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RSDK-833: add motor names to motor errors #1682

Merged
merged 18 commits into from
Dec 22, 2022
Merged

RSDK-833: add motor names to motor errors #1682

merged 18 commits into from
Dec 22, 2022

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susmitaSanyal
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Part one of RSDK-833.
This part mostly takes care of NewGoTillStopUnsupportedError function.
Added motor name to all the drivers where NewGoTillStopUnsupportedError is called.

@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Dec 16, 2022
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gvaradarajan
gvaradarajan requested changes Dec 19, 2022
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So, I believe we also discussed that there are motors that should be calling NewResetZeroPositionUnsupportedError and are currently just returning a vague error instead. I think correcting that would be in the scope of this PR. Otherwise, lgtm.

@randhid
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randhid commented Dec 19, 2022

I think that in scope for this ticket is adding the motor name for all errors that are used by the Proto Methods. You can add the motor name as an input to the other error functions, or wrap an error from the main methods GoFor, SetPower, GoTo, IsPowered, Stop` (check if there are any others) is another error function:

errors. Wrapf("motor with name %s has error %q", err)

We want this everywhere so we know what motor is getting an error and what the error is when you have a lot of motors connected on a robot.

penguinland
penguinland reviewed Dec 19, 2022
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components/motor/gpio/basic.go Outdated Show resolved Hide resolved
components/motor/gpio/basic_test.go Outdated Show resolved Hide resolved
components/motor/i2cmotors/ezopmp.go Outdated Show resolved Hide resolved
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 19, 2022
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penguinland
penguinland approved these changes Dec 20, 2022
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I'm still not wild about the new argument to NewMotor, but other folks seem to like that, and everything else LGTM. but I wouldn't merge this until Rand and Gautham are happy, too.

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gvaradarajan
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To clarify, I agree with @penguinland and @randhid in the sense that I believe the NewMotor functions should take the motor name string as the argument rather than the entire component config. The constructor function used to register the model can do the job of extracting the name from that config. Once that change is made, I feel good approving

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@susmitaSanyal
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changes to newMotor coming up

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 20, 2022
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randhid
randhid reviewed Dec 20, 2022
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One nit in testing.

components/motor/gpio/basic_test.go Outdated Show resolved Hide resolved
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 61% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 13% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% -0.34% ➖
go.viam.com/rdk/components/base 67% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 68% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 66% +0.26% ➖
go.viam.com/rdk/components/camera/align 63% 0.00% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 77% 0.00% ✅
go.viam.com/rdk/components/camera/transformpipeline 78% 0.00% ✅
go.viam.com/rdk/components/camera/videosource 50% -0.21% ➖
go.viam.com/rdk/components/encoder/fake 77% 0.00% ✅
go.viam.com/rdk/components/gantry 68% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 83% 0.00% ✅
go.viam.com/rdk/components/gripper 80% 0.00% ✅
go.viam.com/rdk/components/input 87% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 81% -0.30% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% -0.20% ➖
go.viam.com/rdk/components/motor/fake 57% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 64% +0.43% ➖
go.viam.com/rdk/components/motor/gpiostepper 56% -0.59% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% -0.09% ➖
go.viam.com/rdk/components/movementsensor 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 40% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 37% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00% ❌
go.viam.com/rdk/components/posetracker 86% 0.00% ✅
go.viam.com/rdk/components/sensor 86% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 34% 0.00% ❌
go.viam.com/rdk/components/servo 78% 0.00% ✅
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 76% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/motionplan 59% -11.40% ➖
go.viam.com/rdk/octree 98% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 72% 0.00% ✅
go.viam.com/rdk/protoutils 59% 0.00% ➖
go.viam.com/rdk/referenceframe 70% 0.00% ✅
go.viam.com/rdk/registry 90% 0.00% ✅
go.viam.com/rdk/resource 83% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 85% 0.00% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 68% 0.00% ➖
go.viam.com/rdk/robot/impl 81% 0.00% ✅
go.viam.com/rdk/robot/server 57% 0.00% ➖
go.viam.com/rdk/robot/web 59% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 52% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 79% 0.00% ✅
go.viam.com/rdk/services/datamanager 65% 0.00% ➖
go.viam.com/rdk/services/datamanager/builtin 80% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 21% 0.00% ❌
go.viam.com/rdk/services/datamanager/datasync 72% 0.00% ✅
go.viam.com/rdk/services/motion 63% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 54% 0.00% ➖
go.viam.com/rdk/services/sensors 77% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 14% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 72% 0.00% ✅
go.viam.com/rdk/services/vision 80% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 83% 0.00% ✅
go.viam.com/rdk/subtype 96% 0.00% ✅
go.viam.com/rdk/utils 72% 0.00% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 66% (20317 / 30854) -0.73% ➖

randhid
randhid approved these changes Dec 22, 2022
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LGTM

@susmitaSanyal susmitaSanyal merged commit f5f75a1 into main Dec 22, 2022
@edaniels edaniels deleted the RSDK-833-Add-motor-names-to-motor-errors branch January 9, 2023 15:48
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
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@penguinland penguinland penguinland approved these changes

@randhid randhid randhid approved these changes

@gvaradarajan gvaradarajan gvaradarajan approved these changes

@npmenard npmenard Awaiting requested review from npmenard

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@susmitaSanyal @randhid @penguinland @gvaradarajan @viambot