also available and claimed status into list compoentns service ou…
315cc14 
…tput.
@destogl
Add SetHardwareComponentState service.
f9687bc
@destogl
Make all output in services debug-output.
a479ff3
@destogl
Remove specific services for hardware lifecycle management and leave …
354b850 
…only 'set_hardware_component_state' service.
@destogl
fix typo
af76420
@destogl
Fix formatting.
e9c18bc
@destogl
Make init_resource_manager less stateful.
8213312
@destogl
Supress compile warning on unused test constants.
0c64f00
@destogl
Fix formatting.
184403c
@destogl
Address comments from review.
6c11ff8
@destogl
Merge branch 'master' into services-for-hardware-lifecycle
48d737d
@destogl
Fixup generic system tests.
4f24378
@destogl
Optimize tests of generic system per review comment.
4f0b031
@destogl destogl self-assigned this Dec 3, 2021
@destogl destogl requested a review from bmagyar December 3, 2021 11:02
@destogl destogl marked this pull request as draft December 3, 2021 11:05
@destogl destogl marked this pull request as ready for review December 3, 2021 11:49
@bmagyar bmagyar changed the title Resource Manager API changes for hardware lifecycle Resource Manager API changes for hardware lifecycle #api-breaking #abi-breaking Jan 14, 2022
bmagyar
bmagyar requested changes Jan 16, 2022
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There are still a few TODOs left in there but let's wait for the final PR of this train and then we should check all the code for TODOs and see which ones are still relevant (-> ticket) and which ones aren't (-> delete)

hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp Outdated Show resolved Hide resolved
hardware_interface/include/hardware_interface/hardware_component_info.hpp Show resolved Hide resolved
hardware_interface/include/hardware_interface/resource_manager.hpp Outdated Show resolved Hide resolved
hardware_interface/test/fake_components/test_generic_system.cpp Show resolved Hide resolved
hardware_interface/src/resource_manager.cpp Outdated Show resolved Hide resolved
hardware_interface/src/resource_manager.cpp Show resolved Hide resolved
hardware_interface/src/resource_manager.cpp Outdated Show resolved Hide resolved
hardware_interface/test/test_resource_manager.cpp Outdated Show resolved Hide resolved
hardware_interface/test/test_resource_manager.cpp Outdated Show resolved Hide resolved
hardware_interface/test/test_resource_manager.cpp Outdated Show resolved Hide resolved
This was referenced Jan 21, 2022
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@bmagyar bmagyar merged commit a362e2b into ros-controls:master Jan 21, 2022
@destogl destogl deleted the api-change-for-hw-lifecycle branch January 21, 2022 12:32
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destogl commented Jan 21, 2022

🎉🎊

@destogl destogl linked an issue Feb 24, 2022 that may be closed by this pull request
Create lifecycle for components/hardware #107
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Create lifecycle for components/hardware
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