From 35a23239e7d2970e6006eb782b028a75c9e80004 Mon Sep 17 00:00:00 2001
From: Shahazad Abdulla <shahazad.abdulla.engineer@gmail.com>
Date: Tue, 2 Sep 2025 08:36:49 +0000
Subject: [PATCH] feat(rqt): Add update rate and async info to details window

Adds update_rate and is_async parameters to the RQT controller manager details popup. Fetches per-controller parameters and falls back to global/default values if not available. Fixes #2166.
---
 rqt_controller_manager/resource/popup_info.ui | 40 ++++++++++++++++++
 .../controller_manager.py                     | 42 ++++++++++++++++++-
 2 files changed, 81 insertions(+), 1 deletion(-)

diff --git a/rqt_controller_manager/resource/popup_info.ui b/rqt_controller_manager/resource/popup_info.ui
index b910397a8d..5f9508d126 100644
--- a/rqt_controller_manager/resource/popup_info.ui
+++ b/rqt_controller_manager/resource/popup_info.ui
@@ -61,6 +61,46 @@
         <enum>Qt::PlainText</enum>
        </property>
       </widget>
+     </item>
+          <item row="2" column="0">
+      <widget class="QLabel" name="label_update_rate">
+       <property name="text">
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Update Rate:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
+       <property name="textFormat">
+        <enum>Qt::RichText</enum>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QLabel" name="label_update_rate_value">
+       <property name="text">
+        <string>N/A</string>
+       </property>
+       <property name="textFormat">
+        <enum>Qt::PlainText</enum>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="0">
+      <widget class="QLabel" name="label_async_setting">
+       <property name="text">
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Async Setting:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
+       <property name="textFormat">
+        <enum>Qt::RichText</enum>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLabel" name="label_async_setting_value">
+       <property name="text">
+        <string>N/A</string>
+       </property>
+       <property name="textFormat">
+        <enum>Qt::PlainText</enum>
+       </property>
+      </widget>
      </item>
     </layout>
    </item>
diff --git a/rqt_controller_manager/rqt_controller_manager/controller_manager.py b/rqt_controller_manager/rqt_controller_manager/controller_manager.py
index 7471e188fc..8ca49a97d9 100644
--- a/rqt_controller_manager/rqt_controller_manager/controller_manager.py
+++ b/rqt_controller_manager/rqt_controller_manager/controller_manager.py
@@ -285,7 +285,47 @@ def _on_ctrl_info(self, index):
         ctrl = self._controllers[index.row()]
         popup.ctrl_name.setText(ctrl.name)
         popup.ctrl_type.setText(ctrl.type)
-
+            
+        #Fetch the update_rate and is_async 
+        update_rate = "N/A"
+        is_async = "N/A"  # Default to N/A for now
+        
+        try:
+            # --- Check for per-controller params first ---
+            param_names = [f"{ctrl.name}.update_rate", f"{ctrl.name}.is_async"]
+            response = call_get_parameters(
+                node=self._node, node_name=self._cm_name, parameter_names=param_names)
+        
+            # Check the response for valid types
+            # In Rolling, INTEGER is type 2, BOOL is type 1, NOT_SET is 0
+            if response.values[0].type == 2:  # Found per-controller update_rate
+                update_rate = f"{response.values[0].integer_value} Hz"
+            if response.values[1].type == 1:  # Found per-controller is_async
+                is_async = str(response.values[1].bool_value)
+        
+            # --- If per-controller update_rate not found, check global ---
+            if update_rate == "N/A":
+                response_global = call_get_parameters(
+                    node=self._node, node_name=self._cm_name, parameter_names=['update_rate'])
+                # Check for a valid response and correct type (INTEGER = 2)
+                if response_global.values and response_global.values[0].type == 2:
+                    update_rate = f"{response_global.values[0].integer_value} Hz (Global)"
+        
+            # --- Set a default for is_async if not found ---
+            if is_async == "N/A":
+                is_async = "False (Default)"
+        
+        except Exception as e:
+            # Use the correct '.warning()' method and no exc_info
+            self._node.get_logger().warning(
+                f"Could not get some parameters for controller {ctrl.name}: {e}")
+        
+        # Update the labels you created in the .ui file
+        popup.label_update_rate_value.setText(update_rate)
+        popup.label_async_setting_value.setText(is_async)
+
+          
+          
         res_model = QStandardItemModel()
         model_root = QStandardItem("Claimed Interfaces")
         res_model.appendRow(model_root)