add a semantic command interface to "semantic_components" #1945

tpoignonec · 2024-12-16T12:40:22Z

Hi,

Is there any interest in defining a SemanticComponentCommandInterface analogous to the SemanticComponentInterface, but for hardware command interfaces?

Applications could include, among others, commonly used simple write-only devices such as LED, buzzers, beepers, etc.
It could also be used for GPIO arrays the same way the state interface can be used to read them in a standarized fashion.

This PR includes such a semantic component, as well as a basic example with a 3-channel (R/G/B) LED with two scenarios:

Default interface names: <name>/r, <name>/g, and <name>/b
Custom interface names using the following syntax:

#include "semantic_components/led_rgb_device.hpp"

std::string interface_name_r = "led/custom_r";
std::string interface_name_g = "led/custom_g";
std::string interface_name_b = "led/custom_b";

// Create LED device with custom interface names
auto led_device = std::make_unique<semantic_components::LEDRgbDevice>(
   interface_name_r, interface_name_g, interface_name_b);

Additionally, basic tests are proposed.

RQ: not build yet, issue with rest of repos for build. Will rebase on previous TAG for now.

…ol style

codecov · 2024-12-16T16:13:48Z

Codecov Report

Attention: Patch coverage is 94.44444% with 6 lines in your changes missing coverage. Please review.

Project coverage is 89.37%. Comparing base (00c7088) to head (9b8a2fe).

Files with missing lines	Patch %	Lines
...omponents/semantic_component_command_interface.hpp	80.00%	2 Missing and 3 partials ⚠️
...ace/include/semantic_components/led_rgb_device.hpp	94.44%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1945      +/-   ##
==========================================
+ Coverage   89.29%   89.37%   +0.07%     
==========================================
  Files         130      136       +6     
  Lines       14523    14636     +113     
  Branches     1258     1264       +6     
==========================================
+ Hits        12969    13081     +112     
- Misses       1085     1086       +1     
  Partials      469      469

Flag	Coverage Δ
unittests	`89.37% <94.44%> (+0.07%)`	⬆️

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

Files with missing lines	Coverage Δ
controller_interface/test/test_led_rgb_device.cpp	`100.00% <100.00%> (ø)`
controller_interface/test/test_led_rgb_device.hpp	`100.00% <100.00%> (ø)`
...test/test_semantic_component_command_interface.cpp	`100.00% <100.00%> (ø)`
...test/test_semantic_component_command_interface.hpp	`100.00% <100.00%> (ø)`
...ace/include/semantic_components/led_rgb_device.hpp	`94.44% <94.44%> (ø)`
...omponents/semantic_component_command_interface.hpp	`80.00% <80.00%> (ø)`

... and 5 files with indirect coverage changes

Wiktor-99 · 2024-12-18T19:08:34Z

I've thought about it a little bit, and I'm not sure if we should add such a component when the GPIO command controller, which is very generic, is already available

christophfroehlich

Thanks for the PR including nice tests .
We discussed this shortly in todays WG meeting, and approve this addition.
I can understand the input @Wiktor-99, but imho

it is an obvious extension of an existing concept
it could also use joints and not only gpios

Please add it to the release_notes and some minor comments.

controller_interface/test/test_semantic_component_command_interface.cpp

controller_interface/include/semantic_components/led_rgb_device.hpp

tpoignonec · 2024-12-19T21:04:06Z

Great!
I do the release note and changes ASAP.

christophfroehlich

LGTM overall, I just added some comments to be in line with #1940

Maybe you have to format my suggestions once again to satisfy pre-commit.

controller_interface/include/semantic_components/led_rgb_device.hpp

controller_interface/include/semantic_components/semantic_component_command_interface.hpp

controller_interface/include/semantic_components/led_rgb_device.hpp

…e.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

…onent_command_interface.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

…e.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

christophfroehlich

Something still seems to be broken with the tests, can you have a look please?

