diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 0000000000..f5e9921f23 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,20 @@ +# To get started with Dependabot version updates, you'll need to specify which +# package ecosystems to update and where the package manifests are located. +# Please see the documentation for all configuration options: +# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates + +version: 2 +updates: + - package-ecosystem: "github-actions" + # Workflow files stored in the + # default location of `.github/workflows` + directory: "/" + schedule: + interval: "weekly" + - package-ecosystem: "github-actions" + # Workflow files stored in the + # default location of `.github/workflows` + directory: "/" + schedule: + interval: "weekly" + target-branch: "humble" diff --git a/.github/workflows/README.md b/.github/workflows/README.md index 62007ffc2d..2ad6a249fe 100644 --- a/.github/workflows/README.md +++ b/.github/workflows/README.md @@ -3,5 +3,4 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages :---------: | :----: | :----------: | :-----------: | :---------------: **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master)
[![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master)
[![Debian Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml)
[![RHEL Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml) | [Documentation](https://control.ros.org/master/index.html)
[API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling) **Jazzy** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master)
[![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml?branch=master)
[![Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml?branch=master)
[![Debian Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml)
[![RHEL Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml) | [Documentation](https://control.ros.org/jazzy/index.html)
[API Reference](https://control.ros.org/jazzy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#jazzy) -**Iron** | [`iron`](https://github.com/ros-controls/ros2_control/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml?branch=master)
[![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml?branch=master)
[![Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml?branch=master)
[![Debian Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml)
[![RHEL Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml) | [Documentation](https://control.ros.org/iron/index.html)
[API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron) **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml?branch=master)
[![Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml?branch=master)
[![Debian Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml)
[![RHEL Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml) | [Documentation](https://control.ros.org/humble/index.html)
[API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble) diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml index 61a5f1f29c..844a4559e2 100644 --- a/.github/workflows/humble-abi-compatibility.yml +++ b/.github/workflows/humble-abi-compatibility.yml @@ -14,6 +14,11 @@ on: - '**/CMakeLists.txt' - 'ros2_control-not-released.humble.repos' +concurrency: + # cancel previous runs of the same workflow, except for pushes on humble branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: abi_check: runs-on: ubuntu-latest diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml index 4e9abfffe6..0fabfda92f 100644 --- a/.github/workflows/humble-binary-build.yml +++ b/.github/workflows/humble-binary-build.yml @@ -32,10 +32,16 @@ on: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on humble branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: binary: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [humble] ROS_REPO: [main, testing] diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml index f3c31703cd..078a541bf0 100644 --- a/.github/workflows/humble-check-docs.yml +++ b/.github/workflows/humble-check-docs.yml @@ -10,6 +10,10 @@ on: - '**.md' - '**.yaml' +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: check-docs: name: Check Docs diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml index 209c931d4e..8255b02bb4 100644 --- a/.github/workflows/humble-coverage-build.yml +++ b/.github/workflows/humble-coverage-build.yml @@ -28,6 +28,11 @@ on: - 'ros2_control.humble.repos' - 'codecov.yml' +concurrency: + # cancel previous runs of the same workflow, except for pushes on humble branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: coverage_humble: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml index ad044f9343..301befbcab 100644 --- a/.github/workflows/humble-debian-build.yml +++ b/.github/workflows/humble-debian-build.yml @@ -17,11 +17,16 @@ on: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on humble branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} jobs: debian_source_build: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [humble] with: diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml index 5bb2408578..38a76ee025 100644 --- a/.github/workflows/humble-pre-commit.yml +++ b/.github/workflows/humble-pre-commit.yml @@ -6,6 +6,10 @@ on: branches: - humble +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: pre-commit: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml index 4a4313cedb..e986bf361e 100644 --- a/.github/workflows/humble-rhel-binary-build.yml +++ b/.github/workflows/humble-rhel-binary-build.yml @@ -17,10 +17,16 @@ on: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on humble branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: rhel_semi_binary_build: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [humble] with: diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml index c1be728490..7b0c5f1fd3 100644 --- a/.github/workflows/humble-semi-binary-build.yml +++ b/.github/workflows/humble-semi-binary-build.yml @@ -1,6 +1,6 @@ name: Humble Semi-Binary Build # author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' +# description: 'Build & test all ros2_control dependencies from source.' on: workflow_dispatch: @@ -32,15 +32,32 @@ on: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on humble branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: - binary: + semi-binary: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [humble] - ROS_REPO: [main, testing] + ROS_REPO: [testing] with: ros_distro: ${{ matrix.ROS_DISTRO }} ros_repo: ${{ matrix.ROS_REPO }} upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos ref_for_scheduled_build: humble + semi-binary-clang: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + with: + ros_distro: humble + ros_repo: testing + upstream_workspace: ros2_control.humble.repos + ref_for_scheduled_build: humble + additional_debs: clang + c_compiler: clang + cxx_compiler: clang++ + not_test_build: true diff --git a/.github/workflows/humble-semi-binary-downstream-build.yml b/.github/workflows/humble-semi-binary-downstream-build.yml new file mode 100644 index 0000000000..f0bc3a9fd2 --- /dev/null +++ b/.github/workflows/humble-semi-binary-downstream-build.yml @@ -0,0 +1,49 @@ +name: Humble Downstream Build +# description: 'Build & test downstream packages from source.' +# author: Christoph Froehlich + +on: + workflow_dispatch: + pull_request: + branches: + - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.py' + - '**.yaml' + - '.github/workflows/humble-semi-binary-downstream-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros_controls.humble.repos' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build-downstream: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + with: + ros_distro: humble + ros_repo: testing + ref_for_scheduled_build: humble + upstream_workspace: ros2_control.humble.repos + # we don't test this repository, we just build it + not_test_build: true + # we test the downstream packages, which are part of our organization + downstream_workspace: ros_controls.humble.repos + not_test_downstream: false + build-downstream-3rd-party: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + with: + ros_distro: humble + ros_repo: testing + ref_for_scheduled_build: humble + upstream_workspace: ros2_control.humble.repos + # we don't test this repository, we just build it + not_test_build: true + # we don't test the downstream packages, which are outside of our organization + downstream_workspace: downstream.humble.repos + not_test_downstream: true diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml deleted file mode 100644 index c2d9c19110..0000000000 --- a/.github/workflows/iron-abi-compatibility.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: Iron - ABI Compatibility Check -on: - workflow_dispatch: - pull_request: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-abi-compatibility.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control-not-released.iron.repos' - -jobs: - abi_check: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: ros-industrial/industrial_ci@master - env: - ROS_DISTRO: iron - ROS_REPO: testing - ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }} - NOT_TEST_BUILD: true diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml deleted file mode 100644 index 831ab1737e..0000000000 --- a/.github/workflows/iron-binary-build.yml +++ /dev/null @@ -1,46 +0,0 @@ -name: Iron Binary Build -# author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' - -on: - workflow_dispatch: - pull_request: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-binary-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control-not-released.iron.repos' - push: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-binary-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control-not-released.iron.repos' - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 1 * * *' - -jobs: - binary: - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master - strategy: - matrix: - ROS_DISTRO: [iron] - ROS_REPO: [main, testing] - with: - ros_distro: ${{ matrix.ROS_DISTRO }} - ros_repo: ${{ matrix.ROS_REPO }} - upstream_workspace: ros2_control-not-released.iron.repos - ref_for_scheduled_build: iron diff --git a/.github/workflows/iron-check-docs.yml b/.github/workflows/iron-check-docs.yml deleted file mode 100644 index e9295dad44..0000000000 --- a/.github/workflows/iron-check-docs.yml +++ /dev/null @@ -1,18 +0,0 @@ -name: Iron Check Docs - -on: - workflow_dispatch: - pull_request: - branches: - - iron - paths: - - '**.rst' - - '**.md' - - '**.yaml' - -jobs: - check-docs: - name: Check Docs - uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron - with: - ROS2_CONTROL_PR: ${{ github.ref }} diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml deleted file mode 100644 index ff5be81d7d..0000000000 --- a/.github/workflows/iron-coverage-build.yml +++ /dev/null @@ -1,36 +0,0 @@ -name: Coverage Build - Iron -on: - workflow_dispatch: - push: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-coverage-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control.iron.repos' - - 'codecov.yml' - pull_request: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-coverage-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control.iron.repos' - - 'codecov.yml' - -jobs: - coverage_iron: - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master - secrets: inherit - with: - ros_distro: iron diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml deleted file mode 100644 index cd610b7960..0000000000 --- a/.github/workflows/iron-debian-build.yml +++ /dev/null @@ -1,32 +0,0 @@ -name: Debian Iron Source Build -on: - workflow_dispatch: - pull_request: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-debian-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control.iron.repos' - schedule: - # Run every day to detect flakiness and broken dependencies - - cron: '03 1 * * *' - - -jobs: - debian_source_build: - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master - strategy: - matrix: - ROS_DISTRO: [iron] - with: - ros_distro: ${{ matrix.ROS_DISTRO }} - upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos - ref_for_scheduled_build: master - skip_packages: rqt_controller_manager - skip_packages_test: controller_manager_msgs control_msgs diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml deleted file mode 100644 index a128958031..0000000000 --- a/.github/workflows/iron-pre-commit.yml +++ /dev/null @@ -1,13 +0,0 @@ -name: Pre-Commit - Iron - -on: - workflow_dispatch: - pull_request: - branches: - - iron - -jobs: - pre-commit: - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master - with: - ros_distro: iron diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml deleted file mode 100644 index fa30df0e09..0000000000 --- a/.github/workflows/iron-rhel-binary-build.yml +++ /dev/null @@ -1,31 +0,0 @@ -name: RHEL Iron Semi-Binary Build -on: - workflow_dispatch: - pull_request: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-rhel-binary-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control.iron.repos' - schedule: - # Run every day to detect flakiness and broken dependencies - - cron: '03 1 * * *' - - -jobs: - rhel_semi_binary_build: - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master - strategy: - matrix: - ROS_DISTRO: [iron] - with: - ros_distro: ${{ matrix.ROS_DISTRO }} - upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos - ref_for_scheduled_build: iron - skip_packages: rqt_controller_manager diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml deleted file mode 100644 index b45a544766..0000000000 --- a/.github/workflows/iron-semi-binary-build.yml +++ /dev/null @@ -1,46 +0,0 @@ -name: Iron Semi-Binary Build -# author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' - -on: - workflow_dispatch: - pull_request: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-semi-binary-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control.iron.repos' - push: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-semi-binary-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control.iron.repos' - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 1 * * *' - -jobs: - binary: - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master - strategy: - matrix: - ROS_DISTRO: [iron] - ROS_REPO: [main, testing] - with: - ros_distro: ${{ matrix.ROS_DISTRO }} - ros_repo: ${{ matrix.ROS_REPO }} - upstream_workspace: ros2_control.iron.repos - ref_for_scheduled_build: iron diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml deleted file mode 100644 index 3b7c53f6ff..0000000000 --- a/.github/workflows/iron-source-build.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: Iron Source Build -on: - workflow_dispatch: - push: - branches: - - iron - paths: - - '**.hpp' - - '**.h' - - '**.cpp' - - '**.py' - - '.github/workflows/iron-source-build.yml' - - '**/package.xml' - - '**/CMakeLists.txt' - - 'ros2_control.iron.repos' - schedule: - # Run every day to detect flakiness and broken dependencies - - cron: '03 3 * * *' - -jobs: - source: - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master - with: - ros_distro: iron - ref: iron - ros2_repo_branch: iron - os_name: ubuntu-22.04 diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml index 367b3736fb..aa0fe81e63 100644 --- a/.github/workflows/jazzy-abi-compatibility.yml +++ b/.github/workflows/jazzy-abi-compatibility.yml @@ -14,6 +14,11 @@ on: - '**/CMakeLists.txt' - 'ros2_control-not-released.jazzy.repos' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: abi_check: runs-on: ubuntu-latest diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml index 5be853ebfc..599a075d9a 100644 --- a/.github/workflows/jazzy-binary-build.yml +++ b/.github/workflows/jazzy-binary-build.yml @@ -32,6 +32,11 @@ on: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: binary: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml index cbdf6c30bd..7910cde0b5 100644 --- a/.github/workflows/jazzy-check-docs.yml +++ b/.github/workflows/jazzy-check-docs.yml @@ -10,6 +10,10 @@ on: - '**.md' - '**.yaml' +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: check-docs: name: Check Docs diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml index 4ec6a29fff..0f695ed8bc 100644 --- a/.github/workflows/jazzy-debian-build.yml +++ b/.github/workflows/jazzy-debian-build.yml @@ -17,6 +17,10 @@ on: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} jobs: debian_source_build: diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml index d9ec610bbc..aab5ba52ac 100644 --- a/.github/workflows/jazzy-pre-commit.yml +++ b/.github/workflows/jazzy-pre-commit.yml @@ -6,6 +6,10 @@ on: branches: - master +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: pre-commit: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master diff --git a/.github/workflows/jazzy-rhel-binary-build.yml b/.github/workflows/jazzy-rhel-binary-build.yml index 0dcc912dab..a6404d2dbd 100644 --- a/.github/workflows/jazzy-rhel-binary-build.yml +++ b/.github/workflows/jazzy-rhel-binary-build.yml @@ -17,6 +17,11 @@ on: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: rhel_semi_binary_build: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml index 9634732cf9..d5e3a96835 100644 --- a/.github/workflows/jazzy-semi-binary-build.yml +++ b/.github/workflows/jazzy-semi-binary-build.yml @@ -1,6 +1,6 @@ name: Jazzy Semi-Binary Build # author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' +# description: 'Build & test all ros2_control dependencies from source.' on: workflow_dispatch: @@ -32,16 +32,32 @@ on: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: - binary: + semi-binary: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master strategy: fail-fast: false matrix: ROS_DISTRO: [jazzy] - ROS_REPO: [main, testing] + ROS_REPO: [testing] with: ros_distro: ${{ matrix.ROS_DISTRO }} ros_repo: ${{ matrix.ROS_REPO }} upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos ref_for_scheduled_build: master + semi-binary-clang: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + with: + ros_distro: jazzy + ros_repo: testing + upstream_workspace: ros2_control.jazzy.repos + ref_for_scheduled_build: master + additional_debs: clang + c_compiler: clang + cxx_compiler: clang++ + not_test_build: true diff --git a/.github/workflows/jazzy-semi-binary-downstream-build.yml b/.github/workflows/jazzy-semi-binary-downstream-build.yml new file mode 100644 index 0000000000..3bcf417887 --- /dev/null +++ b/.github/workflows/jazzy-semi-binary-downstream-build.yml @@ -0,0 +1,49 @@ +name: Jazzy Downstream Build +# description: 'Build & test downstream packages from source.' +# author: Christoph Froehlich + +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.py' + - '**.yaml' + - '.github/workflows/jazzy-semi-binary-downstream-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros_controls.jazzy.repos' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build-downstream: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + with: + ros_distro: jazzy + ros_repo: testing + ref_for_scheduled_build: master + upstream_workspace: ros2_control.jazzy.repos + # we don't test this repository, we just build it + not_test_build: true + # we test the downstream packages, which are