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more linter fixes
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@sgmurray
sgmurray committed Dec 18, 2022
1 parent d63e019 commit 7df3ea7
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Showing 2 changed files with 26 additions and 29 deletions.
42 changes: 23 additions & 19 deletions controller_manager/src/controller_manager.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -489,13 +489,14 @@ controller_interface::return_type ControllerManager::configure_controller(
rt_controllers_wrapper_.get_unused_list(guard);
unused_controller_list = controllers;

std::unordered_map<std::string, int> preceeding_controller_count = {};
std::unordered_map<std::string, int> preceding_controller_count = {};
std::unordered_map<std::string, std::vector<std::string>> following_controllers = {};

for (const auto & controller1 : unused_controller_list)
{
if (!controller1.c->is_chainable() || (
!is_controller_active(controller1.c) && !is_controller_inactive(controller1.c)) )
if (
!controller1.c->is_chainable() ||
(!is_controller_active(controller1.c) && !is_controller_inactive(controller1.c)))
{
continue;
}
Expand All @@ -510,35 +511,37 @@ controller_interface::return_type ControllerManager::configure_controller(
continue;
}
for (const auto & reference1 :
resource_manager_->get_controller_reference_interface_names(controller1.info.name))
resource_manager_->get_controller_reference_interface_names(controller1.info.name))
{
const auto controller2_commands = controller2.c->command_interface_configuration().names;

std::string commands_string = "";
for (auto command : controller2_commands){
for (auto command : controller2_commands)
{
commands_string += " " + command;
}
auto same = std::find(controller2_commands.begin(), controller2_commands.end(), reference1);
if (same != controller2_commands.end())
{
// controller 2 preceeds controller1
// controller 2 precedes controller1
if (following_controllers.find(controller2.info.name) != following_controllers.end())
{
following_controllers[controller2.info.name].push_back(controller1.info.name);
}
else
{
following_controllers.emplace(
controller2.info.name,
std::initializer_list<std::string>{controller1.info.name});
controller2.info.name, std::initializer_list<std::string>{controller1.info.name});
}
if (preceeding_controller_count.find(controller1.info.name) !=
preceeding_controller_count.end()){
preceeding_controller_count[controller1.info.name] += 1;
if (
preceding_controller_count.find(controller1.info.name) !=
preceding_controller_count.end())
{
preceding_controller_count[controller1.info.name] += 1;
}
else
{
preceeding_controller_count[controller1.info.name] = 1;
preceding_controller_count[controller1.info.name] = 1;
}
break;
}
Expand All @@ -549,26 +552,26 @@ controller_interface::return_type ControllerManager::configure_controller(
std::deque<std::string> controllers_to_add = {};
for (const auto & controller : unused_controller_list)
{
if (preceeding_controller_count.find(controller.info.name) == preceeding_controller_count.end())
if (preceding_controller_count.find(controller.info.name) == preceding_controller_count.end())
{
controllers_to_add.push_back(controller.info.name);
}
}

for (auto i = unused_controller_list.begin(); i != unused_controller_list.end(); i++)
{
std::string controller_name_to_find = controllers_to_add.front();
std::string controller_name_to_find = controllers_to_add.front();
controllers_to_add.pop_front();
auto found_it = std::find_if(
unused_controller_list.begin(), unused_controller_list.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name_to_find));
unused_controller_list.begin(), unused_controller_list.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name_to_find));
iter_swap(i, found_it);
if (following_controllers.find(controller_name_to_find) != following_controllers.end())
{
for (const auto & controller_name : following_controllers[controller_name_to_find])
{
preceeding_controller_count[controller_name] -= 1;
if (preceeding_controller_count[controller_name] == 0)
preceding_controller_count[controller_name] -= 1;
if (preceding_controller_count[controller_name] == 0)
{
controllers_to_add.push_back(controller_name);
}
Expand All @@ -577,7 +580,8 @@ controller_interface::return_type ControllerManager::configure_controller(
}

std::string controller_names = "";
for (auto & cont : unused_controller_list){
for (auto & cont : unused_controller_list)
{
controller_names += cont.info.name + " ";
}

Expand Down
13 changes: 3 additions & 10 deletions controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -52,9 +52,7 @@ class TestableTestChainableController : public test_chainable_controller::TestCh
FRIEND_TEST(
TestControllerChainingWithControllerManager,
test_chained_controllers_deactivation_error_handling);
FRIEND_TEST(
TestControllerChainingWithControllerManager,
test_chained_controllers_random_order);
FRIEND_TEST(TestControllerChainingWithControllerManager, test_chained_controllers_random_order);
};

class TestableControllerManager : public controller_manager::ControllerManager
Expand Down Expand Up @@ -87,9 +85,7 @@ class TestableControllerManager : public controller_manager::ControllerManager
FRIEND_TEST(
TestControllerChainingWithControllerManager,
test_chained_controllers_deactivation_error_handling);
FRIEND_TEST(
TestControllerChainingWithControllerManager,
test_chained_controllers_random_order);
FRIEND_TEST(TestControllerChainingWithControllerManager, test_chained_controllers_random_order);

public:
TestableControllerManager(
Expand Down Expand Up @@ -981,15 +977,14 @@ TEST_P(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, diff_drive_controller->get_state().id());
}


// new value: "START_DOWNSTREAM_CTRLS" --> start "downstream" controllers in a controllers chain
//
TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_random_order)
{
SetupControllers();

// add all controllers - CONTROLLERS HAVE TO ADDED IN REVERSE EXECUTION ORDER
cm_->add_controller(
cm_->add_controller(
pid_left_wheel_controller, PID_LEFT_WHEEL,
test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
cm_->add_controller(
Expand Down Expand Up @@ -1066,10 +1061,8 @@ TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_ran
// of controller execution
reference = {1024.0, 4096.0};
UpdateAllControllerAndCheck(reference, 2u);

}


INSTANTIATE_TEST_SUITE_P(
test_strict_best_effort, TestControllerChainingWithControllerManager,
testing::Values(strict, best_effort));

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