tpoignonec · 2025-01-03T18:06:52Z

My bad, hadn't rerun the unit tests after accepting the change suggestions (minor issue with LED constructor).
Should be fine now.

controller_interface/include/semantic_components/led_rgb_device.hpp

saikishor · 2025-01-12T21:27:08Z

controller_interface/include/semantic_components/semantic_component_command_interface.hpp

+  explicit SemanticComponentCommandInterface(const std::string & name, size_t size = 0)
+  : name_(name)
+  {
+    interface_names_.reserve(size);
+    command_interfaces_.reserve(size);
+  }


May be we can remove this Constructor. The first one seems more intuitive

saikishor · 2025-01-12T21:53:50Z

controller_interface/include/semantic_components/led_rgb_device.hpp

+  /**
+   * Constructor for a LED RGB device with custom interface names.
+   * The constructor takes the three command interface names for the red, green, and blue channels.
+   */
+  explicit LedRgbDevice(
+    const std::string & interface_r, const std::string & interface_g,
+    const std::string & interface_b)
+  : SemanticComponentCommandInterface("", 3)
+  {
+    interface_names_.emplace_back(interface_r);
+    interface_names_.emplace_back(interface_g);
+    interface_names_.emplace_back(interface_b);
+  }


As specified, may be this can be ruled out.

saikishor · 2025-01-12T21:55:56Z

controller_interface/include/semantic_components/semantic_component_command_interface.hpp

+  /**
+   * \return false by default
+   */
+  bool set_values_from_message(const MessageInputType & /* message */) { return false; }


Suggested change

bool set_values_from_message(const MessageInputType & /* message */) { return false; }

virtual bool set_values_from_message(const MessageInputType & /* message */) = 0;

Maybe we can make it pure virtual method, so all derived methods will be forced to implement this. What do you think? @christophfroehlich

controller_interface/include/semantic_components/semantic_component_command_interface.hpp

saikishor · 2025-01-12T21:59:44Z

controller_interface/include/semantic_components/semantic_component_command_interface.hpp

+    if (interface_names_.empty())
+    {
+      for (auto i = 0u; i < interface_names_.capacity(); ++i)
+      {
+        interface_names_.emplace_back(name_ + "/" + std::to_string(i + 1));
+      }
+    }


Suggested change

if (interface_names_.empty())

{

for (auto i = 0u; i < interface_names_.capacity(); ++i)

{

interface_names_.emplace_back(name_ + "/" + std::to_string(i + 1));

}

}

If the interfaces are not set, then assign_loaned_command_interfaces should be getting nothing and it wouldn't make sense at all

It was done as to maintain symmetry with the SemanticComponentInterface :

ros2_control/controller_interface/include/semantic_components/semantic_component_interface.hpp

Lines 70 to 80 in f4c9dd0

virtual std::vector<std::string> get_state_interface_names()

{

if (interface_names_.empty())

{

for (auto i = 0u; i < interface_names_.capacity(); ++i)

{

interface_names_.emplace_back(name_ + "/" + std::to_string(i + 1));

}

}

return interface_names_;

}

However, it is true that the use case is debatable (in both cases).

Yup, I agree. As this is the new one that we are introducing, it is better to have it the proper way

controller_interface/include/semantic_components/semantic_component_command_interface.hpp

Raivias

Other than dropping the library LGTM.

controller_interface/include/semantic_components/led_rgb_device.hpp

…onent_command_interface.hpp Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

- mark as virtual - fix missing const ref - add method docstring

saikishor · 2025-01-14T17:04:51Z

controller_interface/include/semantic_components/led_rgb_device.hpp

+   * 
+   * \return true if all values were set, false otherwise
+   */
+  virtual bool set_values_from_message(const std_msgs::msg::ColorRGBA & message)


Suggested change

virtual bool set_values_from_message(const std_msgs::msg::ColorRGBA & message)

virtual bool set_values_from_message(const std_msgs::msg::ColorRGBA & message) override

saikishor · 2025-01-14T17:05:44Z

@tpoignonec Can you please fix the pre-commit jobs?