part of our organization + downstream_workspace: ros_controls.jazzy.repos + not_test_downstream: false + build-downstream-3rd-party: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + with: + ros_distro: jazzy + ros_repo: testing + ref_for_scheduled_build: master + upstream_workspace: ros2_control.jazzy.repos + # we don't test this repository, we just build it + not_test_build: true + # we don't test the downstream packages, which are outside of our organization + downstream_workspace: downstream.jazzy.repos + not_test_downstream: true diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml index a07fecc660..3e30571ea1 100644 --- a/.github/workflows/rolling-abi-compatibility.yml +++ b/.github/workflows/rolling-abi-compatibility.yml @@ -14,6 +14,11 @@ on: - '**/CMakeLists.txt' - 'ros2_control-not-released.rolling.repos' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: abi_check: runs-on: ubuntu-latest diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml index 25f2a95b7b..0859169b15 100644 --- a/.github/workflows/rolling-binary-build.yml +++ b/.github/workflows/rolling-binary-build.yml @@ -32,10 +32,16 @@ on: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: binary: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [rolling] ROS_REPO: [main, testing] diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml index 80e8287abd..8dc02f65c1 100644 --- a/.github/workflows/rolling-check-docs.yml +++ b/.github/workflows/rolling-check-docs.yml @@ -10,6 +10,10 @@ on: - '**.md' - '**.yaml' +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: check-docs: name: Check Docs diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml new file mode 100644 index 0000000000..35957bbc0e --- /dev/null +++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml @@ -0,0 +1,49 @@ +name: Check Rolling Compatibility on Humble +# author: Christoph Froehlich +# description: 'Build & test the rolling version on Humble distro.' + +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.py' + - '.github/workflows/rolling-compatibility-humble-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_control.rolling.repos' + push: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.py' + - '.github/workflows/rolling-compatibility-humble-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_control.rolling.repos' + +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + +jobs: + build-on-humble: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [humble] + ROS_REPO: [testing] + with: + ros_distro: ${{ matrix.ROS_DISTRO }} + ros_repo: ${{ matrix.ROS_REPO }} + upstream_workspace: ros2_control.rolling.repos + ref_for_scheduled_build: master diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml new file mode 100644 index 0000000000..bddbd14878 --- /dev/null +++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml @@ -0,0 +1,49 @@ +name: Check Rolling Compatibility on Jazzy +# author: Christoph Froehlich +# description: 'Build & test the rolling version on Jazzy distro.' + +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.py' + - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_control.rolling.repos' + push: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.py' + - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_control.rolling.repos' + +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + +jobs: + build-on-jazzy: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [jazzy] + ROS_REPO: [testing] + with: + ros_distro: ${{ matrix.ROS_DISTRO }} + ros_repo: ${{ matrix.ROS_REPO }} + upstream_workspace: ros2_control.rolling.repos + ref_for_scheduled_build: master diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml index 45b10876e7..ad4e467606 100644 --- a/.github/workflows/rolling-coverage-build.yml +++ b/.github/workflows/rolling-coverage-build.yml @@ -28,6 +28,11 @@ on: - 'ros2_control.rolling.repos' - 'codecov.yml' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: coverage_rolling: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml index 6e4f49191c..a54e7ad0d1 100644 --- a/.github/workflows/rolling-debian-build.yml +++ b/.github/workflows/rolling-debian-build.yml @@ -17,11 +17,17 @@ on: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: debian_source_build: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [rolling] with: diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml index 7bc07ba802..792278d6d2 100644 --- a/.github/workflows/rolling-pre-commit.yml +++ b/.github/workflows/rolling-pre-commit.yml @@ -6,6 +6,10 @@ on: branches: - master +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: pre-commit: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml index a28ca921bb..95d6759da6 100644 --- a/.github/workflows/rolling-rhel-binary-build.yml +++ b/.github/workflows/rolling-rhel-binary-build.yml @@ -17,11 +17,16 @@ on: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} jobs: rhel_semi_binary_build: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [rolling] with: diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml index 6b75e58b5e..6431b9f4fa 100644 --- a/.github/workflows/rolling-semi-binary-build.yml +++ b/.github/workflows/rolling-semi-binary-build.yml @@ -1,6 +1,6 @@ name: Rolling Semi-Binary Build # author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' +# description: 'Build & test all ros2_control dependencies from source.' on: workflow_dispatch: @@ -32,15 +32,33 @@ on: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' +concurrency: + # cancel previous runs of the same workflow, except for pushes on master branch + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }} + jobs: - binary: + semi-binary: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master strategy: + fail-fast: false matrix: ROS_DISTRO: [rolling] - ROS_REPO: [main, testing] + ROS_REPO: [testing] with: ros_distro: ${{ matrix.ROS_DISTRO }} ros_repo: ${{ matrix.ROS_REPO }} upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos ref_for_scheduled_build: master + semi-binary-clang: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + with: + # job for building only, no tests -> one distro is enough + ros_distro: rolling + ros_repo: testing + upstream_workspace: ros2_control.rolling.repos + ref_for_scheduled_build: master + additional_debs: clang + c_compiler: clang + cxx_compiler: clang++ + not_test_build: true diff --git a/.github/workflows/rolling-semi-binary-downstream-build.yml b/.github/workflows/rolling-semi-binary-downstream-build.yml new file mode 100644 index 0000000000..57db2ae7ba --- /dev/null +++ b/.github/workflows/rolling-semi-binary-downstream-build.yml @@ -0,0 +1,57 @@ +name: Rolling Downstream Build +# description: 'Build & test downstream packages from source.' +# author: Christoph Froehlich + +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.py' + - '**.yaml' + - '.github/workflows/rolling-semi-binary-downstream-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros_controls.rolling.repos' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build-downstream: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [rolling] + with: + ros_distro: ${{ matrix.ROS_DISTRO }} + ros_repo: testing + ref_for_scheduled_build: master + upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos + # we don't test this repository, we just build it + not_test_build: true + # we test the downstream packages, which are part of our organization + downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos + not_test_downstream: false + build-downstream-3rd-party: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [rolling] + with: + ros_distro: ${{ matrix.ROS_DISTRO }} + ros_repo: testing + ref_for_scheduled_build: master + upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos + # we don't test this repository, we just build it + not_test_build: true + # we don't test the downstream packages, which are outside of our organization + downstream_workspace: downstream.${{ matrix.ROS_DISTRO }}.repos + not_test_downstream: true diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml new file mode 100644 index 0000000000..3452796f55 --- /dev/null +++ b/.github/workflows/rosdoc2.yml @@ -0,0 +1,17 @@ +name: rosdoc2 + +on: + workflow_dispatch: + pull_request: + paths: + - ros2_control/doc/** + - ros2_control/rosdoc2.yaml + - ros2_control/package.xml + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + check: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b3b9424576..75c5402ffe 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -16,7 +16,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-added-large-files - id: check-ast @@ -26,6 +26,7 @@ repos: - id: check-symlinks - id: check-xml - id: check-yaml + args: ["--allow-multiple-documents"] - id: debug-statements - id: end-of-file-fixer - id: mixed-line-ending @@ -36,7 +37,7 @@ repos: # Python hooks - repo: https://github.com/asottile/pyupgrade - rev: v3.17.0 + rev: v3.19.0 hooks: - id: pyupgrade args: [--py36-plus] @@ -49,7 +50,7 @@ repos: args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] - repo: https://github.com/psf/black - rev: 24.8.0 + rev: 24.10.0 hooks: - id: black args: ["--line-length=99"] @@ -62,7 +63,7 @@ repos: # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v19.1.0 + rev: v19.1.4 hooks: - id: clang-format args: ['-fallback-style=none', '-i'] @@ -132,7 +133,7 @@ repos: exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$ - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.29.3 + rev: 0.30.0 hooks: - id: check-github-workflows args: ["--verbose"] diff --git a/README.md b/README.md index e333585d70..c7e74dd506 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,6 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages :---------: | :----: | :----------: | :-----------: | :---------------: **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html)
[API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling) **Jazzy** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master)
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[API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron) **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master)
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[API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble) [Detailed build status](.github/workflows/README.md) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index 28619a8cfa..f72fadc0b2 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.46.0 (2024-12-16) +------------------- +* generate version.h file per package using the ament_generate_version_header (backport `#1449 `_) (`#1938 `_) +* [CI] Add clang job, setup concurrency, use rt_tools humble branch (backport `#1910 `_) (`#1924 `_) +* Contributors: mergify[bot] + +2.45.0 (2024-12-03) +------------------- + +2.44.0 (2024-11-09) +------------------- +* Add few warning compiler options to error (backport `#1181 `_) (`#1816 `_) +* Add -Wconversion flag to protect future developments (`#1053 `_) (`#1815 `_) +* Add `PoseSensor` semantic component (`#1775 `_) (`#1785 `_) +* Contributors: mergify[bot] + 2.43.1 (2024-09-11) ------------------- diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt index 4f28622bd6..0a380d5a13 100644 --- a/controller_interface/CMakeLists.txt +++ b/controller_interface/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(controller_interface) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra) + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) endif() find_package(ament_cmake REQUIRED) @@ -44,6 +44,7 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(sensor_msgs REQUIRED) + find_package(geometry_msgs REQUIRED) ament_add_gmock(test_controller_interface test/test_controller_interface.cpp) target_link_libraries(test_controller_interface ${PROJECT_NAME}) @@ -88,6 +89,13 @@ if(BUILD_TESTING) hardware_interface sensor_msgs ) + + ament_add_gmock(test_pose_sensor test/test_pose_sensor.cpp) + target_include_directories(test_pose_sensor PRIVATE include) + ament_target_dependencies(test_pose_sensor + hardware_interface + geometry_msgs + ) endif() ament_export_dependencies( @@ -102,3 +110,4 @@ ament_export_libraries( ${PROJECT_NAME} ) ament_package() +ament_generate_version_header(${PROJECT_NAME}) diff --git a/controller_interface/include/semantic_components/force_torque_sensor.hpp b/controller_interface/include/semantic_components/force_torque_sensor.hpp index ab55a537ad..c749ed1db8 100644 --- a/controller_interface/include/semantic_components/force_torque_sensor.hpp +++ b/controller_interface/include/semantic_components/force_torque_sensor.hpp @@ -62,7 +62,7 @@ class ForceTorqueSensor : public SemanticComponentInterface(std::count(existing_axes_.begin(), existing_axes_.begin() + 3, true)); for (size_t i = 3; i < 6; ++i) { diff --git a/controller_interface/include/semantic_components/pose_sensor.hpp b/controller_interface/include/semantic_components/pose_sensor.hpp new file mode 100644 index 0000000000..60dbecd718 --- /dev/null +++ b/controller_interface/include/semantic_components/pose_sensor.hpp @@ -0,0 +1,110 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ +#define SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ + +#include +#include +#include + +#include "geometry_msgs/msg/pose.hpp" +#include "semantic_components/semantic_component_interface.hpp" + +namespace semantic_components +{ + +class PoseSensor : public SemanticComponentInterface +{ +public: + /// Constructor for a standard pose sensor with interface names set based on sensor name. + explicit PoseSensor(const std::string & name) : SemanticComponentInterface{name, 7} + { + // Use standard interface names + interface_names_.emplace_back(name_ + '/' + "position.x"); + interface_names_.emplace_back(name_ + '/' + "position.y"); + interface_names_.emplace_back(name_ + '/' + "position.z"); + interface_names_.emplace_back(name_ + '/' + "orientation.x"); + interface_names_.emplace_back(name_ + '/' + "orientation.y"); + interface_names_.emplace_back(name_ + '/' + "orientation.z"); + interface_names_.emplace_back(name_ + '/' + "orientation.w"); + + // Set all sensor values to default value NaN + std::fill(position_.begin(), position_.end(), std::numeric_limits::quiet_NaN()); + std::fill(orientation_.begin(), orientation_.end(), std::numeric_limits::quiet_NaN()); + } + + virtual ~PoseSensor() = default; + + /// Update and return position. + /*! + * Update and return current pose position from state interfaces. + * + * \return Array of position coordinates. + */ + std::array get_position() + { + for (size_t i = 0; i < 3; ++i) + { + position_[i] = state_interfaces_[i].get().get_value(); + } + + return position_; + } + + /// Update and return orientation + /*! + * Update and return current pose orientation from state interfaces. + * + * \return Array of orientation coordinates in xyzw convention. + */ + std::array get_orientation() + { + for (size_t i = 3; i < 7; ++i) + { + orientation_[i - 3] = state_interfaces_[i].get().get_value(); + } + + return orientation_; + } + + /// Fill pose message with current values. + /** + * Fill a pose message with current position and orientation from the state interfaces. + */ + bool get_values_as_message(geometry_msgs::msg::Pose & message) + { + // Update state from state interfaces + get_position(); + get_orientation(); + + // Set message values from current state + message.position.x = position_[0]; + message.position.y = position_[1]; + message.position.z = position_[2]; + message.orientation.x = orientation_[0]; + message.orientation.y = orientation_[1]; + message.orientation.z = orientation_[2]; + message.orientation.w = orientation_[3]; + + return true; + } + +protected: + std::array position_; + std::array orientation_; +}; + +} // namespace semantic_components + +#endif // SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ diff --git a/controller_interface/package.xml b/controller_interface/package.xml index ca23197bf5..bbc6963d51 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,13 +2,14 @@ controller_interface - 2.43.1 + 2.46.0 Description of controller_interface Bence Magyar Denis Štogl Apache License 2.0 ament_cmake + ament_cmake_gen_version_h hardware_interface rclcpp_lifecycle @@ -22,6 +23,8 @@ rclcpp_lifecycle ament_cmake_gmock + geometry_msgs + sensor_msgs ament_cmake diff --git a/controller_interface/test/test_pose_sensor.cpp b/controller_interface/test/test_pose_sensor.cpp new file mode 100644 index 0000000000..1ceb7c32a6 --- /dev/null +++ b/controller_interface/test/test_pose_sensor.cpp @@ -0,0 +1,98 @@ +// Copyright (c) 2024, FZI Forschungszentrum Informatik +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "test_pose_sensor.hpp" + +void PoseSensorTest::SetUp() +{ + full_interface_names_.reserve(size_); + for (const auto & interface_name : interface_names_) + { + full_interface_names_.emplace_back(sensor_name_ + '/' + interface_name); + } +} + +void PoseSensorTest::TearDown() { pose_sensor_.reset(nullptr); } + +TEST_F(PoseSensorTest, validate_all) +{ + // Create sensor + pose_sensor_ = std::make_unique(sensor_name_); + EXPECT_EQ(pose_sensor_->name_, sensor_name_); + + // Validate reserved space for interface_names_ and state_interfaces_ + // As state_interfaces_ are not defined yet, use capacity() + ASSERT_EQ(pose_sensor_->interface_names_.size(), size_); + ASSERT_EQ(pose_sensor_->state_interfaces_.capacity(), size_); + + // Validate default interface_names_ + EXPECT_TRUE(std::equal( + pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(), + full_interface_names_.cbegin(), full_interface_names_.cend())); + + // Get interface names + std::vector interface_names = pose_sensor_->get_state_interface_names(); + + // Assign values to position + hardware_interface::StateInterface position_x{ + sensor_name_, interface_names_[0], &position_values_[0]}; + hardware_interface::StateInterface position_y{ + sensor_name_, interface_names_[1], &position_values_[1]}; + hardware_interface::StateInterface position_z{ + sensor_name_, interface_names_[2], &position_values_[2]}; + + // Assign values to orientation + hardware_interface::StateInterface orientation_x{ + sensor_name_, interface_names_[3], &orientation_values_[0]}; + hardware_interface::StateInterface orientation_y{ + sensor_name_, interface_names_[4], &orientation_values_[1]}; + hardware_interface::StateInterface orientation_z{ + sensor_name_, interface_names_[5], &orientation_values_[2]}; + hardware_interface::StateInterface orientation_w{ + sensor_name_, interface_names_[6], &orientation_values_[3]}; + + // Create state interface vector in jumbled order + std::vector temp_state_interfaces; + temp_state_interfaces.reserve(7); + + temp_state_interfaces.emplace_back(position_z); + temp_state_interfaces.emplace_back(orientation_y); + temp_state_interfaces.emplace_back(orientation_x); + temp_state_interfaces.emplace_back(position_x); + temp_state_interfaces.emplace_back(orientation_w); + temp_state_interfaces.emplace_back(position_y); + temp_state_interfaces.emplace_back(orientation_z); + + // Assign interfaces + pose_sensor_->assign_loaned_state_interfaces(temp_state_interfaces); + EXPECT_EQ(pose_sensor_->state_interfaces_.size(), size_); + + // Validate correct position and orientation + EXPECT_EQ(pose_sensor_->get_position(), position_values_); + EXPECT_EQ(pose_sensor_->get_orientation(), orientation_values_); + + // Validate generated message + geometry_msgs::msg::Pose temp_message; + ASSERT_TRUE(pose_sensor_->get_values_as_message(temp_message)); + EXPECT_EQ(temp_message.position.x, position_values_[0]); + EXPECT_EQ(temp_message.position.y, position_values_[1]); + EXPECT_EQ(temp_message.position.z, position_values_[2]); + EXPECT_EQ(temp_message.orientation.x, orientation_values_[0]); + EXPECT_EQ(temp_message.orientation.y, orientation_values_[1]); + EXPECT_EQ(temp_message.orientation.z, orientation_values_[2]); + EXPECT_EQ(temp_message.orientation.w, orientation_values_[3]); + + // Release state interfaces + pose_sensor_->release_interfaces(); + ASSERT_EQ(pose_sensor_->state_interfaces_.size(), 0); +} diff --git a/controller_interface/test/test_pose_sensor.hpp b/controller_interface/test/test_pose_sensor.hpp new file mode 100644 index 0000000000..c2344caaa2 --- /dev/null +++ b/controller_interface/test/test_pose_sensor.hpp @@ -0,0 +1,59 @@ +// Copyright (c) 2024, FZI Forschungszentrum Informatik +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_POSE_SENSOR_HPP_ +#define TEST_POSE_SENSOR_HPP_ + +#include + +#include +#include +#include +#include + +#include "semantic_components/pose_sensor.hpp" + +class TestablePoseSensor : public semantic_components::PoseSensor +{ + FRIEND_TEST(PoseSensorTest, validate_all); + +public: + // Use default interface names + explicit TestablePoseSensor(const std::string & name) : PoseSensor{name} {} + + virtual ~TestablePoseSensor() = default; +}; + +class PoseSensorTest : public ::testing::Test +{ +public: + void SetUp(); + void TearDown(); + +protected: + const size_t size_ = 7; + const std::string sensor_name_ = "test_pose_sensor"; + + std::vector full_interface_names_; + const std::vector interface_names_ = { + "position.x", "position.y", "position.z", "orientation.x", + "orientation.y", "orientation.z", "orientation.w"}; + + std::array position_values_ = {{1.1, 2.2, 3.3}}; + std::array orientation_values_ = {{4.4, 5.5, 6.6, 7.7}}; + + std::unique_ptr pose_sensor_; +}; + +#endif // TEST_POSE_SENSOR_HPP_ diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 7f6778a2eb..a20f1a62d3 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.46.0 (2024-12-16) +------------------- +* Add service call timeout argument in spawner (`#1808 `_) (`#1886 `_) +* Fix the spawner to support full wildcard parameter entries (backport `#1933 `_) (`#1939 `_) +* generate version.h file per package using the ament_generate_version_header (backport `#1449 `_) (`#1938 `_) +* Add documentation on `ros2_control_node` and make lock_memory false by default (backport `#1890 `_) (`#1895 `_) +* [Spawner] Accept parsing multiple `--param-file` arguments to spawner (backport `#1805 `_) (`#1894 `_) +* Contributors: mergify[bot] + +2.45.0 (2024-12-03) +------------------- +* Add CM `switch_controller` service timeout as parameter to spawner.py (backport `#1790 `_) (`#1879 `_) +* Fix Hardware spawner and add tests for it (backport `#1759 `_) (`#1827 `_) +* Contributors: mergify[bot] + +2.44.0 (2024-11-09) +------------------- +* [ros2_control_node] Handle simulation environment clocks (backport `#1810 `_) (`#1862 `_) +* Change from thread_priority.hpp to realtime_helpers.hpp (backport `#1829 `_) (`#1866 `_) +* [ros2_control_node] Add option to set the CPU affinity (backport `#1852 `_) (`#1856 `_) +* [ros2_control_node] Add the realtime_tools lock_memory method to prevent page faults (backport `#1822 `_) (`#1850 `_) +* fix: typo use thread_priority (backport `#1844 `_) (`#1847 `_) +* [Spawner] Add support for wildcard entries in the controller param files (`#1724 `_) (`#1835 `_) +* Add test coverage for `params_file` parameter in spawner/unspawner tests (`#1754 `_) (`#1838 `_) +* Fix unload of controllers when spawned with `--unload-on-kill` (`#1717 `_) (`#1842 `_) +* add thread_priority option to the ros2_control_node (`#1820 `_) (`#1824 `_) +* Add few warning compiler options to error (backport `#1181 `_) (`#1816 `_) +* Add -Wconversion flag to protect future developments (`#1053 `_) (`#1815 `_) +* Fix timeout value in std output (backport `#1807 `_) (`#1812 `_) +* Improve launch utils to support the multiple controller names (`#1782 `_) (`#1783 `_) +* allow extra spawner arguments to not declare every argument in launch utils (`#1505 `_) (`#1792 `_) +* Refactor spawner to be able to reuse code for ros2controlcli (backport `#1661 `_) (`#1695 `_) +* [rqt_controller_manager] Add hardware components (`#1455 `_) (`#1586 `_) +* [CM] Handle other exceptions while loading the controller plugin (`#1731 `_) (`#1733 `_) +* [CM] Throw an exception when the components initially fail to be in the required state (backport `#1729 `_) (`#1777 `_) +* Fix spawner tests timeout on source builds (backport `#1692 `_) (`#1697 `_) +* Contributors: mergify[bot] + 2.43.1 (2024-09-11) ------------------- * controller_manager: Add space to string literal concatenation (`#1245 `_) (`#1747 `_) diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt index 14bf66d299..4a8b2ad45b 100644 --- a/controller_manager/CMakeLists.txt +++ b/controller_manager/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(controller_manager) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra) + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) endif() set(THIS_PACKAGE_INCLUDE_DEPENDS @@ -175,8 +175,25 @@ if(BUILD_TESTING) target_link_libraries(test_spawner_unspawner ${PROJECT_NAME} test_controller) ament_target_dependencies(test_spawner_unspawner ros2_control_test_assets) + ament_add_gmock(test_hardware_spawner + test/test_hardware_spawner.cpp + TIMEOUT 120 + ) + target_include_directories(test_hardware_spawner PRIVATE include) + target_link_libraries(test_hardware_spawner ${PROJECT_NAME}) + ament_target_dependencies(test_hardware_spawner ros2_control_test_assets) + install(FILES test/test_controller_spawner_with_type.yaml - DESTINATION test) + DESTINATION test) + + install(FILES test/test_controller_spawner_with_basic_controllers.yaml + DESTINATION test) + + install(FILES test/test_controller_overriding_parameters.yaml + DESTINATION test) + + install(FILES test/test_controller_spawner_wildcard_entries.yaml + DESTINATION test) ament_add_gmock( test_hardware_management_srvs @@ -209,3 +226,4 @@ ament_export_dependencies( ${THIS_PACKAGE_INCLUDE_DEPENDS} ) ament_package() +ament_generate_version_header(${PROJECT_NAME}) diff --git a/controller_manager/controller_manager/__init__.py b/controller_manager/controller_manager/__init__.py index f49bed4d34..638a28ce86 100644 --- a/controller_manager/controller_manager/__init__.py +++ b/controller_manager/controller_manager/__init__.py @@ -23,6 +23,10 @@ set_hardware_component_state, switch_controllers, unload_controller, + get_parameter_from_param_files, + set_controller_parameters, + set_controller_parameters_from_param_files, + bcolors, ) __all__ = [ @@ -36,4 +40,8 @@ "set_hardware_component_state", "switch_controllers", "unload_controller", + "get_parameter_from_param_files", + "set_controller_parameters", + "set_controller_parameters_from_param_files", + "bcolors", ] diff --git a/controller_manager/controller_manager/controller_manager_services.py b/controller_manager/controller_manager/controller_manager_services.py index 00a6f37145..2f0816ff94 100644 --- a/controller_manager/controller_manager/controller_manager_services.py +++ b/controller_manager/controller_manager/controller_manager_services.py @@ -26,12 +26,64 @@ ) import rclpy +import yaml +from rcl_interfaces.msg import Parameter + +# @note: The versions conditioning is added here to support the source-compatibility with Humble +# The `get_parameter_value` function is moved to `rclpy.parameter` module from `ros2param.api` module from version 3.6.0 +try: + from rclpy.parameter import get_parameter_value +except ImportError: + from ros2param.api import get_parameter_value +from ros2param.api import call_set_parameters + + +# from https://stackoverflow.com/a/287944 +class bcolors: + MAGENTA = "\033[95m" + OKBLUE = "\033[94m" + OKCYAN = "\033[96m" + OKGREEN = "\033[92m" + WARNING = "\033[93m" + FAIL = "\033[91m" + ENDC = "\033[0m" + BOLD = "\033[1m" + UNDERLINE = "\033[4m" class ServiceNotFoundError(Exception): pass +class SingletonServiceCaller: + """ + Singleton class to call services of controller manager. + + This class is used to create a service client for a given service name. + If the service client already exists, it returns the existing client. + It is used to avoid creating multiple service clients for the same service name. + + It needs Node object, service type and fully qualified service name to create a service client. + + """ + + _clients = {} + + def __new__(cls, node, service_type, fully_qualified_service_name): + if (node, fully_qualified_service_name) not in cls._clients: + cls._clients[(node, fully_qualified_service_name)] = node.create_client( + service_type, fully_qualified_service_name + ) + node.get_logger().debug( + f"{bcolors.MAGENTA}Creating a new service client : {fully_qualified_service_name} with node : {node.get_name()}{bcolors.ENDC}" + ) + + node.get_logger().debug( + f"{bcolors.OKBLUE}Returning the existing service client : {fully_qualified_service_name} for node : {node.get_name()}{bcolors.ENDC}" + ) + return cls._clients[(node, fully_qualified_service_name)] + + def service_caller( node, service_name, @@ -65,15 +117,23 @@ def service_caller( @return The service response """ - cli = node.create_client(service_type, service_name) + namespace = "" if node.get_namespace() == "/" else node.get_namespace() + fully_qualified_service_name = ( + f"{namespace}/{service_name}" if not service_name.startswith("/") else service_name + ) + cli = SingletonServiceCaller(node, service_type, fully_qualified_service_name) while not cli.service_is_ready(): - node.get_logger().info(f"waiting for service {service_name} to become available...") + node.get_logger().info( + f"waiting for service {fully_qualified_service_name} to become available..." + ) if service_timeout: if not cli.wait_for_service(service_timeout): - raise ServiceNotFoundError(f"Could not contact service {service_name}") + raise ServiceNotFoundError( + f"Could not contact service {fully_qualified_service_name}" + ) elif not cli.wait_for_service(10.0): - node.get_logger().warn(f"Could not contact service {service_name}") + node.get_logger().warn(f"Could not contact service {fully_qualified_service_name}") node.get_logger().debug(f"requester: making request: {request}\n") future = None @@ -82,17 +142,19 @@ def service_caller( rclpy.spin_until_future_complete(node, future, timeout_sec=call_timeout) if future.result() is None: node.get_logger().warning( - f"Failed getting a result from calling {service_name} in " - f"{service_timeout}. (Attempt {attempt+1} of {max_attempts}.)" + f"Failed getting a result from calling {fully_qualified_service_name} in " + f"{call_timeout}. (Attempt {attempt+1} of {max_attempts}.)" ) else: return future.result() raise RuntimeError( - f"Could not successfully call service {service_name} after {max_attempts} attempts." + f"Could not successfully call service {fully_qualified_service_name} after {max_attempts} attempts." ) -def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0): +def configure_controller( + node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0 +): request = ConfigureController.Request() request.name = controller_name return service_caller( @@ -101,10 +163,11 @@ def configure_controller(node, controller_manager_name, controller_name, service ConfigureController, request, service_timeout, + call_timeout, ) -def list_controllers(node, controller_manager_name, service_timeout=0.0): +def list_controllers(node, controller_manager_name, service_timeout=0.0, call_timeout=10.0): request = ListControllers.Request() return service_caller( node, @@ -112,10 +175,11 @@ def list_controllers(node, controller_manager_name, service_timeout=0.0): ListControllers, request, service_timeout, + call_timeout, ) -def list_controller_types(node, controller_manager_name, service_timeout=0.0): +def list_controller_types(node, controller_manager_name, service_timeout=0.0, call_timeout=10.0): request = ListControllerTypes.Request() return service_caller( node, @@ -123,10 +187,13 @@ def list_controller_types(node, controller_manager_name, service_timeout=0.0): ListControllerTypes, request, service_timeout, + call_timeout, ) -def list_hardware_components(node, controller_manager_name, service_timeout=0.0): +def list_hardware_components( + node, controller_manager_name, service_timeout=0.0, call_timeout=10.0 +): request = ListHardwareComponents.Request() return service_caller( node, @@ -134,10 +201,13 @@ def list_hardware_components(node, controller_manager_name, service_timeout=0.0) ListHardwareComponents, request, service_timeout, + call_timeout, ) -def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0): +def list_hardware_interfaces( + node, controller_manager_name, service_timeout=0.0, call_timeout=10.0 +): request = ListHardwareInterfaces.Request() return service_caller( node, @@ -145,10 +215,13 @@ def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0) ListHardwareInterfaces, request, service_timeout, + call_timeout, ) -def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0): +def load_controller( + node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0 +): request = LoadController.Request() request.name = controller_name return service_caller( @@ -157,10 +230,13 @@ def load_controller(node, controller_manager_name, controller_name, service_time LoadController, request, service_timeout, + call_timeout, ) -def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0): +def reload_controller_libraries( + node, controller_manager_name, force_kill, service_timeout=0.0, call_timeout=10.0 +): request = ReloadControllerLibraries.Request() request.force_kill = force_kill return service_caller( @@ -169,11 +245,17 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi ReloadControllerLibraries, request, service_timeout, + call_timeout, ) def set_hardware_component_state( - node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0 + node, + controller_manager_name, + component_name, + lifecyle_state, + service_timeout=0.0, + call_timeout=10.0, ): request = SetHardwareComponentState.Request() request.name = component_name @@ -183,6 +265,8 @@ def set_hardware_component_state( f"{controller_manager_name}/set_hardware_component_state", SetHardwareComponentState, request, + service_timeout, + call_timeout, ) @@ -194,6 +278,7 @@ def switch_controllers( strict, activate_asap, timeout, + call_timeout=10.0, ): request = SwitchController.Request() request.activate_controllers = activate_controllers @@ -205,11 +290,17 @@ def switch_controllers( request.activate_asap = activate_asap request.timeout = rclpy.duration.Duration(seconds=timeout).to_msg() return service_caller( - node, f"{controller_manager_name}/switch_controller", SwitchController, request + node, + f"{controller_manager_name}/switch_controller", + SwitchController, + request, + call_timeout=call_timeout, ) -def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0): +def unload_controller( + node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0 +): request = UnloadController.Request() request.name = controller_name return service_caller( @@ -218,4 +309,165 @@ def unload_controller(node, controller_manager_name, controller_name, service_ti UnloadController, request, service_timeout, + call_timeout, + ) + + +def get_params_files_with_controller_parameters( + node, controller_name: str, namespace: str, parameter_files: list +): + controller_parameter_files = [] + for parameter_file in parameter_files: + if parameter_file in controller_parameter_files: + continue + with open(parameter_file) as f: + namespaced_controller = ( + f"/{controller_name}" if namespace == "/" else f"{namespace}/{controller_name}" + ) + WILDCARD_KEY = "/**" + ROS_PARAMS_KEY = "ros__parameters" + parameters = yaml.safe_load(f) + # check for the parameter in 'controller_name' or 'namespaced_controller' or '/**/namespaced_controller' or '/**/controller_name' + for key in [ + controller_name, + namespaced_controller, + f"{WILDCARD_KEY}/{controller_name}", + f"{WILDCARD_KEY}{namespaced_controller}", + ]: + if parameter_file in controller_parameter_files: + break + if key in parameters: + if key == controller_name and namespace != "/": + node.get_logger().fatal( + f"{bcolors.FAIL}Missing namespace : {namespace} or wildcard in parameter file for controller : {controller_name}{bcolors.ENDC}" + ) + break + controller_parameter_files.append(parameter_file) + + if WILDCARD_KEY in parameters and key in parameters[WILDCARD_KEY]: + controller_parameter_files.append(parameter_file) + if WILDCARD_KEY in parameters and ROS_PARAMS_KEY in parameters[WILDCARD_KEY]: + controller_parameter_files.append(parameter_file) + return controller_parameter_files + + +def get_parameter_from_param_files( + node, controller_name: str, namespace: str, parameter_files: list, parameter_name: str +): + for parameter_file in parameter_files: + with open(parameter_file) as f: + namespaced_controller = ( + f"/{controller_name}" if namespace == "/" else f"{namespace}/{controller_name}" + ) + WILDCARD_KEY = "/**" + ROS_PARAMS_KEY = "ros__parameters" + parameters = yaml.safe_load(f) + controller_param_dict = None + # check for the parameter in 'controller_name' or 'namespaced_controller' or '/**/namespaced_controller' or '/**/controller_name' + for key in [ + controller_name, + namespaced_controller, + f"{WILDCARD_KEY}/{controller_name}", + f"{WILDCARD_KEY}{namespaced_controller}", + ]: + if key in parameters: + if key == controller_name and namespace != "/": + node.get_logger().fatal( + f"{bcolors.FAIL}Missing namespace : {namespace} or wildcard in parameter file for controller : {controller_name}{bcolors.ENDC}" + ) + break + controller_param_dict = parameters[key] + + if WILDCARD_KEY in parameters and key in parameters[WILDCARD_KEY]: + controller_param_dict = parameters[WILDCARD_KEY][key] + if WILDCARD_KEY in parameters and ROS_PARAMS_KEY in parameters[WILDCARD_KEY]: + controller_param_dict = parameters[WILDCARD_KEY] + + if controller_param_dict and ( + not isinstance(controller_param_dict, dict) + or ROS_PARAMS_KEY not in controller_param_dict + ): + raise RuntimeError( + f"YAML file : {parameter_file} is not a valid ROS parameter file for controller node : {namespaced_controller}" + ) + if ( + controller_param_dict + and ROS_PARAMS_KEY in controller_param_dict + and parameter_name in controller_param_dict[ROS_PARAMS_KEY] + ): + break + + if controller_param_dict and parameter_name in controller_param_dict[ROS_PARAMS_KEY]: + return controller_param_dict[ROS_PARAMS_KEY][parameter_name] + if controller_param_dict is None: + node.get_logger().fatal( + f"{bcolors.FAIL}Controller : {namespaced_controller} parameters not found in parameter files : {parameter_files}{bcolors.ENDC}" + ) + return None + + +def set_controller_parameters( + node, controller_manager_name, controller_name, parameter_name, parameter_value +): + parameter = Parameter() + parameter.name = controller_name + "." + parameter_name + parameter_string = str(parameter_value) + parameter.value = get_parameter_value(string_value=parameter_string) + + response = call_set_parameters( + node=node, node_name=controller_manager_name, parameters=[parameter] ) + assert len(response.results) == 1 + result = response.results[0] + if result.successful: + node.get_logger().info( + bcolors.OKCYAN + + 'Setting controller param "' + + parameter_name + + '" to "' + + parameter_string + + '" for ' + + bcolors.BOLD + + controller_name + + bcolors.ENDC + ) + else: + node.get_logger().fatal( + bcolors.FAIL + + 'Could not set controller param "' + + parameter_name + + '" to "' + + parameter_string + + '" for ' + + bcolors.BOLD + + controller_name + + bcolors.ENDC + ) + return False + return True + + +def set_controller_parameters_from_param_files( + node, controller_manager_name: str, controller_name: str, parameter_files: list, namespace=None +): + spawner_namespace = namespace if namespace else node.get_namespace() + controller_parameter_files = get_params_files_with_controller_parameters( + node, controller_name, spawner_namespace, parameter_files + ) + if controller_parameter_files: + set_controller_parameters( + node, + controller_manager_name, + controller_name, + "params_file", + controller_parameter_files, + ) + + controller_type = get_parameter_from_param_files( + node, controller_name, spawner_namespace, controller_parameter_files, "type" + ) + if controller_type and not set_controller_parameters( + node, controller_manager_name, controller_name, "type", controller_type + ): + return False + return True diff --git a/controller_manager/controller_manager/hardware_spawner.py b/controller_manager/controller_manager/hardware_spawner.py index 3e3a487c6a..4f7afe714c 100644 --- a/controller_manager/controller_manager/hardware_spawner.py +++ b/controller_manager/controller_manager/hardware_spawner.py @@ -19,6 +19,7 @@ from controller_manager import ( list_hardware_components, set_hardware_component_state, + bcolors, ) from controller_manager.controller_manager_services import ServiceNotFoundError @@ -28,19 +29,6 @@ from rclpy.signals import SignalHandlerOptions -# from https://stackoverflow.com/a/287944 -class bcolors: - HEADER = "\033[95m" - OKBLUE = "\033[94m" - OKCYAN = "\033[96m" - OKGREEN = "\033[92m" - WARNING = "\033[93m" - FAIL = "\033[91m" - ENDC = "\033[0m" - BOLD = "\033[1m" - UNDERLINE = "\033[4m" - - def first_match(iterable, predicate): return next((n for n in iterable if predicate(n)), None) @@ -69,7 +57,7 @@ def has_service_names(node, node_name, node_namespace, service_names): def is_hardware_component_loaded( node, controller_manager, hardware_component, service_timeout=0.0 ): - components = list_hardware_components(node, hardware_component, service_timeout).component + components = list_hardware_components(node, controller_manager, service_timeout).component return any(c.name == hardware_component for c in components) @@ -79,49 +67,45 @@ def handle_set_component_state_service_call( response = set_hardware_component_state(node, controller_manager_name, component, target_state) if response.ok and response.state == target_state: node.get_logger().info( - bcolors.OKGREEN - + f"{action} component '{component}'. Hardware now in state: {response.state}." + f"{bcolors.OKGREEN}{action} component '{component}'. Hardware now in state: {response.state}.{bcolors.ENDC}" ) elif response.ok and not response.state == target_state: node.get_logger().warn( - bcolors.WARNING - + f"Could not {action} component '{component}'. Service call returned ok=True, but state: {response.state} is not equal to target state '{target_state}'." + f"{bcolors.WARNING}Could not {action} component '{component}'. Service call returned ok=True, but state: {response.state} is not equal to target state '{target_state}'.{bcolors.ENDC}" ) else: node.get_logger().warn( - bcolors.WARNING - + f"Could not {action} component '{component}'. Service call failed. Wrong component name?" + f"{bcolors.WARNING}Could not {action} component '{component}'. Service call failed. Wrong component name?{bcolors.ENDC}" ) -def activate_components(node, controller_manager_name, components_to_activate): +def activate_component(node, controller_manager_name, component_to_activate): active_state = State() active_state.id = State.PRIMARY_STATE_ACTIVE active_state.label = "active" - for component in components_to_activate: - handle_set_component_state_service_call( - node, controller_manager_name, component, active_state, "activated" - ) + handle_set_component_state_service_call( + node, controller_manager_name, component_to_activate, active_state, "activated" + ) -def configure_components(node, controller_manager_name, components_to_configure): +def configure_component(node, controller_manager_name, component_to_configure): inactive_state = State() inactive_state.id = State.PRIMARY_STATE_INACTIVE inactive_state.label = "inactive" - for component in components_to_configure: - handle_set_component_state_service_call( - node, controller_manager_name, component, inactive_state, "configured" - ) + handle_set_component_state_service_call( + node, controller_manager_name, component_to_configure, inactive_state, "configured" + ) def main(args=None): rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO) parser = argparse.ArgumentParser() - activate_or_confiigure_grp = parser.add_mutually_exclusive_group(required=True) + activate_or_configure_grp = parser.add_mutually_exclusive_group(required=True) parser.add_argument( - "hardware_component_name", - help="The name of the hardware component which should be activated.", + "hardware_component_names", + help="The name of the hardware components which should be activated.", + nargs="+", ) parser.add_argument( "-c", @@ -138,13 +122,13 @@ def main(args=None): type=float, ) # add arguments which are mutually exclusive - activate_or_confiigure_grp.add_argument( + activate_or_configure_grp.add_argument( "--activate", help="Activates the given components. Note: Components are by default configured before activated. ", action="store_true", required=False, ) - activate_or_confiigure_grp.add_argument( + activate_or_configure_grp.add_argument( "--configure", help="Configures the given components.", action="store_true", @@ -153,9 +137,9 @@ def main(args=None): command_line_args = rclpy.utilities.remove_ros_args(args=sys.argv)[1:] args = parser.parse_args(command_line_args) + hardware_components = args.hardware_component_names controller_manager_name = args.controller_manager controller_manager_timeout = args.controller_manager_timeout - hardware_component = [args.hardware_component_name] activate = args.activate configure = args.configure @@ -168,28 +152,27 @@ def main(args=None): controller_manager_name = f"/{controller_manager_name}" try: - if not is_hardware_component_loaded( - node, controller_manager_name, hardware_component, controller_manager_timeout - ): - node.get_logger().warn( - bcolors.WARNING - + "Hardware Component is not loaded - state can not be changed." - + bcolors.ENDC - ) - elif activate: - activate_components(node, controller_manager_name, hardware_component) - elif configure: - configure_components(node, controller_manager_name, hardware_component) - else: - node.get_logger().error( - 'You need to either specify if the hardware component should be activated with the "--activate" flag or configured with the "--configure" flag' - ) - parser.print_help() - return 0 + for hardware_component in hardware_components: + if not is_hardware_component_loaded( + node, controller_manager_name, hardware_component, controller_manager_timeout + ): + node.get_logger().warn( + f"{bcolors.WARNING}Hardware Component is not loaded - state can not be changed.{bcolors.ENDC}" + ) + elif activate: + activate_component(node, controller_manager_name, hardware_component) + elif configure: + configure_component(node, controller_manager_name, hardware_component) + else: + node.get_logger().error( + f'{bcolors.FAIL}You need to either specify if the hardware component should be activated with the "--activate" flag or configured with the "--configure" flag{bcolors.ENDC}' + ) + parser.print_help() + return 0 except KeyboardInterrupt: pass except ServiceNotFoundError as err: - node.get_logger().fatal(str(err)) + node.get_logger().fatal(f"{bcolors.FAIL}{str(err)}{bcolors.ENDC}") return 1 finally: rclpy.shutdown() diff --git a/controller_manager/controller_manager/launch_utils.py b/controller_manager/controller_manager/launch_utils.py index e3ef28e928..823181a0ee 100644 --- a/controller_manager/controller_manager/launch_utils.py +++ b/controller_manager/controller_manager/launch_utils.py @@ -19,8 +19,11 @@ from launch_ros.actions import Node -def generate_load_controller_launch_description( - controller_name, controller_type=None, controller_params_file=None +def generate_controllers_spawner_launch_description( + controller_names: list, + controller_type=None, + controller_params_files=None, + extra_spawner_args=[], ): """ Generate launch description for loading a controller using spawner. @@ -32,14 +35,14 @@ def generate_load_controller_launch_description( Examples -------- # Assuming the controller type and controller parameters are known to the controller_manager - generate_load_controller_launch_description('joint_state_broadcaster') - - # Passing controller type and controller parameter file to load - generate_load_controller_launch_description( - 'joint_state_broadcaster', - controller_type='joint_state_broadcaster/JointStateBroadcaster', - controller_params_file=os.path.join(get_package_share_directory('my_pkg'), - 'config', 'controller_params.yaml') + generate_controllers_spawner_launch_description(['joint_state_broadcaster']) + + # Passing controller type and parameter file to load the controller + generate_controllers_spawner_launch_description( + ['joint_state_broadcaster'], + controller_params_files=[os.path.join(get_package_share_directory('my_pkg'), + 'config', 'controller_params.yaml')], + extra_spawner_args=[--load-only] ) """ @@ -54,17 +57,18 @@ def generate_load_controller_launch_description( description="Wait until the node is interrupted and then unload controller", ) - spawner_arguments = [ - controller_name, - "--controller-manager", - LaunchConfiguration("controller_manager_name"), - ] - - if controller_type: - spawner_arguments += ["--controller-type", controller_type] + spawner_arguments = controller_names + spawner_arguments.extend( + [ + "--controller-manager", + LaunchConfiguration("controller_manager_name"), + ] + ) - if controller_params_file: - spawner_arguments += ["--param-file", controller_params_file] + if controller_params_files: + for controller_params_file in controller_params_files: + if controller_params_file: + spawner_arguments += ["--param-file", controller_params_file] # Setting --unload-on-kill if launch arg unload_on_kill is "true" # See https://github.com/ros2/launch/issues/290 @@ -79,6 +83,9 @@ def generate_load_controller_launch_description( ) ] + if extra_spawner_args: + spawner_arguments += extra_spawner_args + spawner = Node( package="controller_manager", executable="spawner", @@ -94,3 +101,54 @@ def generate_load_controller_launch_description( spawner, ] ) + + +def generate_controllers_spawner_launch_description_from_dict( + controller_info_dict: dict, extra_spawner_args=[] +): + """ + Generate launch description for loading a controller using spawner. + + controller_info_dict: dict + A dictionary with the following info: + - controller_name: str + The name of the controller to load as the key + - controller_params_file: str or list or None + The path to the controller parameter file or a list of paths to multiple parameter files + or None if no parameter file is needed as the value of the key + If a list is passed, the controller parameters will be overloaded in same order + extra_spawner_args: list + A list of extra arguments to pass to the controller spawner + """ + if not type(controller_info_dict) is dict: + raise ValueError(f"Invalid controller_info_dict type parsed {controller_info_dict}") + controller_names = controller_info_dict.keys() + controller_params_files = [] + for controller_name in controller_names: + controller_params_file = controller_info_dict[controller_name] + if controller_params_file: + if type(controller_params_file) is list: + controller_params_files.extend(controller_params_file) + elif type(controller_params_file) is str: + controller_params_files.append(controller_params_file) + else: + raise ValueError( + f"Invalid controller_params_file type parsed in the dict {controller_params_file}" + ) + return generate_controllers_spawner_launch_description( + controller_names=controller_names, + controller_params_files=controller_params_files, + extra_spawner_args=extra_spawner_args, + ) + + +def generate_load_controller_launch_description( + controller_name: str, controller_type=None, controller_params_file=None, extra_spawner_args=[] +): + controller_params_files = [controller_params_file] if controller_params_file else None + return generate_controllers_spawner_launch_description( + controller_names=[controller_name], + controller_type=controller_type, + controller_params_files=controller_params_files, + extra_spawner_args=extra_spawner_args, + ) diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py index 4b452ef1e0..c7fab71403 100644 --- a/controller_manager/controller_manager/spawner.py +++ b/controller_manager/controller_manager/spawner.py @@ -19,7 +19,6 @@ import sys import time import warnings -import yaml from controller_manager import ( configure_controller, @@ -27,29 +26,15 @@ load_controller, switch_controllers, unload_controller, + set_controller_parameters, + set_controller_parameters_from_param_files, + bcolors, ) from controller_manager.controller_manager_services import ServiceNotFoundError import rclpy -from rcl_interfaces.msg import Parameter from rclpy.node import Node from rclpy.signals import SignalHandlerOptions -from ros2param.api import call_set_parameters -from ros2param.api import get_parameter_value - -# from https://stackoverflow.com/a/287944 - - -class bcolors: - MAGENTA = "\033[95m" - OKBLUE = "\033[94m" - OKCYAN = "\033[96m" - OKGREEN = "\033[92m" - WARNING = "\033[93m" - FAIL = "\033[91m" - ENDC = "\033[0m" - BOLD = "\033[1m" - UNDERLINE = "\033[4m" def first_match(iterable, predicate): @@ -76,29 +61,15 @@ def has_service_names(node, node_name, node_namespace, service_names): return all(service in client_names for service in service_names) -def is_controller_loaded(node, controller_manager, controller_name, service_timeout=0.0): - controllers = list_controllers(node, controller_manager, service_timeout).controller +def is_controller_loaded( + node, controller_manager, controller_name, service_timeout=0.0, call_timeout=10.0 +): + controllers = list_controllers( + node, controller_manager, service_timeout, call_timeout + ).controller return any(c.name == controller_name for c in controllers) -def get_parameter_from_param_file(controller_name, namespace, parameter_file, parameter_name): - with open(parameter_file) as f: - namespaced_controller = ( - controller_name if namespace == "/" else f"{namespace}/{controller_name}" - ) - parameters = yaml.safe_load(f) - if namespaced_controller in parameters: - value = parameters[namespaced_controller] - if not isinstance(value, dict) or "ros__parameters" not in value: - raise RuntimeError( - f"YAML file : {parameter_file} is not a valid ROS parameter file for controller : {namespaced_controller}" - ) - if parameter_name in parameters[namespaced_controller]["ros__parameters"]: - return parameters[namespaced_controller]["ros__parameters"][parameter_name] - else: - return None - - def main(args=None): rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO) @@ -114,7 +85,11 @@ def main(args=None): parser.add_argument( "-p", "--param-file", - help="Controller param file to be loaded into controller node before configure", + help="Controller param file to be loaded into controller node before configure. " + "Pass multiple times to load different files for different controllers or to " + "override the parameters of the same controller.", + default=None, + action="append", required=False, ) parser.add_argument( @@ -153,9 +128,25 @@ def main(args=None): ) parser.add_argument( "--controller-manager-timeout", - help="Time to wait for the controller manager", + help="Time to wait for the controller manager service to be available", required=False, - default=0, + default=0.0, + type=float, + ) + parser.add_argument( + "--switch-timeout", + help="Time to wait for a successful state switch of controllers." + " Useful when switching cannot be performed immediately, e.g.," + " paused simulations at startup", + required=False, + default=5.0, + type=float, + ) + parser.add_argument( + "--service-call-timeout", + help="Time to wait for the service response from the controller manager", + required=False, + default=10.0, type=float, ) parser.add_argument( @@ -170,11 +161,15 @@ def main(args=None): args = parser.parse_args(command_line_args) controller_names = args.controller_names controller_manager_name = args.controller_manager - param_file = args.param_file + param_files = args.param_file controller_manager_timeout = args.controller_manager_timeout + service_call_timeout = args.service_call_timeout + switch_timeout = args.switch_timeout - if param_file and not os.path.isfile(param_file): - raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file) + if param_files: + for param_file in param_files: + if not os.path.isfile(param_file): + raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file) node = Node("spawner_" + controller_names[0]) @@ -198,7 +193,11 @@ def main(args=None): try: for controller_name in controller_names: if is_controller_loaded( - node, controller_manager_name, controller_name, controller_manager_timeout + node, + controller_manager_name, + controller_name, + controller_manager_timeout, + service_call_timeout, ): node.get_logger().warn( bcolors.WARNING @@ -206,75 +205,23 @@ def main(args=None): + bcolors.ENDC ) else: - controller_type = ( - args.controller_type - if param_file is None - else get_parameter_from_param_file( - controller_name, spawner_namespace, param_file, "type" - ) - ) - if controller_type: - parameter = Parameter() - parameter.name = controller_name + ".type" - parameter.value = get_parameter_value(string_value=controller_type) - - response = call_set_parameters( - node=node, node_name=controller_manager_name, parameters=[parameter] - ) - assert len(response.results) == 1 - result = response.results[0] - if result.successful: - node.get_logger().info( - bcolors.OKCYAN - + 'Set controller type to "' - + controller_type - + '" for ' - + bcolors.BOLD - + controller_name - + bcolors.ENDC - ) - else: - node.get_logger().fatal( - bcolors.FAIL - + 'Could not set controller type to "' - + controller_type - + '" for ' - + bcolors.BOLD - + controller_name - + bcolors.ENDC - ) + if args.controller_type: + if not set_controller_parameters( + node, + controller_manager_name, + controller_name, + "type", + args.controller_type, + ): return 