Adding base class for chained controllers: ChainedControllersInterface
#663
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
requested review from
Serafadam,
arne48,
bmagyar,
duringhof,
mhubii and
progtologist
destogl
force-pushed
the
chained-controllers-interface-pr
branch
from
0ee67b8 to
3002db2
Compare
progtologist
suggested changes
Mar 9, 2022
controller_interface/include/controller_interface/chainable_controller_interface.hpp
Outdated
Show resolved
Hide resolved
controller_interface/include/controller_interface/chainable_controller_interface.hpp
Show resolved
Hide resolved
progtologist
approved these changes
Mar 10, 2022
|
This pull request is in conflict. Could you fix it @destogl? |
|
@livanov93 this PR depends on functionality from #662, but I didn't add it here to make review cleaner. So either you can try to merge them when testing or wait until #662 is merged. |
livanov93
approved these changes
Mar 31, 2022
|
This pull request is in conflict. Could you fix it @destogl? |
destogl
force-pushed
the
chained-controllers-interface-pr
branch
from
3fd805f to
ae6f57e
Compare
|
CI needs update so we can ignore its failing. |
destogl
force-pushed
the
chained-controllers-interface-pr
branch
from
ae6f57e to
c605a76
Compare
destogl
force-pushed
the
chained-controllers-interface-pr
branch
from
c605a76 to
3e29adc
Compare
bmagyar
reviewed
Apr 26, 2022
controller_interface/include/controller_interface/chainable_controller_interface.hpp
Show resolved
Hide resolved
bmagyar
reviewed
Apr 26, 2022
controller_interface/include/controller_interface/controller_interface.hpp
Outdated
Show resolved
Hide resolved
bmagyar
requested changes
Apr 29, 2022
I fully understand your preferences, however, in the current organisation of |
destogl
force-pushed
the
chained-controllers-interface-pr
branch
from
8354962 to
757f1e6
Compare
|
This pull request is in conflict. Could you fix it @destogl? |
Update structure of chainable controller to allow mode chaning only in 'UNCONFIGURED' state. Switching to chained_mode is only forbidden if controller is active. Add default implementation for 'on_set_chained_mode' method. Avoid compile warning about unused variables. Added check if all reference interface storage is initialized and that interface prefix is equal to controller's name. Optimize tests and 'usings'. Use two internal methods instead of 'update' directly on chained controllers. Reorder constructor.
destogl
force-pushed
the
chained-controllers-interface-pr
branch
from
757f1e6 to
862987e
Compare
bmagyar
approved these changes
May 17, 2022
controller_interface/include/controller_interface/chainable_controller_interface.hpp
Outdated
Show resolved
Hide resolved
controller_interface/include/controller_interface/chainable_controller_interface.hpp
Outdated
Show resolved
Hide resolved
controller_interface/include/controller_interface/chainable_controller_interface.hpp
Outdated
Show resolved
Hide resolved
Co-authored-by: Bence Magyar <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR introduces new interfaces for chained controllers.
To simplify logic inside controller manager,
ControllerInterfaceis extended with methods needed for chainable controllers, but with default or without implementation.ChainableControllerIntefacethen forces user to implement those methods when adding a chainable controller.The PR depends on #662 to be merged before. (the commit a3424c4 is duplicated for this PR to be able to cherry-pick the rest of the development.)