tpoignonec and others added 7 commits December 16, 2024 12:35

add semantic component command interface

f9081f9

add led_rgb_device

5585ef6

add tests for LED device

7d08efd

RQ: not build yet, issue with rest of repos for build. Will rebase on previous TAG for now.

lint

b0b64cf

fix misc typos and fix test errors

39ed94c

refactor smr version of semantic command interface to match ros-contr…

e3b99d3

…ol style

add "validate_custom_names" test case

2e2798f

github-actions bot requested review from christophfroehlich, destogl, homalozoa, livanov93, mamueluth, olivier-stasse and Raivias December 16, 2024 12:40

Merge branch 'master' into tpo-add_semantic_cmd_interface

6c8b092

christophfroehlich requested changes Dec 18, 2024

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controller_interface/test/test_semantic_component_command_interface.cpp Outdated Show resolved Hide resolved

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Thibault Poignonec and others added 5 commits December 20, 2024 11:59

minor fixes in comments

121da64

Change "LEDRgbDevice" to "LedRgbDevice"

ab32971

add release notes

acfcb8c

make CI happy

a71c699

Merge branch 'master' into tpo-add_semantic_cmd_interface

803a5fb

tpoignonec requested a review from christophfroehlich December 20, 2024 11:51

Merge branch 'master' into tpo-add_semantic_cmd_interface

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christophfroehlich and others added 3 commits December 22, 2024 21:15

Merge branch 'master' into tpo-add_semantic_cmd_interface

5318268

Update controller_interface/include/semantic_components/led_rgb_devic…

050dbb6

…e.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Update controller_interface/include/semantic_components/semantic_comp…

2de80b4

…onent_command_interface.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

tpoignonec and others added 6 commits December 24, 2024 21:40

Update controller_interface/include/semantic_components/semantic_comp…

db6cb8d

…onent_command_interface.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Update controller_interface/include/semantic_components/semantic_comp…

0d0bb54

…onent_command_interface.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Update controller_interface/include/semantic_components/led_rgb_devic…

f8cb935

…e.hpp Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Merge branch 'master' into tpo-add_semantic_cmd_interface

a2dfe9a

run pre-commit --all

ed05c4e

Merge branch 'master' into tpo-add_semantic_cmd_interface

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christophfroehlich requested changes Jan 2, 2025

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fix suggested changes for initialization

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christophfroehlich and others added 3 commits January 4, 2025 16:13

Merge branch 'master' into tpo-add_semantic_cmd_interface

790b9d4

Merge branch 'master' into tpo-add_semantic_cmd_interface

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Merge branch 'master' into tpo-add_semantic_cmd_interface

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saikishor requested changes Jan 12, 2025

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…onent_command_interface.hpp Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

tpoignonec dismissed christophfroehlich’s stale review via 86eb68b January 13, 2025 10:01

tpoignonec and others added 5 commits January 13, 2025 10:09

remove "limits" include

0d94c77

fix LedRgbDevice::set_values_from_message

697bdb7

- mark as virtual - fix missing const ref - add method docstring

expand docstring for SemanticComponentCommandInterface::set_values

29cb799

Merge branch 'master' into tpo-add_semantic_cmd_interface

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Merge branch 'master' into tpo-add_semantic_cmd_interface

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add a semantic command interface to "semantic_components" #1945

add a semantic command interface to "semantic_components" #1945

tpoignonec commented Dec 16, 2024

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saikishor commented Jan 14, 2025

	bool set_values_from_message(const MessageInputType & /* message */) { return false; }
	virtual bool set_values_from_message(const MessageInputType & /* message */) = 0;

	virtual std::vector<std::string> get_state_interface_names()
	{
	if (interface_names_.empty())
	{
	for (auto i = 0u; i < interface_names_.capacity(); ++i)
	{
	interface_names_.emplace_back(name_ + "/" + std::to_string(i + 1));
	}
	}
	return interface_names_;
	}

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