Ros2 motor enable fix

[rafal-gorecki]

Description

• Improve logs involved with disable motor_power:
  Before:
  
  Now:
  

Requirements

• Code style guidelines followed
• Documentation updated

Tests 🧪

• Robot
• Container
• Simulation

Summary by CodeRabbit

• Logging Improvements
  • Enhanced error logging messages in multiple system components.
  • Improved log readability with more structured and detailed error reporting.
  • Added more granular diagnostic information for front and rear drivers.
  • Implemented conditional error log generation to provide clearer system status messages.

[coderabbitai]

Walkthrough

The pull request focuses on improving logging and error reporting across multiple components of the Husarion UGV hardware interfaces. The changes are primarily centered on enhancing the readability and structure of error log messages in the LynxSystem, PantherSystem, and DriverData classes. The modifications involve refining log message formats, adding newline characters, and implementing more granular error logging without altering the core functionality of the error handling mechanisms.

Changes

File	Change Summary
husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp	Updated log message in UpdateFlagErrors method from "Error state on the default driver: " to "Driver in error state:\n"
husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp	Refactored UpdateFlagErrors method to provide separate warning messages for front and rear driver flag errors
husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp	Modified GetFlagErrorLog method to conditionally include error logs with improved formatting and readability

Possibly related PRs

• Ros2 devel pr template #458: The changes in the main PR involve logging modifications in the UpdateFlagErrors method, while the retrieved PR focuses on a pull request template and does not relate to any specific code changes in the LynxSystem or PantherSystem classes.

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📜 Recent review details

Configuration used: .coderabbit.yaml
Review profile: CHILL
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📥 Commits

Reviewing files that changed from the base of the PR and between fccd78a and 387071e.

📒 Files selected for processing (1)

• husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp (1 hunks)

🚧 Files skipped from review as they are similar to previous changes (1)

• husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp

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[coderabbitai]

Actionable comments posted: 0

🧹 Nitpick comments (2)

husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp (1)

128-141: LGTM! Clear improvement in error logging.

The separation of front and rear driver error messages significantly improves log readability and error diagnosis. The addition of newlines and clear prefixes makes it easier to identify which driver is in error state.

Consider adding a timestamp to each error message to help with temporal correlation of errors:

-        "Front driver in error state:\n"
+        "Front driver in error state at " << std::put_time(std::localtime(&now), "%Y-%m-%d %H:%M:%S") << ":\n"

husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp (1)

254-272: LGTM! Well-structured error logging implementation.

The conditional checks for empty error logs and the addition of clear category labels significantly improve the readability and usefulness of the error output. The consistent use of newlines makes the log format more structured and easier to parse.

Consider using a string builder pattern for better performance and maintainability:

-  std::string error_log;
+  std::ostringstream error_log;

   if (!fault_flags_.GetErrorLog().empty()) {
-    error_log += "Fault Flags: " + fault_flags_.GetErrorLog() + "\n";
+    error_log << "Fault Flags: " << fault_flags_.GetErrorLog() << "\n";
   }

   // ... similar changes for other flags ...

-  return error_log;
+  return error_log.str();

📜 Review details

Configuration used: .coderabbit.yaml
Review profile: CHILL
Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between efc5411 and fccd78a.

📒 Files selected for processing (3)

• husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp (1 hunks)
• husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp (1 hunks)
• husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp (1 hunks)

✅ Files skipped from review due to trivial changes (1)

• husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp