[Diagnostics] Add diagnostics of execution time and periodicity of the hardware components

[saikishor]

This PR aims to add diagnostics to the hardware components regarding their periodicity and execution time.

This PR also fixes the Async HW components runnings at different frequencies and also the periodicity of the main async components that run at mainline frequency

The diagnostics should kinda look like the following screenshots (The following are only to look at the summary):

[christophfroehlich]

just some documentation comments at the moment. And is the failing downstream test related?

[saikishor]

just some documentation comments at the moment. And is the failing downstream test related?

I'm not sure. I'll take a look

[codecov]

Codecov Report

Attention: Patch coverage is 79.55112% with 82 lines in your changes missing coverage. Please review.

Project coverage is 89.07%. Comparing base (fbfc01d) to head (a88af0b).

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	52.68%	36 Missing and 8 partials ⚠️
.../include/hardware_interface/actuator_interface.hpp	84.09%	4 Missing and 3 partials ⚠️
...ce/include/hardware_interface/system_interface.hpp	84.09%	4 Missing and 3 partials ⚠️
hardware_interface/src/actuator.cpp	82.35%	2 Missing and 4 partials ⚠️
hardware_interface/src/system.cpp	82.35%	2 Missing and 4 partials ⚠️
...ce/include/hardware_interface/sensor_interface.hpp	83.33%	2 Missing and 1 partial ⚠️
...lude/hardware_interface/types/statistics_types.hpp	90.32%	1 Missing and 2 partials ⚠️
hardware_interface/src/resource_manager.cpp	91.17%	0 Missing and 3 partials ⚠️
hardware_interface/src/sensor.cpp	82.35%	1 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2005      +/-   ##
==========================================
- Coverage   89.37%   89.07%   -0.30%     
==========================================
  Files         132      133       +1     
  Lines       14649    14938     +289     
  Branches     1261     1301      +40     
==========================================
+ Hits        13092    13306     +214     
- Misses       1091     1141      +50     
- Partials      466      491      +25     

Flag	Coverage Δ
unittests	89.07% <79.55%> (-0.30%)	⬇️

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

Files with missing lines	Coverage Δ
..._interface/include/hardware_interface/actuator.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/sensor.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/system.hpp	100.00% <ø> (ø)
...e_interface_testing/test/test_resource_manager.cpp	99.50% <100.00%> (+0.03%)	⬆️
...ce/include/hardware_interface/sensor_interface.hpp	90.78% <83.33%> (-4.60%)	⬇️
...lude/hardware_interface/types/statistics_types.hpp	90.32% <90.32%> (ø)
hardware_interface/src/resource_manager.cpp	75.18% <91.17%> (+0.15%)	⬆️
hardware_interface/src/sensor.cpp	75.57% <82.35%> (-0.47%)	⬇️
hardware_interface/src/actuator.cpp	79.41% <82.35%> (-1.26%)	⬇️
hardware_interface/src/system.cpp	79.41% <82.35%> (-1.26%)	⬇️
... and 3 more

... and 1 file with indirect coverage changes

[Juliaj]

@saikishor , just for my knowledge, can periodicity and execution_time be turned into time series metrics ? For the snapshots you included above, how do you generate these? Thanks a bunch!

[saikishor]

@saikishor , just for my knowledge, can periodicity and execution_time be turned into time series metrics ? For the snapshots you included above, how do you generate these? Thanks a bunch!

Hello @Juliaj!

Yes, they can be turned very easily into a time-series data. Once the pal_statistics PR : #1918 is merged, I've a plan to add them to the statistics of the controller_manager. Regarding the snapshots, I have used rqt_robot_monitor to visualise the diagnostics.

I hope this answers your questions