1 - - if param_file: - parameter = Parameter() - parameter.name = controller_name + ".params_file" - parameter.value = get_parameter_value(string_value=param_file) - - response = call_set_parameters( - node=node, node_name=controller_manager_name, parameters=[parameter] - ) - assert len(response.results) == 1 - result = response.results[0] - if result.successful: - node.get_logger().info( - bcolors.OKCYAN - + 'Set controller params file to "' - + param_file - + '" for ' - + bcolors.BOLD - + controller_name - + bcolors.ENDC - ) - else: - node.get_logger().fatal( - bcolors.FAIL - + 'Could not set controller params file to "' - + param_file - + '" for ' - + bcolors.BOLD - + controller_name - + bcolors.ENDC - ) + if param_files: + if not set_controller_parameters_from_param_files( + node, + controller_manager_name, + controller_name, + param_files, + spawner_namespace, + ): return 1 ret = load_controller(node, controller_manager_name, controller_name) @@ -292,7 +239,13 @@ def main(args=None): ) if not args.load_only: - ret = configure_controller(node, controller_manager_name, controller_name) + ret = configure_controller( + node, + controller_manager_name, + controller_name, + controller_manager_timeout, + service_call_timeout, + ) if not ret.ok: node.get_logger().error( bcolors.FAIL + "Failed to configure controller" + bcolors.ENDC @@ -301,7 +254,14 @@ def main(args=None): if not args.stopped and not args.inactive and not args.activate_as_group: ret = switch_controllers( - node, controller_manager_name, [], [controller_name], True, True, 5.0 + node, + controller_manager_name, + [], + [controller_name], + True, + True, + switch_timeout, + service_call_timeout, ) if not ret.ok: node.get_logger().error( @@ -319,7 +279,14 @@ def main(args=None): if not args.stopped and not args.inactive and args.activate_as_group: ret = switch_controllers( - node, controller_manager_name, [], controller_names, True, True, 5.0 + node, + controller_manager_name, + [], + controller_names, + True, + True, + switch_timeout, + service_call_timeout, ) if not ret.ok: node.get_logger().error( @@ -329,7 +296,7 @@ def main(args=None): node.get_logger().info( bcolors.OKGREEN - + "Configured and activated all the parsed controllers list!" + + f"Configured and activated all the parsed controllers list : {controller_names}!" + bcolors.ENDC ) if args.stopped: @@ -347,23 +314,43 @@ def main(args=None): node.get_logger().info("Interrupt captured, deactivating and unloading controller") # TODO(saikishor) we might have an issue in future, if any of these controllers is in chained mode ret = switch_controllers( - node, controller_manager_name, controller_names, [], True, True, 5.0 + node, + controller_manager_name, + controller_names, + [], + True, + True, + switch_timeout, + service_call_timeout, ) if not ret.ok: - node.get_logger().error("Failed to deactivate controller") + node.get_logger().error( + bcolors.FAIL + "Failed to deactivate controller" + bcolors.ENDC + ) return 1 - node.get_logger().info("Deactivated controller") + node.get_logger().info( + f"Successfully deactivated controllers : {controller_names}" + ) elif args.stopped: node.get_logger().warn('"--stopped" flag is deprecated use "--inactive" instead') - ret = unload_controller(node, controller_manager_name, controller_name) - if not ret.ok: - node.get_logger().error("Failed to unload controller") - return 1 + unload_status = True + for controller_name in controller_names: + ret = unload_controller(node, controller_manager_name, controller_name) + if not ret.ok: + unload_status = False + node.get_logger().error( + bcolors.FAIL + + f"Failed to unload controller : {controller_name}" + + bcolors.ENDC + ) - node.get_logger().info("Unloaded controller") + if unload_status: + node.get_logger().info(f"Successfully unloaded controllers : {controller_names}") + else: + return 1 return 0 except KeyboardInterrupt: pass @@ -371,6 +358,7 @@ def main(args=None): node.get_logger().fatal(str(err)) return 1 finally: + node.destroy_node() rclpy.shutdown() diff --git a/controller_manager/controller_manager/unspawner.py b/controller_manager/controller_manager/unspawner.py index d7cab49cbd..15f0ec2899 100644 --- a/controller_manager/controller_manager/unspawner.py +++ b/controller_manager/controller_manager/unspawner.py @@ -37,17 +37,33 @@ def main(args=None): default="/controller_manager", required=False, ) + parser.add_argument( + "--switch-timeout", + help="Time to wait for a successful state switch of controllers." + " Useful when switching cannot be performed immediately, e.g.," + " paused simulations at startup", + required=False, + default=5.0, + type=float, + ) command_line_args = rclpy.utilities.remove_ros_args(args=sys.argv)[1:] args = parser.parse_args(command_line_args) controller_names = args.controller_names controller_manager_name = args.controller_manager + switch_timeout = args.switch_timeout node = Node("unspawner_" + controller_names[0]) try: # Ignore returncode, because message is already printed and we'll try to unload anyway ret = switch_controllers( - node, controller_manager_name, controller_names, [], True, True, 5.0 + node, + controller_manager_name, + controller_names, + [], + True, + True, + switch_timeout, ) node.get_logger().info("Deactivated controller") diff --git a/controller_manager/doc/images/rqt_controller_manager.png b/controller_manager/doc/images/rqt_controller_manager.png new file mode 100644 index 0000000000..01c4f55bdf Binary files /dev/null and b/controller_manager/doc/images/rqt_controller_manager.png differ diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst index f5e962047f..236726217b 100644 --- a/controller_manager/doc/userdoc.rst +++ b/controller_manager/doc/userdoc.rst @@ -90,27 +90,112 @@ There are two scripts to interact with controller manager from launch files: .. code-block:: console $ ros2 run controller_manager spawner -h - usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [--load-only] [--stopped] [-t CONTROLLER_TYPE] [-u] - [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] - controller_name + usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [-n NAMESPACE] [--load-only] [--stopped] [--inactive] [-t CONTROLLER_TYPE] [-u] + [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--switch-timeout SWITCH_TIMEOUT] + [--service-call-timeout SERVICE_CALL_TIMEOUT] [--activate-as-group] + controller_names [controller_names ...] positional arguments: - controller_name Name of the controller + controller_names List of controllers - optional arguments: + options: -h, --help show this help message and exit -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node -p PARAM_FILE, --param-file PARAM_FILE - Controller param file to be loaded into controller node before configure + Controller param file to be loaded into controller node before configure. Pass multiple times to load different files for different controllers or to override the parameters of the same controller. + -n NAMESPACE, --namespace NAMESPACE + Namespace for the controller --load-only Only load the controller and leave unconfigured. - --stopped Load and configure the controller, however do not start them + --stopped Load and configure the controller, however do not activate them + --inactive Load and configure the controller, however do not activate them -t CONTROLLER_TYPE, --controller-type CONTROLLER_TYPE If not provided it should exist in the controller manager namespace -u, --unload-on-kill Wait until this application is interrupted and unload controller --controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT - Time to wait for the controller manager - + Time to wait for the controller manager service to be available + --service-call-timeout SERVICE_CALL_TIMEOUT + Time to wait for the service response from the controller manager + --switch-timeout SWITCH_TIMEOUT + Time to wait for a successful state switch of controllers. Useful when switching cannot be performed immediately, e.g., + paused simulations at startup + --activate-as-group Activates all the parsed controllers list together instead of one by one. Useful for activating all chainable controllers + altogether + + +The parsed controller config file can follow the same conventions as the typical ROS 2 parameter file format. Now, the spawner can handle config files with wildcard entries and also the controller name in the absolute namespace. See the following examples on the config files: + + .. code-block:: yaml + + /**: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + + command_interfaces: + - position + ..... + + position_trajectory_controller_joint1: + ros__parameters: + joints: + - joint1 + + position_trajectory_controller_joint2: + ros__parameters: + joints: + - joint2 + + .. code-block:: yaml + + /**/position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... + + .. code-block:: yaml + + /position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... + + .. code-block:: yaml + + position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... + + .. code-block:: yaml + + /rrbot_1/position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... ``unspawner`` ^^^^^^^^^^^^^^^^ @@ -118,15 +203,18 @@ There are two scripts to interact with controller manager from launch files: .. code-block:: console $ ros2 run controller_manager unspawner -h - usage: unspawner [-h] [-c CONTROLLER_MANAGER] controller_name + usage: unspawner [-h] [-c CONTROLLER_MANAGER] [--switch-timeout SWITCH_TIMEOUT] controller_names [controller_names ...] positional arguments: - controller_name Name of the controller + controller_names Name of the controller - optional arguments: + options: -h, --help show this help message and exit -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node + --switch-timeout SWITCH_TIMEOUT + Time to wait for a successful state switch of controllers. Useful if controllers cannot be switched immediately, e.g., paused + simulations at startup ``hardware_spawner`` ^^^^^^^^^^^^^^^^^^^^^^ @@ -134,20 +222,40 @@ There are two scripts to interact with controller manager from launch files: .. code-block:: console $ ros2 run controller_manager hardware_spawner -h - usage: hardware_spawner [-h] [-c CONTROLLER_MANAGER] (--activate | --configure) hardware_component_name + usage: hardware_spawner [-h] [-c CONTROLLER_MANAGER] [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] + (--activate | --configure) + hardware_component_names [hardware_component_names ...] positional arguments: - hardware_component_name - The name of the hardware component which should be activated. + hardware_component_names + The name of the hardware components which should be activated. options: -h, --help show this help message and exit -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node + --controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT + Time to wait for the controller manager --activate Activates the given components. Note: Components are by default configured before activated. --configure Configures the given components. +rqt_controller_manager +---------------------- +A GUI tool to interact with the controller manager services to be able to switch the lifecycle states of the controllers as well as the hardware components. + +.. image:: images/rqt_controller_manager.png + +It can be launched independently using the following command or as rqt plugin. + +.. code-block:: console + + ros2 run rqt_controller_manager rqt_controller_manager + + * Double-click on a controller or hardware component to show the additional info. + * Right-click on a controller or hardware component to show a context menu with options for lifecycle management. + + Using the Controller Manager in a Process ----------------------------------------- @@ -177,6 +285,38 @@ The workaround for this is to specify another node name remap rule in the ``Node auto cm = std::make_shared( executor, "_target_node_name", "some_optional_namespace", options); +Launching controller_manager with ros2_control_node +--------------------------------------------------- + +The controller_manager can be launched with the ros2_control_node executable. The following example shows how to launch the controller_manager with the ros2_control_node executable: + +.. code-block:: python + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_controllers], + output="both", + ) + +The ros2_control_node executable uses the following parameters from the ``controller_manager`` node: + +lock_memory (optional; bool; default: false for a non-realtime kernel, true for a realtime kernel) + Locks the memory of the ``controller_manager`` node at startup to physical RAM in order to avoid page faults + and to prevent the node from being swapped out to disk. + Find more information about the setup for memory locking in the following link : `How to set ulimit values `_ + The following command can be used to set the memory locking limit temporarily : ``ulimit -l unlimited``. + +cpu_affinity (optional; int; default: -1) + Sets the CPU affinity of the ``controller_manager`` node to the specified CPU core. + The value of -1 means that the CPU affinity is not set. + +thread_priority (optional; int; default: 50) + Sets the thread priority of the ``controller_manager`` node to the specified value. The value must be between 0 and 99. + +use_sim_time (optional; bool; default: false) + Enables the use of simulation time in the ``controller_manager`` node. + Concepts ----------- diff --git a/controller_manager/package.xml b/controller_manager/package.xml index d31b4ee6b5..757ebaa3ab 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,13 +2,14 @@ controller_manager - 2.43.1 + 2.46.0 Description of controller_manager Bence Magyar Denis Štogl Apache License 2.0 ament_cmake + ament_cmake_gen_version_h ament_cmake_python ament_index_cpp diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp index 85aee476a8..1f387b89ee 100644 --- a/controller_manager/src/controller_manager.cpp +++ b/controller_manager/src/controller_manager.cpp @@ -24,6 +24,7 @@ #include "controller_manager_msgs/msg/hardware_component_state.hpp" #include "hardware_interface/types/lifecycle_state_names.hpp" #include "lifecycle_msgs/msg/state.hpp" +#include "rcl/arguments.h" #include "rclcpp/rclcpp.hpp" #include "rclcpp_lifecycle/state.hpp" @@ -395,7 +396,14 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript RCLCPP_INFO( get_logger(), "Setting component '%s' to '%s' state.", component.c_str(), state.label().c_str()); - resource_manager_->set_component_state(component, state); + if ( + resource_manager_->set_component_state(component, state) == + hardware_interface::return_type::ERROR) + { + throw std::runtime_error( + "Failed to set the initial state of the component : " + component + " to " + + state.label()); + } components_to_activate.erase(component); } } @@ -437,6 +445,8 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript // BEGIN: Keep old functionality on for backwards compatibility std::vector activate_components_on_start = std::vector({}); get_parameter("activate_components_on_start", activate_components_on_start); + rclcpp_lifecycle::State active_state( + State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE); if (!activate_components_on_start.empty()) { RCLCPP_WARN( @@ -444,8 +454,6 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript "[Deprecated]: Parameter 'activate_components_on_start' is deprecated. " "Components are activated per default. Don't use this parameters in combination with the new " "'hardware_components_initial_state' parameter structure."); - rclcpp_lifecycle::State active_state( - State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE); for (const auto & component : activate_components_on_start) { resource_manager_->set_component_state(component, active_state); @@ -457,9 +465,14 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript // activate all other components for (const auto & [component, state] : components_to_activate) { - rclcpp_lifecycle::State active_state( - State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE); - resource_manager_->set_component_state(component, active_state); + if ( + resource_manager_->set_component_state(component, active_state) == + hardware_interface::return_type::ERROR) + { + throw std::runtime_error( + "Failed to set the initial state of the component : " + component + " to " + + active_state.label()); + } } } } @@ -556,13 +569,21 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c controller = chainable_loader_->createSharedInstance(controller_type); } } - catch (const pluginlib::CreateClassException & e) + catch (const std::exception & e) { RCLCPP_ERROR( - get_logger(), "Error happened during creation of controller '%s' with type '%s':\n%s", + get_logger(), "Caught exception while loading the controller '%s' of plugin type '%s':\n%s", controller_name.c_str(), controller_type.c_str(), e.what()); return nullptr; } + catch (...) + { + RCLCPP_ERROR( + get_logger(), + "Caught unknown exception while loading the controller '%s' of plugin type '%s'", + controller_name.c_str(), controller_type.c_str()); + throw; + } ControllerSpec controller_spec; controller_spec.c = controller; @@ -574,16 +595,28 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c // read_only params, dynamic maps lists etc // Now check if the parameters_file parameter exist const std::string param_name = controller_name + ".params_file"; - std::string parameters_file; + controller_spec.info.parameters_files.clear(); - // Check if parameter has been declared - if (!has_parameter(param_name)) + // get_parameter checks if parameter has been declared/set + rclcpp::Parameter params_files_parameter; + if (get_parameter(param_name, params_files_parameter)) { - declare_parameter(param_name, rclcpp::ParameterType::PARAMETER_STRING); - } - if (get_parameter(param_name, parameters_file) && !parameters_file.empty()) - { - controller_spec.info.parameters_file = parameters_file; + if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING_ARRAY) + { + controller_spec.info.parameters_files = params_files_parameter.as_string_array(); + } + else if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING) + { + controller_spec.info.parameters_files.push_back(params_files_parameter.as_string()); + } + else + { + RCLCPP_ERROR( + get_logger(), + "The 'params_file' param needs to be a string or a string array for '%s', but it is of " + "type %s", + controller_name.c_str(), params_files_parameter.get_type_name().c_str()); + } } return add_controller_impl(controller_spec); @@ -966,7 +999,7 @@ controller_interface::return_type ControllerManager::switch_controller( auto controller_it = std::find_if( controllers.begin(), controllers.end(), std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it)); - controller_interface::return_type ret = controller_interface::return_type::OK; + controller_interface::return_type status = controller_interface::return_type::OK; // if controller is not inactive then do not do any following-controllers checks if (!is_controller_inactive(controller_it->c)) @@ -976,14 +1009,14 @@ controller_interface::return_type ControllerManager::switch_controller( "Controller with name '%s' is not inactive so its following " "controllers do not have to be checked, because it cannot be activated.", controller_it->info.name.c_str()); - ret = controller_interface::return_type::ERROR; + status = controller_interface::return_type::ERROR; } else { - ret = check_following_controllers_for_activate(controllers, strictness, controller_it); + status = check_following_controllers_for_activate(controllers, strictness, controller_it); } - if (ret != controller_interface::return_type::OK) + if (status != controller_interface::return_type::OK) { RCLCPP_WARN( get_logger(), @@ -1017,7 +1050,7 @@ controller_interface::return_type ControllerManager::switch_controller( auto controller_it = std::find_if( controllers.begin(), controllers.end(), std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it)); - controller_interface::return_type ret = controller_interface::return_type::OK; + controller_interface::return_type status = controller_interface::return_type::OK; // if controller is not active then skip preceding-controllers checks if (!is_controller_active(controller_it->c)) @@ -1025,14 +1058,14 @@ controller_interface::return_type ControllerManager::switch_controller( RCLCPP_WARN( get_logger(), "Controller with name '%s' can not be deactivated since it is not active.", controller_it->info.name.c_str()); - ret = controller_interface::return_type::ERROR; + status = controller_interface::return_type::ERROR; } else { - ret = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it); + status = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it); } - if (ret != controller_interface::return_type::OK) + if (status != controller_interface::return_type::OK) { RCLCPP_WARN( get_logger(), @@ -1113,11 +1146,11 @@ controller_interface::return_type ControllerManager::switch_controller( // check for double stop if (!is_active && in_deactivate_list) { - auto ret = handle_conflict( + auto conflict_status = handle_conflict( "Could not deactivate controller '" + controller.info.name + "' since it is not active"); - if (ret != controller_interface::return_type::OK) + if (conflict_status != controller_interface::return_type::OK) { - return ret; + return conflict_status; } in_deactivate_list = false; deactivate_request_.erase(deactivate_list_it); @@ -1126,11 +1159,11 @@ controller_interface::return_type ControllerManager::switch_controller( // check for doubled activation if (is_active && !in_deactivate_list && in_activate_list) { - auto ret = handle_conflict( + auto conflict_status = handle_conflict( "Could not activate controller '" + controller.info.name + "' since it is already active"); - if (ret != controller_interface::return_type::OK) + if (conflict_status != controller_interface::return_type::OK) { - return ret; + return conflict_status; } in_activate_list = false; activate_request_.erase(activate_list_it); @@ -1139,21 +1172,21 @@ controller_interface::return_type ControllerManager::switch_controller( // check for illegal activation of an unconfigured/finalized controller if (!is_inactive && !in_deactivate_list && in_activate_list) { - auto ret = handle_conflict( + auto conflict_status = handle_conflict( "Could not activate controller '" + controller.info.name + "' since it is not in inactive state"); - if (ret != controller_interface::return_type::OK) + if (conflict_status != controller_interface::return_type::OK) { - return ret; + return conflict_status; } in_activate_list = false; activate_request_.erase(activate_list_it); } const auto extract_interfaces_for_controller = - [this](const ControllerSpec controller, std::vector & request_interface_list) + [this](const ControllerSpec ctrl, std::vector & request_interface_list) { - auto command_interface_config = controller.c->command_interface_configuration(); + auto command_interface_config = ctrl.c->command_interface_configuration(); std::vector command_interface_names = {}; if (command_interface_config.type == controller_interface::interface_configuration_type::ALL) { @@ -1753,8 +1786,8 @@ void ControllerManager::reload_controller_libraries_service_cb( loaded_controllers = get_controller_names(); { // lock controllers - std::lock_guard guard(rt_controllers_wrapper_.controllers_lock_); - for (const auto & controller : rt_controllers_wrapper_.get_updated_list(guard)) + std::lock_guard ctrl_guard(rt_controllers_wrapper_.controllers_lock_); + for (const auto & controller : rt_controllers_wrapper_.get_updated_list(ctrl_guard)) { if (is_controller_active(*controller.c)) { @@ -2544,26 +2577,25 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options( .allow_undeclared_parameters(true) .automatically_declare_parameters_from_overrides(true); std::vector node_options_arguments = controller_node_options.arguments(); - const std::string ros_args_arg = "--ros-args"; - if (controller.info.parameters_file.has_value()) + for (const auto & parameters_file : controller.info.parameters_files) { - if (!check_for_element(node_options_arguments, ros_args_arg)) + if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG)) { - node_options_arguments.push_back(ros_args_arg); + node_options_arguments.push_back(RCL_ROS_ARGS_FLAG); } - node_options_arguments.push_back("--params-file"); - node_options_arguments.push_back(controller.info.parameters_file.value()); + node_options_arguments.push_back(RCL_PARAM_FILE_FLAG); + node_options_arguments.push_back(parameters_file); } // ensure controller's `use_sim_time` parameter matches controller_manager's const rclcpp::Parameter use_sim_time = this->get_parameter("use_sim_time"); if (use_sim_time.as_bool()) { - if (!check_for_element(node_options_arguments, ros_args_arg)) + if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG)) { - node_options_arguments.push_back(ros_args_arg); + node_options_arguments.push_back(RCL_ROS_ARGS_FLAG); } - node_options_arguments.push_back("-p"); + node_options_arguments.push_back(RCL_PARAM_FLAG); node_options_arguments.push_back("use_sim_time:=true"); } diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp index b2126aef28..d6a0b0f3dd 100644 --- a/controller_manager/src/ros2_control_node.cpp +++ b/controller_manager/src/ros2_control_node.cpp @@ -21,7 +21,7 @@ #include "controller_manager/controller_manager.hpp" #include "rclcpp/rclcpp.hpp" -#include "realtime_tools/thread_priority.hpp" +#include "realtime_tools/realtime_helpers.hpp" using namespace std::chrono_literals; @@ -44,14 +44,38 @@ int main(int argc, char ** argv) auto cm = std::make_shared(executor, manager_node_name); + const bool use_sim_time = cm->get_parameter_or("use_sim_time", false); + + const int cpu_affinity = cm->get_parameter_or("cpu_affinity", -1); + if (cpu_affinity >= 0) + { + const auto affinity_result = realtime_tools::set_current_thread_affinity(cpu_affinity); + if (!affinity_result.first) + { + RCLCPP_WARN( + cm->get_logger(), "Unable to set the CPU affinity : '%s'", affinity_result.second.c_str()); + } + } + const bool has_realtime = realtime_tools::has_realtime_kernel(); + const bool lock_memory = cm->get_parameter_or("lock_memory", has_realtime); + std::string message; + if (lock_memory && !realtime_tools::lock_memory(message)) + { + RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str()); + } + RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate()); + const int thread_priority = cm->get_parameter_or("thread_priority", kSchedPriority); + RCLCPP_INFO( + cm->get_logger(), "Spawning %s RT thread with scheduler priority: %d", cm->get_name(), + thread_priority); std::thread cm_thread( - [cm]() + [cm, thread_priority, use_sim_time]() { if (realtime_tools::has_realtime_kernel()) { - if (!realtime_tools::configure_sched_fifo(kSchedPriority)) + if (!realtime_tools::configure_sched_fifo(thread_priority)) { RCLCPP_WARN( cm->get_logger(), @@ -64,7 +88,7 @@ int main(int argc, char ** argv) { RCLCPP_INFO( cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.", - kSchedPriority); + thread_priority); } } else @@ -99,7 +123,14 @@ int main(int argc, char ** argv) // wait until we hit the end of the period next_iteration_time += period; - std::this_thread::sleep_until(next_iteration_time); + if (use_sim_time) + { + cm->get_clock()->sleep_until(current_time + period); + } + else + { + std::this_thread::sleep_until(next_iteration_time); + } } }); diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp index a7205d3024..03dc4812a5 100644 --- a/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp +++ b/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp @@ -22,7 +22,7 @@ #include "controller_interface/chainable_controller_interface.hpp" #include "controller_manager/visibility_control.h" #include "rclcpp/subscription.hpp" -#include "realtime_tools/realtime_buffer.h" +#include "realtime_tools/realtime_buffer.hpp" #include "std_msgs/msg/float64_multi_array.hpp" namespace test_chainable_controller diff --git a/controller_manager/test/test_controller_overriding_parameters.yaml b/controller_manager/test/test_controller_overriding_parameters.yaml new file mode 100644 index 0000000000..115d0ed993 --- /dev/null +++ b/controller_manager/test/test_controller_overriding_parameters.yaml @@ -0,0 +1,5 @@ +ctrl_with_parameters_and_type: + ros__parameters: + interface_name: "impedance" + joint_offset: 0.2 + joint_names: ["joint10"] diff --git a/controller_manager/test/test_controller_spawner_wildcard_entries.yaml b/controller_manager/test/test_controller_spawner_wildcard_entries.yaml new file mode 100644 index 0000000000..1a05ac03d6 --- /dev/null +++ b/controller_manager/test/test_controller_spawner_wildcard_entries.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + type: "controller_manager/test_controller" + joint_names: ["joint1"] + param1: 1.0 + param2: 2.0 + +wildcard_ctrl_3: + ros__parameters: + param3: 3.0 diff --git a/controller_manager/test/test_controller_spawner_with_basic_controllers.yaml b/controller_manager/test/test_controller_spawner_with_basic_controllers.yaml new file mode 100644 index 0000000000..bc93f162c1 --- /dev/null +++ b/controller_manager/test/test_controller_spawner_with_basic_controllers.yaml @@ -0,0 +1,13 @@ +ctrl_1: + ros__parameters: + joint_names: ["joint1"] + +ctrl_2: + ros__parameters: + joint_names: ["joint2"] + fallback_controllers: ["ctrl_6", "ctrl_7", "ctrl_8"] + +ctrl_3: + ros__parameters: + joint_names: ["joint3"] + fallback_controllers: ["ctrl_9"] diff --git a/controller_manager/test/test_controller_spawner_with_type.yaml b/controller_manager/test/test_controller_spawner_with_type.yaml index 892427bab7..23fd69b216 100644 --- a/controller_manager/test/test_controller_spawner_with_type.yaml +++ b/controller_manager/test/test_controller_spawner_with_type.yaml @@ -2,26 +2,42 @@ ctrl_with_parameters_and_type: ros__parameters: type: "controller_manager/test_controller" joint_names: ["joint0"] + interface_name: "position" -chainable_ctrl_with_parameters_and_type: - ros__parameters: - type: "controller_manager/test_chainable_controller" - joint_names: ["joint1"] +/**: + chainable_ctrl_with_parameters_and_type: + ros__parameters: + type: "controller_manager/test_chainable_controller" + joint_names: ["joint1"] + + wildcard_ctrl_with_parameters_and_type: + ros__parameters: + type: "controller_manager/test_controller" + joint_names: ["joint1"] ctrl_with_parameters_and_no_type: ros__parameters: joint_names: ["joint2"] -/foo_namespace/ctrl_with_parameters_and_type: +/foo_namespace/ns_ctrl_with_parameters_and_type: ros__parameters: type: "controller_manager/test_controller" joint_names: ["joint1"] -/foo_namespace/chainable_ctrl_with_parameters_and_type: +/foo_namespace/ns_chainable_ctrl_with_parameters_and_type: + ros__parameters: + type: "controller_manager/test_chainable_controller" + joint_names: ["joint1"] + +/foo_namespace/ns_ctrl_with_parameters_and_no_type: + ros__parameters: + joint_names: ["joint2"] + +/**/wildcard_chainable_ctrl_with_parameters_and_type: ros__parameters: type: "controller_manager/test_chainable_controller" joint_names: ["joint1"] -/foo_namespace/ctrl_with_parameters_and_no_type: +/**/wildcard_ctrl_with_parameters_and_no_type: ros__parameters: joint_names: ["joint2"] diff --git a/controller_manager/test/test_hardware_spawner.cpp b/controller_manager/test/test_hardware_spawner.cpp new file mode 100644 index 0000000000..b9f3027602 --- /dev/null +++ b/controller_manager/test/test_hardware_spawner.cpp @@ -0,0 +1,282 @@ +// Copyright 2021 PAL Robotics S.L. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include +#include + +#include "controller_manager/controller_manager.hpp" +#include "controller_manager_test_common.hpp" +#include "lifecycle_msgs/msg/state.hpp" +#include "test_chainable_controller/test_chainable_controller.hpp" +#include "test_controller/test_controller.hpp" + +using ::testing::_; +using ::testing::Return; + +class RMServiceCaller +{ +public: + explicit RMServiceCaller(const std::string & cm_name) + { + list_srv_node_ = std::make_shared("list_srv_client"); + srv_executor_.add_node(list_srv_node_); + list_hw_components_client_ = + list_srv_node_->create_client( + cm_name + "/list_hardware_components"); + } + + lifecycle_msgs::msg::State get_component_state(const std::string & component_name) + { + auto request = + std::make_shared(); + EXPECT_TRUE(list_hw_components_client_->wait_for_service(std::chrono::milliseconds(500))); + auto future = list_hw_components_client_->async_send_request(request); + EXPECT_EQ(srv_executor_.spin_until_future_complete(future), rclcpp::FutureReturnCode::SUCCESS); + auto result = future.get(); + + auto it = std::find_if( + std::begin(result->component), std::end(result->component), + [&component_name](const auto & cmp) { return cmp.name == component_name; }); + + EXPECT_NE(it, std::end(result->component)); + + return it->state; + }; + +protected: + rclcpp::executors::SingleThreadedExecutor srv_executor_; + rclcpp::Node::SharedPtr list_srv_node_; + rclcpp::Client::SharedPtr + list_hw_components_client_; +}; + +using namespace std::chrono_literals; +class TestHardwareSpawner : public ControllerManagerFixture, + public RMServiceCaller +{ +public: + TestHardwareSpawner() + : ControllerManagerFixture(), RMServiceCaller(TEST_CM_NAME) + { + cm_->set_parameter( + rclcpp::Parameter("hardware_components_initial_state.unconfigured", "TestSystemHardware")); + } + + void SetUp() override + { + ControllerManagerFixture::SetUp(); + + update_executor_ = + std::make_shared(rclcpp::ExecutorOptions(), 2); + + update_executor_->add_node(cm_); + update_executor_spin_future_ = + std::async(std::launch::async, [this]() -> void { update_executor_->spin(); }); + // This sleep is needed to prevent a too fast test from ending before the + // executor has began to spin, which causes it to hang + std::this_thread::sleep_for(50ms); + } + + void TearDown() override { update_executor_->cancel(); } + +protected: + // Using a MultiThreadedExecutor so we can call update on a separate thread from service callbacks + std::shared_ptr update_executor_; + std::future update_executor_spin_future_; +}; + +int call_spawner(const std::string extra_args) +{ + std::string spawner_script = + "python3 -m coverage run --append --branch $(ros2 pkg prefix " + "controller_manager)/lib/controller_manager/hardware_spawner "; + return std::system((spawner_script + extra_args).c_str()); +} + +TEST_F(TestHardwareSpawner, spawner_with_no_arguments_errors) +{ + EXPECT_NE(call_spawner(""), 0) << "Missing mandatory arguments"; +} + +TEST_F(TestHardwareSpawner, spawner_without_manager_errors_with_given_timeout) +{ + EXPECT_NE(call_spawner("TestSystemHardware --controller-manager-timeout 1.0"), 0) + << "Wrong controller manager name"; +} + +TEST_F(TestHardwareSpawner, spawner_without_component_name_argument) +{ + EXPECT_NE(call_spawner("-c test_controller_manager"), 0) + << "Missing component name argument parameter"; +} + +TEST_F(TestHardwareSpawner, spawner_non_exising_hardware_component) +{ + EXPECT_NE(call_spawner("TestSystemHardware1 -c test_controller_manager"), 0) + << "Missing component name argument parameter"; +} + +TEST_F(TestHardwareSpawner, set_component_to_configured_state_and_back_to_activated) +{ + EXPECT_EQ(call_spawner("TestSystemHardware --configure -c test_controller_manager"), 0); + EXPECT_EQ( + get_component_state("TestSystemHardware").id, + lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); + + EXPECT_EQ(call_spawner("TestSystemHardware --activate -c test_controller_manager"), 0); + EXPECT_EQ( + get_component_state("TestSystemHardware").id, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); +} + +class TestHardwareSpawnerWithoutRobotDescription +: public ControllerManagerFixture, + public RMServiceCaller +{ +public: + TestHardwareSpawnerWithoutRobotDescription() + : ControllerManagerFixture(""), + RMServiceCaller(TEST_CM_NAME) + { + cm_->set_parameter(rclcpp::Parameter( + "hardware_components_initial_state.unconfigured", + std::vector{"TestSystemHardware"})); + } + +public: + void SetUp() override + { + ControllerManagerFixture::SetUp(); + + update_timer_ = cm_->create_wall_timer( + std::chrono::milliseconds(10), + [&]() + { + cm_->read(time_, PERIOD); + cm_->update(time_, PERIOD); + cm_->write(time_, PERIOD); + }); + + update_executor_ = + std::make_shared(rclcpp::ExecutorOptions(), 2); + + update_executor_->add_node(cm_); + update_executor_spin_future_ = + std::async(std::launch::async, [this]() -> void { update_executor_->spin(); }); + // This sleep is needed to prevent a too fast test from ending before the + // executor has began to spin, which causes it to hang + std::this_thread::sleep_for(50ms); + } + + void TearDown() override { update_executor_->cancel(); } + + rclcpp::TimerBase::SharedPtr robot_description_sending_timer_; + +protected: + rclcpp::TimerBase::SharedPtr update_timer_; + + // Using a MultiThreadedExecutor so we can call update on a separate thread from service callbacks + std::shared_ptr update_executor_; + std::future update_executor_spin_future_; +}; + +TEST_F(TestHardwareSpawnerWithoutRobotDescription, when_no_robot_description_spawner_times_out) +{ + EXPECT_EQ( + call_spawner( + "TestSystemHardware --configure -c test_controller_manager --controller-manager-timeout 1.0"), + 256) + << "could not change hardware state because not robot description and not services for " + "controller " + "manager are active"; +} + +TEST_F(TestHardwareSpawnerWithoutRobotDescription, spawner_with_later_load_of_robot_description) +{ + // Delay sending robot description + robot_description_sending_timer_ = cm_->create_wall_timer( + std::chrono::milliseconds(2500), [&]() { pass_robot_description_to_cm_and_rm(); }); + + EXPECT_EQ( + call_spawner( + "TestSystemHardware --configure -c test_controller_manager --controller-manager-timeout 1.0"), + 256) + << "could not activate control because not robot description"; + EXPECT_EQ( + call_spawner( + "TestSystemHardware --configure -c test_controller_manager --controller-manager-timeout 2.5"), + 0); + EXPECT_EQ( + get_component_state("TestSystemHardware").id, + lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); +} + +class TestHardwareSpawnerWithNamespacedCM +: public ControllerManagerFixture, + public RMServiceCaller +{ +public: + TestHardwareSpawnerWithNamespacedCM() + : ControllerManagerFixture( + ros2_control_test_assets::minimal_robot_urdf, false, "foo_namespace"), + RMServiceCaller("foo_namespace/" + std::string(TEST_CM_NAME)) + { + cm_->set_parameter( + rclcpp::Parameter("hardware_components_initial_state.unconfigured", "TestSystemHardware")); + } + +public: + void SetUp() override + { + ControllerManagerFixture::SetUp(); + + update_executor_ = + std::make_shared(rclcpp::ExecutorOptions(), 2); + + update_executor_->add_node(cm_); + update_executor_spin_future_ = + std::async(std::launch::async, [this]() -> void { update_executor_->spin(); }); + // This sleep is needed to prevent a too fast test from ending before the + // executor has began to spin, which causes it to hang + std::this_thread::sleep_for(50ms); + } + + void TearDown() override { update_executor_->cancel(); } + +protected: + // Using a MultiThreadedExecutor so we can call update on a separate thread from service callbacks + std::shared_ptr update_executor_; + std::future update_executor_spin_future_; +}; + +TEST_F(TestHardwareSpawnerWithNamespacedCM, set_component_to_configured_state_cm_namespace) +{ + ControllerManagerRunner cm_runner(this); + EXPECT_EQ( + call_spawner( + "TestSystemHardware --configure -c test_controller_manager --controller-manager-timeout 1.0"), + 256) + << "Should fail without defining the namespace"; + EXPECT_EQ( + call_spawner("TestSystemHardware --configure -c test_controller_manager --ros-args -r " + "__ns:=/foo_namespace"), + 0); + + EXPECT_EQ( + get_component_state("TestSystemHardware").id, + lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); +} diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp index c83f777cfa..8a0c35a6a3 100644 --- a/controller_manager/test/test_spawner_unspawner.cpp +++ b/controller_manager/test/test_spawner_unspawner.cpp @@ -33,6 +33,7 @@ const char coveragepy_script[] = "python3 -m coverage run --append --branch"; using namespace std::chrono_literals; class TestLoadController : public ControllerManagerFixture { +public: void SetUp() override { ControllerManagerFixture::SetUp(); @@ -41,9 +42,9 @@ class TestLoadController : public ControllerManagerFixtureread(TIME, PERIOD); - cm_->update(TIME, PERIOD); - cm_->write(TIME, PERIOD); + cm_->read(time_, PERIOD); + cm_->update(time_, PERIOD); + cm_->write(time_, PERIOD); }); update_executor_ = @@ -219,6 +220,50 @@ TEST_F(TestLoadController, multi_ctrls_test_type_in_param) } } +TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + + cm_->set_parameter(rclcpp::Parameter( + "ctrl_with_parameters_and_type.