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Reset moving average #1984

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Reset moving average #1984

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63de32d
Add call timeout
Oct 22, 2024
26c79d3
fix cherrypick
Oct 22, 2024
be335ed
Merge branch 'master' into master
tonynajjar Nov 6, 2024
5735f0d
Add docs
tonynajjar Nov 6, 2024
620e2ac
Update controller_manager/doc/userdoc.rst
tonynajjar Nov 6, 2024
274880f
Merge remote-tracking branch 'ros2/master'
tonynajjar Nov 22, 2024
a495547
fix order
tonynajjar Nov 22, 2024
b537260
rename
tonynajjar Nov 25, 2024
f512643
Merge branch 'master' into master
tonynajjar Nov 25, 2024
22d383c
Update controller_manager/doc/userdoc.rst
tonynajjar Nov 25, 2024
87ce781
Merge branch 'ros-controls:master' into master
tonynajjar Nov 26, 2024
2c80244
Reset moving average
tonynajjar Jan 7, 2025
5135ccd
Merge branch 'ros-controls:master' into master
tonynajjar Jan 7, 2025
5023884
Merge remote-tracking branch 'angsa/master' into add-window-to-moving…
tonynajjar Jan 7, 2025
b3ac890
Add window_size param
tonynajjar Jan 9, 2025
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19 changes: 19 additions & 0 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2322,6 +2322,12 @@ std::vector<std::string> ControllerManager::get_controller_names()

void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration & period)
{
if (
periodicity_stats_.GetCount() >=
params_->diagnostics.threshold.controller_manager.periodicity.window_size)
{
periodicity_stats_.Reset();
}
Comment on lines +2325 to +2330
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Same here, this logic doesn't work for the default option
See the below comments for suggestions

periodicity_stats_.AddMeasurement(1.0 / period.seconds());
auto [ok, failed_hardware_names] = resource_manager_->read(time, period);

Expand Down Expand Up @@ -2499,11 +2505,23 @@ controller_interface::return_type ControllerManager::update(
controller_ret = trigger_result.result;
if (trigger_status && trigger_result.execution_time.has_value())
{
if (
loaded_controller.execution_time_statistics->GetCount() >=
params_->diagnostics.threshold.controllers.periodicity.window_size)
{
loaded_controller.execution_time_statistics->Reset();
}
Comment on lines +2508 to +2513
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Same here, this logic doesn't work for the default option. Check the comments below

loaded_controller.execution_time_statistics->AddMeasurement(
static_cast<double>(trigger_result.execution_time.value().count()) / 1.e3);
}
if (!first_update_cycle && trigger_status && trigger_result.period.has_value())
{
if (
loaded_controller.periodicity_statistics->GetCount() >=
params_->diagnostics.threshold.controllers.periodicity.window_size)
{
loaded_controller.periodicity_statistics->Reset();
}
Comment on lines +2519 to +2524
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@saikishor saikishor Jan 9, 2025 •
edited
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Right now this logic will not work for default value -1 as the count will always be greater than window_size. Please check my recommendation to use the convention of seconds

Suggested change
if (
loaded_controller.periodicity_statistics->GetCount() >=
params_->diagnostics.threshold.controllers.periodicity.window_size)
{
loaded_controller.periodicity_statistics->Reset();
}
if ((std::finite(params_->diagnostics.threshold.controllers.window_size) &&
loaded_controller.periodicity_statistics->GetCount() >=
static_cast<unsigned int>(params_->diagnostics.threshold.controllers.window_size * update_rate_)))
{
loaded_controller.periodicity_statistics->Reset();
}

loaded_controller.periodicity_statistics->AddMeasurement(
1.0 / trigger_result.period.value().seconds());
}
Expand Down Expand Up @@ -3347,6 +3365,7 @@ void ControllerManager::controller_manager_diagnostic_callback(
const std::string periodicity_stat_name = "periodicity";
const auto cm_stats = periodicity_stats_.GetStatistics();
stat.add("update_rate", std::to_string(get_update_rate()));
stat.add(periodicity_stat_name + ".sample_count", std::to_string(cm_stats.sample_count));
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I don't know if this is an intuitive diagnostic for the user, moreover it tend to be a constant rather than a varying value

stat.add(periodicity_stat_name + ".average", std::to_string(cm_stats.average));
stat.add(
periodicity_stat_name + ".standard_deviation", std::to_string(cm_stats.standard_deviation));
Expand Down
10 changes: 10 additions & 0 deletions controller_manager/src/controller_manager_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,11 @@ controller_manager:
threshold:
controller_manager:
periodicity:
window_size: {
type: int,
default_value: -1,
description: "The number of samples to consider for the mean. The diagnostics will be computed over the last `window_size` samples. -1 means that all samples will be considered.",
}
Comment on lines +32 to +36
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Suggested change
window_size: {
type: int,
default_value: -1,
description: "The number of samples to consider for the mean. The diagnostics will be computed over the last `window_size` samples. -1 means that all samples will be considered.",
}
window_size: {
type: double,
default_value: .inf,
description: "The window size in seconds to consider for the mean. The diagnostics will be computed over the last `window_size` seconds. Default value infinity means that all data points will be considered.",
validation: {
gt<>: 0.0,
}
}

I believe the above validation works if you leave it with default value of infinity. I personally think it is more intuitive to the user to talk in seconds window rather than in the samples. What do you guys think?

mean_error:
warn: {
type: double,
Expand Down Expand Up @@ -65,6 +70,11 @@ controller_manager:
}
controllers:
periodicity:
window_size: {
type: int,
default_value: -1,
description: "The number of samples to consider for the mean. The diagnostics will be computed over the last `window_size` samples. -1 means that all samples will be considered.",
}
mean_error:
Comment on lines 71 to 78
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controllers:
  window_size:
  periodicity:
    mean_error:

For the controllers, I believe this window_size should be a level higher, as it is being used for both periodicity and execution_time

warn: {
type: double,
Expand Down
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