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Print the state of all configurable settings after parsing motoros2_config.yaml #81

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merged 4 commits into from
Jul 10, 2023
Merged

Print the state of all configurable settings after parsing motoros2_config.yaml #81

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da7e441
Update ConfigFile.c to Print the values of yaml keys at once
SejalBehere Jul 6, 2023
a8c7016
Update ConfigFile.c
SejalBehere Jul 6, 2023
504a813
Merge branch 'Yaskawa-Global:main' into Issue-33-Config-Loader-only-p…
SejalBehere Jul 6, 2023
31031a4
Update ConfigFile.c to print all the contents of g_nodeConfigSettings
SejalBehere Jul 10, 2023
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59 changes: 36 additions & 23 deletions src/ConfigFile.c
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Original file line number Diff line number Diff line change
Expand Up @@ -241,12 +241,10 @@ void Ros_ConfigFile_CheckYamlEvent(yaml_event_t* event)
{
case Value_String:
strcpy((char*)activeItem->valueToSet, (char*)event->data.scalar.value);
Ros_Debug_BroadcastMsg("Config: %s = %s", (char*)activeItem->yamlKey, (char*)activeItem->valueToSet);
break;

case Value_Int:
*(int*)activeItem->valueToSet = atoi((char*)event->data.scalar.value);
Ros_Debug_BroadcastMsg("Config: %s = %d", (char*)activeItem->yamlKey, *(int*)activeItem->valueToSet);
break;

case Value_Bool:
Expand Down Expand Up @@ -275,16 +273,11 @@ void Ros_ConfigFile_CheckYamlEvent(yaml_event_t* event)
mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Invalid BOOL in motoros2_config", SUBCODE_CONFIGURATION_INVALID_BOOLEAN_VALUE);

Ros_Debug_BroadcastMsg("'%s' is not a valid boolean specifier", (char*)event->data.scalar.value);
Ros_Debug_BroadcastMsg("Config: %s left at default value", (char*)activeItem->yamlKey);
}
else
Ros_Debug_BroadcastMsg("Config: %s = %d", (char*)activeItem->yamlKey, *(BOOL*)activeItem->valueToSet);

break;

case Value_JointNameArray:
strncpy(*(char**)activeItem->valueToSet, (char*)event->data.scalar.value, MAX_YAML_STRING_LEN);
Ros_Debug_BroadcastMsg("Config: %s = %s", (char*)activeItem->yamlKey, *(char**)activeItem->valueToSet);
//Ros_Debug_BroadcastMsg(" - joint name saved at 0x%X (iter = 0x%X)", (int)*(char**)activeItem->valueToSet, (int)joint_names_iterator);
joint_names_iterator += MAX_JOINT_NAME_LENGTH;
jointIteratorCountdownPerGroup -= 1;
Expand All @@ -306,8 +299,6 @@ void Ros_ConfigFile_CheckYamlEvent(yaml_event_t* event)
(char*)activeItem->yamlKey,
(char*)event->data.scalar.value);
}

Ros_Debug_BroadcastMsg("Config: %s = %s", (char*)activeItem->yamlKey, (char*)event->data.scalar.value);
break;

case Value_UserLanPort:
Expand Down Expand Up @@ -376,20 +367,6 @@ void Ros_ConfigFile_CheckYamlEvent(yaml_event_t* event)
if (nestedListCounter == 0) //all sub-lists in [joint_names] have been processed
{
activeItem = NULL;

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("---");
}
}
}
Expand Down Expand Up @@ -780,6 +757,42 @@ void Ros_ConfigFile_Parse()

Ros_ConfigFile_ValidateCriticalSettings();
Ros_ConfigFile_ValidateNonCriticalSettings();

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);
Comment on lines +761 to +795
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@gavanderhoorn gavanderhoorn Jul 10, 2023 •
edited
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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.

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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.

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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.

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I can think of some ways to do that, but none of them are necessarily easy, nor elegant.

We can revisit this later.

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To keep things connected: #84.

}

rmw_qos_profile_t const* const Ros_ConfigFile_To_Rmw_Qos_Profile(Ros_QoS_Profile_Setting val)
Expand Down