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[Humble] Fix rqt controller manager #1280

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merged 1 commit into from
Jan 9, 2024
Merged

[Humble] Fix rqt controller manager #1280

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90 changes: 64 additions & 26 deletions controller_manager/controller_manager/controller_manager_services.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -37,51 +37,84 @@ def service_caller(node, service_name, service_type, request, service_timeout=10
raise RuntimeError(f'Exception while calling service: {future.exception()}')


def configure_controller(node, controller_manager_name, controller_name):
def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
request = ConfigureController.Request()
request.name = controller_name
return service_caller(node, f'{controller_manager_name}/configure_controller',
ConfigureController, request)
return service_caller(
node,
f"{controller_manager_name}/configure_controller",
ConfigureController,
request,
service_timeout,
)


def list_controllers(node, controller_manager_name):
def list_controllers(node, controller_manager_name, service_timeout=10.0):
request = ListControllers.Request()
return service_caller(node, f'{controller_manager_name}/list_controllers',
ListControllers, request)
return service_caller(
node,
f"{controller_manager_name}/list_controllers",
ListControllers,
request,
service_timeout,
)


def list_controller_types(node, controller_manager_name):
def list_controller_types(node, controller_manager_name, service_timeout=10.0):
request = ListControllerTypes.Request()
return service_caller(node,
f'{controller_manager_name}/list_controller_types',
ListControllerTypes, request)
return service_caller(
node,
f"{controller_manager_name}/list_controller_types",
ListControllerTypes,
request,
service_timeout,
)


def list_hardware_components(node, controller_manager_name):
def list_hardware_components(node, controller_manager_name, service_timeout=10.0):
request = ListHardwareComponents.Request()
return service_caller(node, f'{controller_manager_name}/list_hardware_components',
ListHardwareComponents, request)
return service_caller(
node,
f"{controller_manager_name}/list_hardware_components",
ListHardwareComponents,
request,
service_timeout,
)


def list_hardware_interfaces(node, controller_manager_name):
def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0):
request = ListHardwareInterfaces.Request()
return service_caller(node, f'{controller_manager_name}/list_hardware_interfaces',
ListHardwareInterfaces, request)
return service_caller(
node,
f"{controller_manager_name}/list_hardware_interfaces",
ListHardwareInterfaces,
request,
service_timeout,
)


def load_controller(node, controller_manager_name, controller_name):
def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
request = LoadController.Request()
request.name = controller_name
return service_caller(node, f'{controller_manager_name}/load_controller',
LoadController, request)
return service_caller(
node,
f"{controller_manager_name}/load_controller",
LoadController,
request,
service_timeout,
)


def reload_controller_libraries(node, controller_manager_name, force_kill):
def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0):
request = ReloadControllerLibraries.Request()
request.force_kill = force_kill
return service_caller(node,
f'{controller_manager_name}/reload_controller_libraries',
ReloadControllerLibraries, request)
return service_caller(
node,
f"{controller_manager_name}/reload_controller_libraries",
ReloadControllerLibraries,
request,
service_timeout,
)


def switch_controllers(node, controller_manager_name, deactivate_controllers,
Expand All @@ -99,8 +132,13 @@ def switch_controllers(node, controller_manager_name, deactivate_controllers,
SwitchController, request)


def unload_controller(node, controller_manager_name, controller_name):
def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
request = UnloadController.Request()
request.name = controller_name
return service_caller(node, f'{controller_manager_name}/unload_controller',
UnloadController, request)
return service_caller(
node,
f"{controller_manager_name}/unload_controller",
UnloadController,
request,
service_timeout,
)
27 changes: 16 additions & 11 deletions rqt_controller_manager/rqt_controller_manager/controller_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -168,17 +168,22 @@ def _list_controllers(self):
@rtype [str]
"""
# Add loaded controllers first
controllers = list_controllers(self._node, self._cm_name).controller

# Append potential controller configs found in the node's parameters
for name in _get_parameter_controller_names(self._node, self._cm_name):
add_ctrl = all(name != ctrl.name for ctrl in controllers)
if add_ctrl:
type_str = _get_controller_type(self._node, self._cm_name, name)
uninit_ctrl = ControllerState(name=name,
type=type_str)
controllers.append(uninit_ctrl)
return controllers
try:
controllers = list_controllers(
self._node, self._cm_name, 2.0 / self._cm_update_freq
).controller

# Append potential controller configs found in the node's parameters
for name in _get_parameter_controller_names(self._node, self._cm_name):
add_ctrl = all(name != ctrl.name for ctrl in controllers)
if add_ctrl:
type_str = _get_controller_type(self._node, self._cm_name, name)
uninit_ctrl = ControllerState(name=name, type=type_str)
controllers.append(uninit_ctrl)
return controllers
except RuntimeError as e:
print(e)
return []

def _show_controllers(self):
table_view = self._widget.table_view
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