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[Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager #1871

Merged
merged 43 commits into from
Dec 3, 2024
Merged

[Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager #1871

merged 43 commits into from
Dec 3, 2024

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saikishor
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This PR aims to add diagnostics to the controller_manager and the loaded controllers regarding their periodicity and execution time.

Needs: ros-controls/realtime_tools#192

The diagnostics should kinda look like the following screenshots (The following are only to look at the summary):

image
image
image

christophfroehlich
christophfroehlich reviewed Nov 11, 2024
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I successfully tested the new diagnostics with the demos (synchronous controllers), but as I haven't used them much a note for myself (would have been valid with #1764 already)

  • per default, /diagnostics is sent with 1Hz by the Updater, we don't set a different value in the CM's constructor
  • diagnostics_updater_ lives in a non RT-thread, and so do also the callback methods.

One comment as we are adding more and more parameters: Would it make sense to use generate_parameter_library also for the CM? I think we can't use it for the per-controller parameters because maps do not work well here, and there is no way to "namespace" parameters with GPL. But for the others?

@saikishor
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@christophfroehlich yes, I thought of using the GPL for this, but I wanted to see your opinion here before taking any decision. I'm open to having this

@saikishor
add MovingAverageStatistics to ControllerSpec
15b3377
@saikishor
Use ControllerUpdateStatus object to return trigger_update status w…
b6eb1d4 
…ith more information
@saikishor
add stats of execution time and the periodicity of the controllers
c25866e
@saikishor
Add periodicity stats to the controller manager
66135e6
@saikishor
update the diagnostics of the controller manager with periodicity inf…
6531ab2 
…ormation
@saikishor
make execution time in the ControllerUpdateStatus optional for async …
348b590 
…first operation
@saikishor
adapt periodicity statistics for async controllers
8129cf0
@saikishor
Add controller statistics diagnostics
e873706
@saikishor
use current trigger time from AsyncFunctionHandler to calculate the r…
1a57fdf 
…ight periodicity
@saikishor
Update the logic to use the period from ControllerUpdateStatus
eae02c1
@saikishor
Only publish the diagnostics stats for the active controllers
2856a29
@saikishor
fix CM periodicity stat
be64141
@saikishor
Fix the tests by initializing the pointers on construction
2c77713
@saikishor
Don't add the initial periodicity upon activation
b1ad07e
@saikishor
set the first update period to zero and do not count for periodicity
9e45ce0
@saikishor
pass current_time to the trigger_update method
62f5832
@saikishor
Fix the test and add tests of the statistics
6e9be7d
@saikishor
Add some reasonable checks about the execution time
02eb08d
@saikishor
Add more statistics tests
f13289a
@saikishor
Publish periodicity only if it is an async controller
186b5ff
@saikishor
Add an initial way to retrieve threshold parameters from paramserver
0d5b4e8
@saikishor saikishor force-pushed the add/statistics/diagnostics branch from 30744f3 to faf9c75 Compare November 17, 2024 19:49
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codecov bot commented Nov 17, 2024 •
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Codecov Report

Attention: Patch coverage is 73.87755% with 64 lines in your changes missing coverage. Please review.

Project coverage is 87.59%. Comparing base (2b22d0c) to head (18e67f6).
Report is 2 commits behind head on master.

Files with missing lines Patch % Lines
controller_manager/src/controller_manager.cpp 58.57% 49 Missing and 9 partials ⚠️
...ontroller_manager/test/test_controller_manager.cpp 93.75% 5 Missing ⚠️
...roller_interface/src/controller_interface_base.cpp 94.11% 0 Missing and 1 partial ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #1871      +/-   ##
==========================================
- Coverage   87.83%   87.59%   -0.25%     
==========================================
  Files         121      122       +1     
  Lines       12555    12766     +211     
  Branches     1131     1146      +15     
==========================================
+ Hits        11028    11182     +154     
- Misses       1108     1155      +47     
- Partials      419      429      +10
Flag Coverage Δ
unittests 87.59% <73.87%> (-0.25%) ⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines Coverage Δ
...controller_interface/controller_interface_base.hpp 92.30% <ø> (ø)
.../include/controller_manager/controller_manager.hpp 100.00% <ø> (ø)
...ger/include/controller_manager/controller_spec.hpp 100.00% <100.00%> (ø)
controller_manager/src/ros2_control_node.cpp 76.08% <100.00%> (ø)
...ler_manager/test/test_hardware_management_srvs.cpp 98.57% <100.00%> (+0.01%) ⬆️
...roller_interface/src/controller_interface_base.cpp 82.47% <94.11%> (-2.90%) ⬇️
...ontroller_manager/test/test_controller_manager.cpp 96.10% <93.75%> (-0.15%) ⬇️
controller_manager/src/controller_manager.cpp 76.61% <58.57%> (-1.69%) ⬇️

christophfroehlich
christophfroehlich previously approved these changes Nov 20, 2024
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LGTM. For reference, the doc page looks the following:
image

bmagyar
bmagyar reviewed Dec 2, 2024
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Generally looks really good but I posted a few questions sir

@saikishor saikishor mentioned this pull request Dec 2, 2024
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bmagyar
bmagyar approved these changes Dec 3, 2024
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thank you!

@bmagyar bmagyar merged commit 89fd4ef into ros-controls:master Dec 3, 2024
15 of 21 checks passed
@saikishor saikishor deleted the add/statistics/diagnostics branch December 3, 2024 15:58
@christophfroehlich christophfroehlich mentioned this pull request Dec 9, 2024
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@bmagyar bmagyar bmagyar approved these changes

@christophfroehlich christophfroehlich christophfroehlich left review comments

@arne48 arne48 Awaiting requested review from arne48

@mcbed mcbed Awaiting requested review from mcbed

@moriarty moriarty Awaiting requested review from moriarty

@VanshGehlot VanshGehlot Awaiting requested review from VanshGehlot

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3 participants
@saikishor @christophfroehlich @bmagyar