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Ros2 motor enable fix #478

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merged 3 commits into from
Jan 10, 2025
Merged

Ros2 motor enable fix #478

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4ea9a0b
Add motor enable set pin function
rafal-gorecki Jan 6, 2025
fccd78a
Only fix logs
rafal-gorecki Jan 8, 2025
387071e
Remove last new line
rafal-gorecki Jan 8, 2025
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3 changes: 2 additions & 1 deletion husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,8 @@ void LynxSystem::UpdateFlagErrors()
if (driver_data.IsFlagError()) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, steady_clock_, 1000,
"Error state on the default driver: " << driver_data.GetFlagErrorLog());
"Driver in error state:\n"
<< driver_data.GetFlagErrorLog());
roboteq_error_filter_->UpdateError(ErrorsFilterIds::ROBOTEQ_DRIVER, true);

HandleRobotDriverWriteOperation([this] { robot_driver_->AttemptErrorFlagReset(); });
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19 changes: 14 additions & 5 deletions husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,11 +125,20 @@ void PantherSystem::UpdateFlagErrors()
const auto front_driver_data = robot_driver_->GetData(DriverNames::FRONT);
const auto rear_driver_data = robot_driver_->GetData(DriverNames::REAR);
if (front_driver_data.IsFlagError() || rear_driver_data.IsFlagError()) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, steady_clock_, 1000,
"Error state on one of the drivers:\n"
<< "\tFront: " << front_driver_data.GetFlagErrorLog()
<< "\tRear: " << rear_driver_data.GetFlagErrorLog());
if (front_driver_data.IsFlagError()) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, steady_clock_, 1000,
"Front driver in error state:\n"
<< front_driver_data.GetFlagErrorLog());
}

if (rear_driver_data.IsFlagError()) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, steady_clock_, 1000,
"Rear driver in error state:\n"
<< rear_driver_data.GetFlagErrorLog());
}

roboteq_error_filter_->UpdateError(ErrorsFilterIds::ROBOTEQ_DRIVER, true);

HandleRobotDriverWriteOperation([this] { robot_driver_->AttemptErrorFlagReset(); });
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27 changes: 23 additions & 4 deletions husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,10 +251,29 @@ const RuntimeError & DriverData::GetRuntimeError(const std::uint8_t channel) con

std::string DriverData::GetFlagErrorLog() const
{
return "Fault flags: " + fault_flags_.GetErrorLog() +
"Script flags: " + script_flags_.GetErrorLog() +
"Channel 1 motor runtime flags: " + channel_1_runtime_error_.GetErrorLog() +
"Channel 2 motor runtime flags: " + channel_2_runtime_error_.GetErrorLog();
std::string error_log;

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

if (!script_flags_.GetErrorLog().empty()) {
error_log += "Script Flags: " + script_flags_.GetErrorLog() + "\n";
}

if (!channel_1_runtime_error_.GetErrorLog().empty()) {
error_log += "Channel 1 Motor Runtime Flags: " + channel_1_runtime_error_.GetErrorLog() + "\n";
}

if (!channel_2_runtime_error_.GetErrorLog().empty()) {
error_log += "Channel 2 Motor Runtime Flags: " + channel_2_runtime_error_.GetErrorLog() + "\n";
}

if (!error_log.empty() && error_log.back() == '\n') {
error_log.pop_back();
}

return error_log;
}

std::map<std::string, bool> DriverData::GetFlagErrorMap() const
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