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + cm_->set_parameter( + rclcpp::Parameter("ctrl_with_parameters_and_type.params_file", test_file_path)); + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner("ctrl_with_parameters_and_type --load-only -c test_controller_manager"), 0); + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path); + auto ctrl_node = ctrl_with_parameters_and_type.c->get_node(); + ASSERT_THAT( + ctrl_with_parameters_and_type.info.parameters_files, + std::vector({test_file_path})); + if (!ctrl_node->has_parameter("joint_names")) + { + ctrl_node->declare_parameter("joint_names", std::vector({"random_joint"})); + } + ASSERT_THAT( + ctrl_node->get_parameter("joint_names").as_string_array(), + std::vector({"joint0"})); + + if (!ctrl_node->has_parameter("interface_name")) + { + ctrl_node->declare_parameter("interface_name", "invalid_interface"); + } + ASSERT_EQ(ctrl_node->get_parameter("interface_name").as_string(), "position"); +} + TEST_F(TestLoadController, spawner_test_type_in_arg) { ControllerManagerRunner cm_runner(this); @@ -236,11 +281,142 @@ TEST_F(TestLoadController, spawner_test_type_in_arg) ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); } +TEST_F(TestLoadController, spawner_test_type_in_params_file) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager -p " + + test_file_path), + 0); + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array()[0], + test_file_path); + + auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.type, + test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string_array()[0], + test_file_path); + + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_no_type -c test_controller_manager --controller-manager-timeout " + "1.0 -p " + + test_file_path), + 256); + // Will still be same as the current call will fail + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_1 = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array()[0], + test_file_path); + + auto ctrl_2 = cm_->get_loaded_controllers()[1]; + ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string_array()[0], + test_file_path); +} + +TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_wildcard_entries.yaml"; + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "wildcard_ctrl_1 wildcard_ctrl_2 wildcard_ctrl_3 -c test_controller_manager " + "--controller-manager-timeout 1.0 " + "-p " + + test_file_path), + 0); + + auto verify_ctrl_parameter = [](const auto & ctrl_node, bool has_param_3) + { + if (!ctrl_node->has_parameter("joint_names")) + { + ctrl_node->declare_parameter("joint_names", std::vector({"random_joint"})); + } + ASSERT_THAT( + ctrl_node->get_parameter("joint_names").as_string_array(), + std::vector({"joint1"})); + + if (!ctrl_node->has_parameter("param1")) + { + ctrl_node->declare_parameter("param1", -10.0); + } + ASSERT_THAT(ctrl_node->get_parameter("param1").as_double(), 1.0); + + if (!ctrl_node->has_parameter("param2")) + { + ctrl_node->declare_parameter("param2", -10.0); + } + ASSERT_THAT(ctrl_node->get_parameter("param2").as_double(), 2.0); + + if (!ctrl_node->has_parameter("param3")) + { + ctrl_node->declare_parameter("param3", -10.0); + } + ASSERT_THAT(ctrl_node->get_parameter("param3").as_double(), has_param_3 ? 3.0 : -10.0); + }; + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 3ul); + + auto wildcard_ctrl_1 = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(wildcard_ctrl_1.info.name, "wildcard_ctrl_1"); + ASSERT_EQ(wildcard_ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(wildcard_ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); + verify_ctrl_parameter(wildcard_ctrl_1.c->get_node(), false); + + auto wildcard_ctrl_2 = cm_->get_loaded_controllers()[1]; + ASSERT_EQ(wildcard_ctrl_2.info.name, "wildcard_ctrl_2"); + ASSERT_EQ(wildcard_ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(wildcard_ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); + verify_ctrl_parameter(wildcard_ctrl_2.c->get_node(), false); + + auto wildcard_ctrl_3 = cm_->get_loaded_controllers()[2]; + ASSERT_EQ(wildcard_ctrl_3.info.name, "wildcard_ctrl_3"); + ASSERT_EQ(wildcard_ctrl_3.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(wildcard_ctrl_3.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); + verify_ctrl_parameter(wildcard_ctrl_3.c->get_node(), true); +} + TEST_F(TestLoadController, unload_on_kill) { // Launch spawner with unload on kill // timeout command will kill it after the specified time with signal SIGINT ControllerManagerRunner cm_runner(this); + cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); std::stringstream ss; ss << "timeout --signal=INT 5 " << std::string(coveragepy_script) + @@ -254,6 +430,25 @@ TEST_F(TestLoadController, unload_on_kill) ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul); } +TEST_F(TestLoadController, unload_on_kill_activate_as_group) +{ + // Launch spawner with unload on kill + // timeout command will kill it after the specified time with signal SIGINT + ControllerManagerRunner cm_runner(this); + cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + std::stringstream ss; + ss << "timeout --signal=INT 5 " + << std::string(coveragepy_script) + + " $(ros2 pkg prefix controller_manager)/lib/controller_manager/spawner " + << "ctrl_3 ctrl_2 --activate-as-group -c test_controller_manager --unload-on-kill"; + + EXPECT_NE(std::system(ss.str().c_str()), 0) + << "timeout should have killed spawner and returned non 0 code"; + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul); +} + TEST_F(TestLoadController, spawner_with_many_controllers) { std::stringstream ss; @@ -513,14 +708,14 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) // Provide controller type via the parsed file EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --controller-manager-timeout 1.0 -p " + test_file_path), 256) << "Should fail without the namespacing it"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager -p " + test_file_path + " --ros-args -r __ns:=/foo_namespace"), 0); @@ -528,25 +723,33 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_with_parameters_and_type.info.name + ".params_file") + .as_string_array()[0], + test_file_path); auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; ASSERT_EQ( - chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + chain_ctrl_with_parameters_and_type.info.name, "ns_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ( chain_ctrl_with_parameters_and_type.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( chain_ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(chain_ctrl_with_parameters_and_type.info.name + ".params_file") + .as_string_array()[0], + test_file_path); EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path + + "ns_ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path + " --ros-args -r __ns:=/foo_namespace"), 256) << "Should fail as no type is defined!"; @@ -554,14 +757,18 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_1 = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_1.info.name + ".params_file").as_string_array()[0], test_file_path); auto ctrl_2 = cm_->get_loaded_controllers()[1]; - ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.name, "ns_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_2.info.name + ".params_file").as_string_array()[0], test_file_path); } TEST_F( @@ -574,28 +781,28 @@ TEST_F( // Provide controller type via the parsed file EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --controller-manager-timeout 1.0 -p " + test_file_path), 256) << "Should fail without the namespacing it"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --namespace foo_namespace --controller-manager-timeout 1.0 -p " + test_file_path + " --ros-args -r __ns:=/random_namespace"), 256) << "Should fail when parsed namespace through both way with different namespaces"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --namespace foo_namespace --controller-manager-timeout 1.0 -p" + test_file_path + " --ros-args -r __ns:=/foo_namespace"), 256) << "Should fail when parsed namespace through both ways even with same namespacing name"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --namespace foo_namespace -p " + test_file_path), 0) @@ -604,25 +811,34 @@ TEST_F( ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_with_parameters_and_type.info.name + ".params_file") + .as_string_array()[0], + test_file_path); auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; ASSERT_EQ( - chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + chain_ctrl_with_parameters_and_type.info.name, "ns_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ( chain_ctrl_with_parameters_and_type.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( chain_ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(chain_ctrl_with_parameters_and_type.info.name + ".params_file") + .as_string_array()[0], + test_file_path); EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_no_type -c test_controller_manager --namespace foo_namespace -p " + + "ns_ctrl_with_parameters_and_no_type -c test_controller_manager --namespace foo_namespace " + "-p " + test_file_path), 256) << "Should fail as no type is defined!"; @@ -630,12 +846,252 @@ TEST_F( ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_1 = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_1.info.name + ".params_file").as_string_array()[0], test_file_path); auto ctrl_2 = cm_->get_loaded_controllers()[1]; - ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.name, "ns_chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_2.info.name + ".params_file").as_string_array()[0], test_file_path); +} + +TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_with_wildcard_entries_in_params_file) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "wildcard_ctrl_with_parameters_and_type wildcard_chainable_ctrl_with_parameters_and_type " + "--load-only -c " + "test_controller_manager --controller-manager-timeout 1.0 -p " + + test_file_path), + 256) + << "Should fail without the namespacing it due to timeout but can find the parameters"; + EXPECT_EQ( + call_spawner( + "wildcard_ctrl_with_parameters_and_type wildcard_chainable_ctrl_with_parameters_and_type " + "--load-only -c " + "test_controller_manager -p " + + test_file_path + " --ros-args -r __ns:=/foo_namespace"), + 0); + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "wildcard_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + + auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.name, + "wildcard_chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.type, + test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + + EXPECT_EQ( + call_spawner( + "wildcard_ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path + + " --ros-args -r __ns:=/foo_namespace"), + 256) + << "Should fail as no type is defined!"; + // Will still be same as the current call will fail + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_1 = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_1.info.name, "wildcard_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + + auto ctrl_2 = cm_->get_loaded_controllers()[1]; + ASSERT_EQ(ctrl_2.info.name, "wildcard_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); } + +TEST_F( + TestLoadControllerWithNamespacedCM, + spawner_test_fail_namespaced_controllers_with_non_wildcard_entries) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager --controller-manager-timeout 1.0 -p " + + test_file_path), + 256) + << "Should fail without the namespacing it"; + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager --namespace foo_namespace -p " + + test_file_path), + 256) + << "Should fail even namespacing it as ctrl_with_parameters_and_type is not a wildcard entry"; + EXPECT_EQ( + call_spawner( + "chainable_ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager --namespace foo_namespace -p " + + test_file_path), + 0) + << "Should work as chainable_ctrl_with_parameters_and_type is a wildcard entry"; + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + ctrl_with_parameters_and_type.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); +} + +TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + const std::string basic_ctrls_test_file_path = + ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_basic_controllers.yaml"; + + cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type ctrl_2 ctrl_1 " + "--load-only -c " + "test_controller_manager -p " + + test_file_path + " -p" + basic_ctrls_test_file_path), + 0); + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 4ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + auto params_file_info = + cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], test_file_path); + + auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.type, + test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + params_file_info = + cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], test_file_path); + + auto ctrl_2 = cm_->get_loaded_controllers()[2]; + ASSERT_EQ(ctrl_2.info.name, "ctrl_2"); + ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + params_file_info = cm_->get_parameter("ctrl_2.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], basic_ctrls_test_file_path); + + auto ctrl_1 = cm_->get_loaded_controllers()[3]; + ASSERT_EQ(ctrl_1.info.name, "ctrl_1"); + ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + params_file_info = cm_->get_parameter("ctrl_1.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], basic_ctrls_test_file_path); +} + +TEST_F(TestLoadController, spawner_test_parsing_same_params_file_multiple_times) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + const std::string basic_ctrls_test_file_path = + ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_basic_controllers.yaml"; + + cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type ctrl_2 ctrl_1 " + "--load-only -c " + "test_controller_manager -p " + + test_file_path + " -p" + basic_ctrls_test_file_path + " -p" + basic_ctrls_test_file_path + + " -p" + test_file_path), + 0); + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 4ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + auto params_file_info = + cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], test_file_path); + + auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.type, + test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + params_file_info = + cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], test_file_path); + + auto ctrl_2 = cm_->get_loaded_controllers()[2]; + ASSERT_EQ(ctrl_2.info.name, "ctrl_2"); + ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + params_file_info = cm_->get_parameter("ctrl_2.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], basic_ctrls_test_file_path); + + auto ctrl_1 = cm_->get_loaded_controllers()[3]; + ASSERT_EQ(ctrl_1.info.name, "ctrl_1"); + ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + params_file_info = cm_->get_parameter("ctrl_1.params_file").as_string_array(); + ASSERT_EQ(params_file_info.size(), 1ul); + ASSERT_EQ(params_file_info[0], basic_ctrls_test_file_path); +} diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 1098951237..07bae99e65 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.46.0 (2024-12-16) +------------------- + +2.45.0 (2024-12-03) +------------------- + +2.44.0 (2024-11-09) +------------------- + 2.43.1 (2024-09-11) ------------------- diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml index b772a87641..b044709cc4 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 2.43.1 + 2.46.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/doc/Doxyfile b/doc/Doxyfile deleted file mode 100644 index d05c75a0b6..0000000000 --- a/doc/Doxyfile +++ /dev/null @@ -1,2579 +0,0 @@ -# Doxyfile 1.8.17 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project. -# -# All text after a double hash (##) is considered a comment and is placed in -# front of the TAG it is preceding. -# -# All text after a single hash (#) is considered a comment and will be ignored. -# The format is: -# TAG = value [value, ...] -# For lists, items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (\" \"). - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the configuration -# file that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See -# https://www.gnu.org/software/libiconv/ for the list of possible encodings. -# The default value is: UTF-8. