Controller restart by switch_controller (minimal implementation)

[TakashiSato]

This PR is related to #1568. Unlike it, this focuses on implementing the new restart controllers feature while minimizing changes to the master branch code. Additionally, this PR depends on #1591 and is expected to be merged after #1591 is merged.

Note: To focus on meaningful changes, it is recommended to compare the code using "hide whitespace" mode as follows.
https://github.com/ros-controls/ros2_control/compare/master...TakashiSato:ros2_control:feature/restart_controllers_minimal?diff=split&w=1

Explanation code changes

Since comparing the final code changes with the master branch is complicated due to the large number of changes, I'll explain the key points of each change in the order of the commits.
The changes up to commit number 005a79f are included in #1591, so I will only address the commits after that.

1. refactor (de)activate request checkrefactor (de)activate request check

In this commit, the following refactoring was performed:

• Renamed enum class CreateRequestResult to CheckDeActivateRequestResult and moved its definition from inside switch_controller to within the class definition in the header (private).
• Moved the implementation of clear_chained_mode_request from inside switch_controller to a member function, and changed the part of clear_requests that performed the same processing to this function call.
• Moved the implementation of the check processing related to (de)activation from inside switch_controller to a member function.
  • check_activate: from , to
  • check_deactivate: from, to

2. add to support restart operations in switch_controller by specifying the same controller name in the start/stop requests

This commit implements the restart controllers feature and its tests.

To achieve the behavior of restart (deactivating first and then activating), I mainly made changes in the followings:

• Swapped the order of checking deactivate_request and activate_request to ensure requests for restart (deactivate first, then activate) are not rejected as invalid requests.
• Similarly, changed the handling of chained_mode_request during manage_switch to process them in the order of from and to.
• To ensure that reference_interfaces can be used appropriately when the following controller is activated immediately after being deactivated, modified the deactivate_controllers function not to execute make_controller_reference_interfaces_unavailable during restart requests.
• Adjusted the validation process (1 , 2), to avoid rejecting restart requests as invalid.

I made the following changes to the test implementation:

• Changed the test controller to record the number of times on_(de)activate is called for the purpose of verifying the restart behavior.
  • test_controller
  • test_chainable_controller
• Added the TestControllerWithCommand class to test that the reset of commands is correctly performed by the restart.
• Added tests to verify the basic behavior of restarting controllers (test_restart_controllers.cpp).
• Added tests to cover restarting scenarios with controller chaining (test_controllers_chaining_with_controller_manager.cpp)

fix typo and unnecessary semicolon

This commit contains minor fixes.

[codecov]

Codecov Report

Attention: Patch coverage is 98.72123% with 5 lines in your changes missing coverage. Please review.

Project coverage is 88.36%. Comparing base (fbb893b) to head (4dbe584).
Report is 245 commits behind head on master.

Files with missing lines	Patch %	Lines
controller_manager/src/controller_manager.cpp	94.82%	0 Missing and 3 partials ⚠️
...ller_with_command/test_controller_with_command.cpp	88.23%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1592      +/-   ##
==========================================
+ Coverage   87.70%   88.36%   +0.66%     
==========================================
  Files         102      105       +3     
  Lines        8704     8262     -442     
  Branches      780      675     -105     
==========================================
- Hits         7634     7301     -333     
+ Misses        790      720      -70     
+ Partials      280      241      -39     

Flag	Coverage Δ
unittests	88.36% <98.72%> (+0.66%)	⬆️

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

Files with missing lines	Coverage Δ
.../include/controller_manager/controller_manager.hpp	100.00% <ø> (ø)
...chainable_controller/test_chainable_controller.cpp	85.24% <100.00%> (+1.03%)	⬆️
...chainable_controller/test_chainable_controller.hpp	100.00% <ø> (ø)
...r_manager/test/test_controller/test_controller.cpp	95.45% <100.00%> (+0.71%)	⬆️
...r_manager/test/test_controller/test_controller.hpp	100.00% <ø> (ø)
...ller_with_command/test_controller_with_command.hpp	100.00% <100.00%> (ø)
...t_controllers_chaining_with_controller_manager.cpp	99.32% <100.00%> (+0.47%)	⬆️
...ontroller_manager/test/test_restart_controller.cpp	100.00% <100.00%> (ø)
...ller_with_command/test_controller_with_command.cpp	88.23% <88.23%> (ø)
controller_manager/src/controller_manager.cpp	72.48% <94.82%> (-2.08%)	⬇️

... and 7 files with indirect coverage changes

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[mergify]

This pull request is in conflict. Could you fix it @TakashiSato?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mergify]

This pull request is in conflict. Could you fix it @TakashiSato?