support multiple hw ids and updater ids per updater

[bjv-capra]

This PR resolves #16

[bjv-capra]

I didn't want to remove the updater_id from the updater struct. But at the same time, there's nothing setting it up. So I didn't know what to do with it ATM.

[bjv-capra]

@norro friendly ping. Thoughts?

[norro]

Sorry @bjv-capra, I am pretty swampedright now. I will have a look at it in the afternoon or beginning of next week.

[norro]

It took me a bit, because I wanted to understand that this PR is still allowing to emulate the current setup. For this I created ran the entire pipeline from example updaters to bridge to aggregator to robot monitor (sort of what I suggest to do automatically in #28).

All in all the PR looks good to me. It seems that just the example updaters (MICRO_ROS_DIAGNOSTIC_UPDATER_EXAMPLES=True) and a bit of documentation is necessary.

Thank you for the suggestion and implementation. :)

[bjv-capra]

Regarding the examples, why would we enable them by default? I'll see to update the documentation.

[norro]

Oh, sorry, I didn't mean to make them default, just to update them. Currently, they don't build properly in this PR, if someone would enable them.

[bjv-capra]

Got it, I'll update them and update the PR.

[bjv-capra]

Just FYI, while updating the PR I noticed that the system default QoS drops messages. I couldn't quite find the default values of the struct. I changed it to be reliable and keep_last(10).

I also refactored the examples a bit, I still need to update the Readme

EDIT: volatile had nothing to do with the issue.

[norro]

Agreed, the default QoS does not seem to be appropriate.
Off-topic: I wonder if we would want to suggest a diagnostics default QoS. Currently there is just default, service, sensor, parameter, see .

[bjv-capra]

@norro Any clue why the pipeline fails to build? It says it doesn't know rclc_publisher_init_default which is odd...

Off-topic, wouldn't be a bad idea, as diagnostics is quite a widely used feature.

[norro]

I can reproduce this error in my local setup, but don't really understand this either. The symbol rclc_publisher_init_default is contained in the rclc library, that I can see.

[bjv-capra]

Seems I was running with an old version of galactic. I updated it and I do get the same error now. But I don't quite understand why. Do I need to build rclc from source?

[bjv-capra]

I think I found a possible fix

[codecov-commenter]

Codecov Report

Merging #25 (f64e497) into master (fd90365) will decrease coverage by 0.17%.
The diff coverage is 75.00%.

@@            Coverage Diff             @@
##           master      #25      +/-   ##
==========================================
- Coverage   39.20%   39.02%   -0.18%     
==========================================
  Files           2        2              
  Lines         125      123       -2     
  Branches       19       19              
==========================================
- Hits           49       48       -1     
+ Misses         62       61       -1     
  Partials       14       14              

Impacted Files	Coverage Δ
micro_ros_common_diagnostics/src/hwmonitor.c	0.00% <0.00%> (ø)
..._diagnostic_updater/micro_ros_diagnostic_updater.c	71.64% <100.00%> (-0.42%)	⬇️

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[bjv-capra]

@norro this is ready now

[norro]

Thank for the PR, @bjv-capra. I think diagnostics get more suitable for micro controllers now with these changes.

[norro]

@bjv-capra Just seconds before your merge, I realized that you forgot to sign your commits, which is part of our contribution guideline (see https://github.com/micro-ROS/micro_ros_diagnostics/blob/master/CONTRIBUTING.md#sign-your-work).
Can you sign your latest commits and force-push them to master, please?

I added the DCO check to the PR checks now for the future.

[bjv-capra]

I tried to force-push and got

remote: error: GH006: Protected branch update failed for refs/heads/master.
remote: error: Required status check "build (ubuntu-20.04, rolling)" is expected. At least 1 approving review is required by reviewers with write access.
To github.com:micro-ROS/micro_ros_diagnostics.git
 ! [remote rejected] master -> master (protected branch hook declined)
error: failed to push some refs to 'git@github.com:micro-ROS/micro_ros_diagnostics.git'