Print the state of all configurable settings after parsing motoros2_config.yaml #81
Conversation
ted-miller
changed the title
| Ros_Debug_BroadcastMsg("Config: ros_domain_id = %d", g_nodeConfigSettings.ros_domain_id); | ||
| Ros_Debug_BroadcastMsg("Config: node_name = %s", g_nodeConfigSettings.node_name); | ||
| Ros_Debug_BroadcastMsg("Config: node_namespace = %s", g_nodeConfigSettings.node_namespace); | ||
| Ros_Debug_BroadcastMsg("Config: remap_rules = %s", g_nodeConfigSettings.remap_rules); | ||
| Ros_Debug_BroadcastMsg("Config: agent_ip_address = %s", g_nodeConfigSettings.agent_ip_address); | ||
| Ros_Debug_BroadcastMsg("Config: agent_port_number = %s", g_nodeConfigSettings.agent_port_number); | ||
| Ros_Debug_BroadcastMsg("Config: sync_timeclock_with_agent = %d", g_nodeConfigSettings.sync_timeclock_with_agent); | ||
| Ros_Debug_BroadcastMsg("Config: namespace_tf = %d", g_nodeConfigSettings.namespace_tf); | ||
| Ros_Debug_BroadcastMsg("Config: publish_tf = %d", g_nodeConfigSettings.publish_tf); | ||
| Ros_Debug_BroadcastMsg("List of configured joint names:"); | ||
| for (int i = 0; i < MAX_CONTROLLABLE_GROUPS; i += 1) | ||
| { | ||
| Ros_Debug_BroadcastMsg("---"); | ||
| for (int j = 0; j < MP_GRP_AXES_NUM; j += 1) | ||
| { | ||
| if (strlen(g_nodeConfigSettings.joint_names[(i * MP_GRP_AXES_NUM) + j]) > 0) | ||
| Ros_Debug_BroadcastMsg(g_nodeConfigSettings.joint_names[(i * MP_GRP_AXES_NUM) + j]); | ||
| else | ||
| Ros_Debug_BroadcastMsg("x"); | ||
| } | ||
| } | ||
| Ros_Debug_BroadcastMsg("---"); | ||
| Ros_Debug_BroadcastMsg("Config: log_to_stdout = %d", g_nodeConfigSettings.log_to_stdout); | ||
| Ros_Debug_BroadcastMsg("Config: executor_sleep_period = %d", g_nodeConfigSettings.executor_sleep_period); | ||
| Ros_Debug_BroadcastMsg("Config: action_feedback_publisher_period = %d", g_nodeConfigSettings.action_feedback_publisher_period); | ||
| Ros_Debug_BroadcastMsg("Config: controller_status_monitor_period = %d", g_nodeConfigSettings.controller_status_monitor_period); | ||
| Ros_Debug_BroadcastMsg("Config: robot_status = %d", g_nodeConfigSettings.qos_robot_status); | ||
| Ros_Debug_BroadcastMsg("Config: joint_states = %d", g_nodeConfigSettings.qos_joint_states); | ||
| Ros_Debug_BroadcastMsg("Config: tf = %d", g_nodeConfigSettings.qos_tf); | ||
| Ros_Debug_BroadcastMsg("Config: tf_frame_prefix = %s", g_nodeConfigSettings.tf_frame_prefix); | ||
| Ros_Debug_BroadcastMsg("Config: stop_motion_on_disconnect = %d", g_nodeConfigSettings.stop_motion_on_disconnect); | ||
| Ros_Debug_BroadcastMsg("Config: inform_job_name = %s", g_nodeConfigSettings.inform_job_name); | ||
| Ros_Debug_BroadcastMsg("Config: allow_custom_inform_job = %d", g_nodeConfigSettings.allow_custom_inform_job); | ||
| Ros_Debug_BroadcastMsg("Config: userlan_monitor_enabled = %d", g_nodeConfigSettings.userlan_monitor_enabled); | ||
| Ros_Debug_BroadcastMsg("Config: userlan_monitor_port = %d", g_nodeConfigSettings.userlan_monitor_port); |
There was a problem hiding this comment.
Could we move this to its own function instead?
One of the earlier commits in this PR seems to have it had structured that way, but that was changed to this version instead. Was there a particular reason for that?
Perhaps something like Ros_ConfigFile_DumpSettings(Ros_Configuration_Settings const* const settings)?
Additionally: is the idea we keep adding lines to this? It would have been ideal if somehow we could generalise the printing a bit and not rely on the developer to remember having to extend these prints.
There was a problem hiding this comment.
I did try to make this into a function and then call on it but it still wasn't printing out the values of all the elements of g_nodeConfigSettings so I tried this as an an alternate solution.
There was a problem hiding this comment.
It would have been ideal if somehow we could generalise the printing a bit and not rely on the developer to remember having to extend these prints.
I don't know how you would do that in C and still make it human-readable.
There was a problem hiding this comment.
I can think of some ways to do that, but none of them are necessarily easy, nor elegant.
We can revisit this later.
There was a problem hiding this comment.
To keep things connected: #84.
This PR Fixes #33 and updates ConfigFile.c to print the values of all the elements in g_nodeConfigSettings after the parsing of the .yaml configuration file is complete