Rename the variable ok to successful and add documentation

ros-controls · Dec 3, 2024 · 18e67f6 · 18e67f6
1 parent de5d617
commit 18e67f6
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Showing 3 changed files with 14 additions and 4 deletions.
diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -72,9 +72,19 @@ struct ControllerUpdateStats
   unsigned int failed_triggers;
 };
 
+/**
+ * Struct to store the status of the controller update method.
+ * The status contains information if the update was triggered successfully, the result of the
+ * update method and the execution duration of the update method. The status is used to provide
+ * feedback to the controller_manager.
+ * @var successful: true if the update was triggered successfully, false if not.
+ * @var result: return_type::OK if update is successfully, otherwise return_type::ERROR.
+ * @var execution_time: duration of the execution of the update method.
+ * @var period: period of the update method.
+ */
 struct ControllerUpdateStatus
 {
-  bool ok = true;
+  bool successful = true;
   return_type result = return_type::OK;
   std::optional<std::chrono::nanoseconds> execution_time = std::nullopt;
   std::optional<rclcpp::Duration> period = std::nullopt;

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -176,7 +176,7 @@ ControllerUpdateStatus ControllerInterfaceBase::trigger_update(
         "The controller missed %u update cycles out of %u total triggers.",
         trigger_stats_.failed_triggers, trigger_stats_.total_triggers);
     }
-    status.ok = result.first;
+    status.successful = result.first;
     status.result = result.second;
     const auto execution_time = async_handler_->get_last_execution_time();
     if (execution_time.count() > 0)
@@ -191,7 +191,7 @@ ControllerUpdateStatus ControllerInterfaceBase::trigger_update(
   else
   {
     const auto start_time = std::chrono::steady_clock::now();
-    status.ok = true;
+    status.successful = true;
     status.result = update(time, period);
     status.execution_time = std::chrono::duration_cast<std::chrono::nanoseconds>(
       std::chrono::steady_clock::now() - start_time);

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -2432,7 +2432,7 @@ controller_interface::return_type ControllerManager::update(
         {
           const auto trigger_result =
             loaded_controller.c->trigger_update(current_time, controller_actual_period);
-          trigger_status = trigger_result.ok;
+          trigger_status = trigger_result.successful;
           controller_ret = trigger_result.result;
           if (trigger_status && trigger_result.execution_time.has_value())
           {