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by -# double-quotes, unless you are using Doxywizard) that should identify the -# project for which the documentation is generated. This name is used in the -# title of most generated pages and in a few other places. -# The default value is: My Project. - -PROJECT_NAME = "ROS2 Control" - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. This -# could be handy for archiving the generated documentation or if some version -# control system is used. - -PROJECT_NUMBER = - -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer a -# quick idea about the purpose of the project. Keep the description short. - -PROJECT_BRIEF = - -# With the PROJECT_LOGO tag one can specify a logo or an icon that is included -# in the documentation. The maximum height of the logo should not exceed 55 -# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy -# the logo to the output directory. - -PROJECT_LOGO = - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path -# into which the generated documentation will be written. If a relative path is -# entered, it will be relative to the location where doxygen was started. If -# left blank the current directory will be used. - -OUTPUT_DIRECTORY = doc/_build/ - -# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- -# directories (in 2 levels) under the output directory of each output format and -# will distribute the generated files over these directories. Enabling this -# option can be useful when feeding doxygen a huge amount of source files, where -# putting all generated files in the same directory would otherwise causes -# performance problems for the file system. -# The default value is: NO. - -CREATE_SUBDIRS = NO - -# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII -# characters to appear in the names of generated files. If set to NO, non-ASCII -# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode -# U+3044. -# The default value is: NO. - -ALLOW_UNICODE_NAMES = NO - -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, -# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), -# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, -# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), -# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, -# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, -# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, -# Ukrainian and Vietnamese. -# The default value is: English. - -OUTPUT_LANGUAGE = English - -# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all generated output in the proper direction. -# Possible values are: None, LTR, RTL and Context. -# The default value is: None. - -OUTPUT_TEXT_DIRECTION = None - -# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member -# descriptions after the members that are listed in the file and class -# documentation (similar to Javadoc). Set to NO to disable this. -# The default value is: YES. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief -# description of a member or function before the detailed description -# -# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. -# The default value is: YES. - -REPEAT_BRIEF = YES - -# This tag implements a quasi-intelligent brief description abbreviator that is -# used to form the text in various listings. Each string in this list, if found -# as the leading text of the brief description, will be stripped from the text -# and the result, after processing the whole list, is used as the annotated -# text. Otherwise, the brief description is used as-is. If left blank, the -# following values are used ($name is automatically replaced with the name of -# the entity):The $name class, The $name widget, The $name file, is, provides, -# specifies, contains, represents, a, an and the. - -ABBREVIATE_BRIEF = "The $name class" \ - "The $name widget" \ - "The $name file" \ - is \ - provides \ - specifies \ - contains \ - represents \ - a \ - an \ - the - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# doxygen will generate a detailed section even if there is only a brief -# description. -# The default value is: NO. - -ALWAYS_DETAILED_SEC = NO - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment -# operators of the base classes will not be shown. -# The default value is: NO. - -INLINE_INHERITED_MEMB = NO - -# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path -# before files name in the file list and in the header files. If set to NO the -# shortest path that makes the file name unique will be used -# The default value is: YES. - -FULL_PATH_NAMES = YES - -# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. -# Stripping is only done if one of the specified strings matches the left-hand -# part of the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the path to -# strip. -# -# Note that you can specify absolute paths here, but also relative paths, which -# will be relative from the directory where doxygen is started. -# This tag requires that the tag FULL_PATH_NAMES is set to YES. - -STRIP_FROM_PATH = - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the -# path mentioned in the documentation of a class, which tells the reader which -# header file to include in order to use a class. If left blank only the name of -# the header file containing the class definition is used. Otherwise one should -# specify the list of include paths that are normally passed to the compiler -# using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but -# less readable) file names. This can be useful is your file systems doesn't -# support long names like on DOS, Mac, or CD-ROM. -# The default value is: NO. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the -# first line (until the first dot) of a Javadoc-style comment as the brief -# description. If set to NO, the Javadoc-style will behave just like regular Qt- -# style comments (thus requiring an explicit @brief command for a brief -# description.) -# The default value is: NO. - -JAVADOC_AUTOBRIEF = NO - -# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line -# such as -# /*************** -# as being the beginning of a Javadoc-style comment "banner". If set to NO, the -# Javadoc-style will behave just like regular comments and it will not be -# interpreted by doxygen. -# The default value is: NO. - -JAVADOC_BANNER = NO - -# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first -# line (until the first dot) of a Qt-style comment as the brief description. If -# set to NO, the Qt-style will behave just like regular Qt-style comments (thus -# requiring an explicit \brief command for a brief description.) -# The default value is: NO. - -QT_AUTOBRIEF = NO - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a -# multi-line C++ special comment block (i.e. a block of //! or /// comments) as -# a brief description. This used to be the default behavior. The new default is -# to treat a multi-line C++ comment block as a detailed description. Set this -# tag to YES if you prefer the old behavior instead. -# -# Note that setting this tag to YES also means that rational rose comments are -# not recognized any more. -# The default value is: NO. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the -# documentation from any documented member that it re-implements. -# The default value is: YES. - -INHERIT_DOCS = YES - -# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new -# page for each member. If set to NO, the documentation of a member will be part -# of the file/class/namespace that contains it. -# The default value is: NO. - -SEPARATE_MEMBER_PAGES = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen -# uses this value to replace tabs by spaces in code fragments. -# Minimum value: 1, maximum value: 16, default value: 4. - -TAB_SIZE = 4 - -# This tag can be used to specify a number of aliases that act as commands in -# the documentation. An alias has the form: -# name=value -# For example adding -# "sideeffect=@par Side Effects:\n" -# will allow you to put the command \sideeffect (or @sideeffect) in the -# documentation, which will result in a user-defined paragraph with heading -# "Side Effects:". You can put \n's in the value part of an alias to insert -# newlines (in the resulting output). You can put ^^ in the value part of an -# alias to insert a newline as if a physical newline was in the original file. -# When you need a literal { or } or , in the value part of an alias you have to -# escape them by means of a backslash (\), this can lead to conflicts with the -# commands \{ and \} for these it is advised to use the version @{ and @} or use -# a double escape (\\{ and \\}) - -ALIASES = - -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. - -TCL_SUBST = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources -# only. Doxygen will then generate output that is more tailored for C. For -# instance, some of the names that are used will be different. The list of all -# members will be omitted, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_FOR_C = NO - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or -# Python sources only. Doxygen will then generate output that is more tailored -# for that language. For instance, namespaces will be presented as packages, -# qualified scopes will look different, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources. Doxygen will then generate output that is tailored for Fortran. -# The default value is: NO. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for VHDL. -# The default value is: NO. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice -# sources only. Doxygen will then generate output that is more tailored for that -# language. For instance, namespaces will be presented as modules, types will be -# separated into more groups, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_SLICE = NO - -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given -# extension. Doxygen has a built-in mapping, but you can override or extend it -# using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, -# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, -# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: -# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser -# tries to guess whether the code is fixed or free formatted code, this is the -# default for Fortran type files), VHDL, tcl. For instance to make doxygen treat -# .inc files as Fortran files (default is PHP), and .f files as C (default is -# Fortran), use: inc=Fortran f=C. -# -# Note: For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See https://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up -# to that level are automatically included in the table of contents, even if -# they do not have an id attribute. -# Note: This feature currently applies only to Markdown headings. -# Minimum value: 0, maximum value: 99, default value: 5. -# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. - -TOC_INCLUDE_HEADINGS = 5 - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by putting a % sign in front of the word or -# globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = YES - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = NO - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. 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By default this option -# is disabled and one has to add nested compounds explicitly via \ingroup. -# The default value is: NO. - -GROUP_NESTED_COMPOUNDS = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual -# methods of a class will be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIV_VIRTUAL = NO - -# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined -# locally in source files will be included in the documentation. 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By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO, these classes will be included in the various overviews. This option -# has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# declarations. If set to NO, these declarations will be included in the -# documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO, these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES, upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# (including Cygwin) ands Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = YES - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES, the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = NO - -# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will -# append additional text to a page's title, such as Class Reference. If set to -# YES the compound reference will be hidden. -# The default value is: NO. - -HIDE_COMPOUND_REFERENCE= NO - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = YES - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo -# list. This list is created by putting \todo commands in the documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test -# list. This list is created by putting \test commands in the documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if ... \endif and \cond -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES, the -# list will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. See also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO, doxygen will only warn about wrong or incomplete -# parameter documentation, but not about the absence of documentation. If -# EXTRACT_ALL is set to YES then this flag will automatically be disabled. -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. -# The default value is: NO. - -WARN_AS_ERROR = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING -# Note: If this tag is empty the current directory is searched. - -INPUT = README.md . - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: https://www.gnu.org/software/libiconv/) for the list of -# possible encodings. -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# read by doxygen. -# -# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, -# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, -# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, -# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment), -# *.doc (to be provided as doxygen C comment), *.txt (to be provided as doxygen -# C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f, *.for, *.tcl, *.vhd, -# *.vhdl, *.ucf, *.qsf and *.ice. - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.idl \ - *.ddl \ - *.odl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.cs \ - *.d \ - *.php \ - *.php4 \ - *.php5 \ - *.phtml \ - *.inc \ - *.m \ - *.markdown \ - *.md \ - *.mm \ - *.dox \ - *.doc \ - *.txt \ - *.py \ - *.pyw \ - *.f90 \ - *.f95 \ - *.f03 \ - *.f08 \ - *.f \ - *.for \ - *.tcl \ - *.vhd \ - *.vhdl \ - *.ucf \ - *.qsf \ - *.ice - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories use the pattern */test/* - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# -# -# where is the value of the INPUT_FILTER tag, and is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = README.md - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# classes and enums directly into the documentation. -# The default value is: NO. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# entity all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see https://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = YES - -# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the -# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the -# cost of reduced performance. This can be particularly helpful with template -# rich C++ code for which doxygen's built-in parser lacks the necessary type -# information. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse_libclang=ON option for CMake. -# The default value is: NO. - -CLANG_ASSISTED_PARSING = NO - -# If clang assisted parsing is enabled you can provide the compiler with command -# line options that you would normally use when invoking the compiler. Note that -# the include paths will already be set by doxygen for the files and directories -# specified with INPUT and INCLUDE_PATH. -# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. - -CLANG_OPTIONS = - -# If clang assisted parsing is enabled you can provide the clang parser with the -# path to the compilation database (see: -# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) used when the files -# were built. This is equivalent to specifying the "-p" option to a clang tool, -# such as clang-check. These options will then be passed to the parser. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse_libclang=ON option for CMake. - -CLANG_DATABASE_PATH = - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all classes will -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag -# can be used to specify a prefix (or a list of prefixes) that should be ignored -# while generating the index headers. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined -# cascading style sheets that are included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefore more robust against future updates. -# Doxygen will copy the style sheet files to the output directory. -# Note: The order of the extra style sheet files is of importance (e.g. the last -# style sheet in the list overrules the setting of the previous ones in the -# list). For an example see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the style sheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# https://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting this -# to YES can help to show when doxygen was last run and thus if the -# documentation is up to date. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_TIMESTAMP = NO - -# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML -# documentation will contain a main index with vertical navigation menus that -# are dynamically created via JavaScript. If disabled, the navigation index will -# consists of multiple levels of tabs that are statically embedded in every HTML -# page. Disable this option to support browsers that do not have JavaScript, -# like the Qt help browser. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_MENUS = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = NO - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: https://developer.apple.com/xcode/), introduced with OSX -# 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy -# genXcode/_index.html for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler (hhc.exe). If non-empty, -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the master .chm file (NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated -# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it -# enables the Previous and Next buttons. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual- -# folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = NO - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 250 - -# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANSPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_TRANSPARENT = YES - -# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands -# to create new LaTeX commands to be used in formulas as building blocks. See -# the section "Including formulas" for details. - -FORMULA_MACROFILE = - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# https://www.mathjax.org) which uses client side JavaScript for the rendering -# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from https://www.mathjax.org before deployment. -# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/ - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use + S -# (what the is depends on the OS and browser, but it is typically -# , /