Fix the blocking calls of lifecycle_state in the real-time loop

[saikishor]

Hello!

I've observed a lot of blocking time of the RT loop due to the calls of the lifecycle state and this PR comes up with a way to cache them locally and use them.

With the current master's version:

RRBot

TALOS

With the proposed changes:

RRBot

TALOS

[codecov]

Codecov Report

❌ Patch coverage is 84.21053% with 18 lines in your changes missing coverage. Please review.
✅ Project coverage is 89.39%. Comparing base (936d08e) to head (122deae).
⚠️ Report is 4 commits behind head on master.

Files with missing lines	Patch %	Lines
..._components/test_actuator_exclusive_interfaces.cpp	54.54%	4 Missing and 1 partial ⚠️
hardware_interface/src/hardware_component.cpp	69.23%	0 Missing and 4 partials ⚠️
...chainable_controller/test_chainable_controller.cpp	81.25%	2 Missing and 1 partial ⚠️
...r_manager/test/test_controller/test_controller.cpp	75.00%	2 Missing and 1 partial ⚠️
...rface_testing/test/test_components/test_system.cpp	66.66%	2 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2884      +/-   ##
==========================================
- Coverage   89.41%   89.39%   -0.03%     
==========================================
  Files         155      155              
  Lines       18144    18209      +65     
  Branches     1478     1483       +5     
==========================================
+ Hits        16224    16278      +54     
- Misses       1329     1337       +8     
- Partials      591      594       +3     

Flag	Coverage Δ
unittests	89.39% <84.21%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	91.66% <ø> (ø)
...r_interface/src/chainable_controller_interface.cpp	58.65% <100.00%> (ø)
...roller_interface/src/controller_interface_base.cpp	84.21% <100.00%> (+2.17%)	⬆️
...oller_interface/test/test_controller_interface.cpp	100.00% <ø> (ø)
controller_manager/src/controller_manager.cpp	77.25% <100.00%> (+0.05%)	⬆️
...ager/test/test_controller_manager_urdf_passing.cpp	100.00% <ø> (ø)
.../include/hardware_interface/hardware_component.hpp	100.00% <ø> (ø)
...ardware_interface/hardware_component_interface.hpp	75.08% <100.00%> (+0.08%)	⬆️
hardware_interface/src/resource_manager.cpp	78.10% <100.00%> (-0.06%)	⬇️
...dware_interface/test/test_component_interfaces.cpp	97.88% <ø> (ø)
... and 5 more

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[MarqRazz]

Tested locally with the RRBot and the update times are much faster and more consistent 😍

[saikishor]

@MarqRazz Thanks a lot for taking time to test this

[christophfroehlich]

Thanks a lot for the fix, the stats looks great.
However, I have some comments and questions while scanning over your changes.

[saikishor]

Thanks a lot for the fix, the stats looks great.
However, I have some comments and questions while scanning over your changes.

Thanks for the review @christophfroehlich

[christophfroehlich]

LGTM

[christophfroehlich]

this is breaking ABI of controllers and hardware base classes, how should we handle the backports?

[saikishor]

This is breaking ABI of controllers and hardware base classes, how should we handle the backports?

I am biased with my opinion, as we have a real need for this on our hardware. Without this, the robot will not be functional for long runs. The jazzy sync has just happened, so if we want, we can add it to the next release