Merge pull request #141 from AutoModality/AM-691

fix: reduced frequency of state reporting AM-691

Author: Aaron Roller

src/am_super/am_super.cpp

@@ -66,7 +66,6 @@ class AMSuper : AMLifeCycle
   ros::Publisher super_status_pub_;
   ros::Publisher led_pub_;
   ros::Subscriber node_state_sub_;
-  ros::Subscriber node_status_sub_;
   ros::Subscriber operator_command_sub_;
   ros::Subscriber controller_state_sub;
   ros::Subscriber diagnostics_sub;
@@ -214,10 +213,6 @@ class AMSuper : AMLifeCycle
      * node status via LifeCycle
      */
     node_state_sub_ = nh_.subscribe("/node_state", 100, &AMSuper::nodeStateCB, this);
-    /**
-     * legacy node status
-     */
-    node_status_sub_ = nh_.subscribe("/process/status", 100, &AMSuper::statusCB, this);
 
     /**
      * commands from operator
@@ -264,24 +259,6 @@ class AMSuper : AMLifeCycle
     LOG_MSG("/node_state", rmsg, SU_LOG_LEVEL);
   }
 
-  /**
-   * process legacy messages from nodes
-   * TODO: mark deprecated due to legacy. use nodeStateCB.
-   */
-  void statusCB(const ros::MessageEvent<brain_box_msgs::NodeStatus const>& event)
-  {
-    const brain_box_msgs::NodeStatus::ConstPtr& rmsg = event.getMessage();
-
-    /*
-     * legacy messages don't carry any state or status info so just process as ACTIVE/OK
-     */
-    processState(rmsg->node_name, LifeCycleState::INACTIVE, LifeCycleStatus::OK, rmsg->status, rmsg->value,
-                 rmsg->process_id, event.getReceiptTime());
-
-    // TODO: topic name should come from vb_util_lib::topics.
-    LOG_MSG("/process/status", rmsg, SU_LOG_LEVEL);
-  }
-
   void controllerStateCB(const ros::MessageEvent<brain_box_msgs::ControllerState const>& event)
   {
     const brain_box_msgs::ControllerState::ConstPtr& rmsg = event.getMessage();
@@ -514,7 +491,7 @@ class AMSuper : AMLifeCycle
   {
     std::stringstream ss;
     genSystemState(ss);
-    ROS_INFO_STREAM(ss.str());
+    ROS_INFO_STREAM_THROTTLE(LOG_THROTTLE_S,ss.str());
   }
 
   /**

src/am_super/super_node_mediator.cpp

@@ -206,12 +206,7 @@ bool SuperNodeMediator::forceTransition(const SuperState& to_state)
 
 bool SuperNodeMediator::lifeCycleNotYetImplemented(string node_name)
 {
-  string stripped = SuperNodeMediator::nodeNameStripped(node_name);
-  return  
-    stripped == "flight_controller" || 
-    stripped == "locator" ||
-    stripped == "dji_sdk" ||
-    stripped == "can_node";
+  return false;
 }
 
 bool SuperNodeMediator::checkReadyToArm(SuperNodeMediator::SuperNodeInfo& nr, SuperNodeMediator& node_mediator)

test/super_node_mediator_unit_tests.cpp

@@ -224,15 +224,6 @@ TEST_F(SuperNodeMediatorTest, allManifestedNodesCheck_ErrorStatusReturnsTrueButH
   assertAllManifestedNodesCheck(true, node, true, "[AA0A]");
 }
 
-TEST_F(SuperNodeMediatorTest, allManifestedNodesCheck_FlightControllerLifeCycleNotYetImplementedSkipsCheck)
-{
-  SuperNodeMediator::SuperNodeInfo node;
-  node.manifested = true;
-  node.online = true;
-  node.name = "flight_controller";
-  bool expected_success, check_result;
-  assertAllManifestedNodesCheck(expected_success = true, node, check_result = false, "[WCK2]");
-}
 
 TEST_F(SuperNodeMediatorTest, allManifestedNodesCheck_MultipleNodes_FirstNodeFails)
 {