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Improve diagnostics strings #2078

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merged 4 commits into from
Mar 1, 2025
Merged

Improve diagnostics strings #2078

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d2e4fa5
Improve diagnostics strings
christophfroehlich Feb 28, 2025
d846d9c
Apply suggestions from code review
christophfroehlich Mar 1, 2025
7e5b9eb
Merge branch 'master' into improve/diagnostics/strings
christophfroehlich Mar 1, 2025
869dad3
Fix pre-commit
christophfroehlich Mar 1, 2025
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8 changes: 4 additions & 4 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3356,8 +3356,8 @@ void ControllerManager::controller_activity_diagnostic_callback(
high_exec_time_controllers_string.append(" ");
}
stat.mergeSummary(
level,
"\nControllers with high execution time : [ " + high_exec_time_controllers_string + "]");
level, "\nControllers with high or varying execution time : [ " +
high_exec_time_controllers_string + "]");
}
if (!bad_periodicity_async_controllers.empty())
{
Expand All @@ -3368,8 +3368,8 @@ void ControllerManager::controller_activity_diagnostic_callback(
bad_periodicity_async_controllers_string.append(" ");
}
stat.mergeSummary(
level,
"\nControllers with bad periodicity : [ " + bad_periodicity_async_controllers_string + "]");
level, "\nControllers with bad or varying periodicity : [ " +
bad_periodicity_async_controllers_string + "]");
}

if (!atleast_one_hw_active)
Expand Down
24 changes: 12 additions & 12 deletions controller_manager/src/controller_manager_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,15 +33,15 @@ controller_manager:
warn: {
type: double,
default_value: 5.0,
description: "The warning threshold for the mean error of the controller manager's periodicity. If the mean error exceeds this threshold, a warning diagnostic will be published.",
description: "The warning threshold for the mean error of the controller manager's periodicity in Hz. If the mean error exceeds this threshold, a warning diagnostic will be published.",
validation: {
gt<>: 0.0,
}
}
error: {
type: double,
default_value: 10.0,
description: "The error threshold for the mean error of the controller manager's periodicity. If the mean error exceeds this threshold, an error diagnostic will be published.",
description: "The error threshold for the mean error of the controller manager's periodicity in Hz. If the mean error exceeds this threshold, an error diagnostic will be published.",
validation: {
gt<>: 0.0,
}
Expand All @@ -50,15 +50,15 @@ controller_manager:
warn: {
type: double,
default_value: 5.0,
description: "The warning threshold for the standard deviation of the controller manager's periodicity. If the standard deviation exceeds this threshold, a warning diagnostic will be published.",
description: "The warning threshold for the standard deviation of the controller manager's periodicity in Hz. If the standard deviation exceeds this threshold, a warning diagnostic will be published.",
validation: {
gt<>: 0.0,
}
}
error: {
type: double,
default_value: 10.0,
description: "The error threshold for the standard deviation of the controller manager's periodicity. If the standard deviation exceeds this threshold, an error diagnostic will be published.",
description: "The error threshold for the standard deviation of the controller manager's periodicity in Hz. If the standard deviation exceeds this threshold, an error diagnostic will be published.",
validation: {
gt<>: 0.0,
}
Expand All @@ -69,15 +69,15 @@ controller_manager:
warn: {
type: double,
default_value: 5.0,
description: "The warning threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
description: "The warning threshold for the mean error of the controller update loop in Hz. If the mean error exceeds this threshold, a warning diagnostic will be published.",
validation: {
gt<>: 0.0,
}
}
error: {
type: double,
default_value: 10.0,
description: "The error threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
description: "The error threshold for the mean error of the controller update loop in Hz. If the mean error exceeds this threshold, an error diagnostic will be published.",
validation: {
gt<>: 0.0,
}
Expand All @@ -86,15 +86,15 @@ controller_manager:
warn: {
type: double,
default_value: 5.0,
description: "The warning threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
description: "The warning threshold for the standard deviation of the controller update loop in Hz. If the standard deviation exceeds this threshold, a warning diagnostic will be published.",
validation: {
gt<>: 0.0,
}
}
error: {
type: double,
default_value: 10.0,
description: "The error threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.",
description: "The error threshold for the standard deviation of the controller update loop in Hz. If the standard deviation exceeds this threshold, an error diagnostic will be published.",
validation: {
gt<>: 0.0,
}
Expand All @@ -104,15 +104,15 @@ controller_manager:
warn: {
type: double,
default_value: 1000.0,
description: "The warning threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, a warning diagnostic will be published. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle",
description: "The warning threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, a warning diagnostic will be published.",
validation: {
gt<>: 0.0,
}
}
error: {
type: double,
default_value: 2000.0,
description: "The error threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, an error diagnostic will be published. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle",
description: "The error threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, an error diagnostic will be published.",
validation: {
gt<>: 0.0,
}
Expand All @@ -121,15 +121,15 @@ controller_manager:
warn: {
type: double,
default_value: 100.0,
description: "The warning threshold for the standard deviation of the controller's update cycle execution time. If the standard deviation exceeds this threshold, a warning diagnostic will be published.",
description: "The warning threshold for the standard deviation of the controller's update cycle execution time in microseconds. If the standard deviation exceeds this threshold, a warning diagnostic will be published.",
validation: {
gt<>: 0.0,
}
}
error: {
type: double,
default_value: 200.0,
description: "The error threshold for the standard deviation of the controller's update cycle execution time. If the standard deviation exceeds this threshold, an error diagnostic will be published.",
description: "The error threshold for the standard deviation of the controller's update cycle execution time in microseconds. If the standard deviation exceeds this threshold, an error diagnostic will be published.",
validation: {
gt<>: 0.0,
}
Expand Down
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