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Refactor printing of current configuration settings #84

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Refactor printing of current configuration settings #84

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fb43013
Insert Ros_ConfigFile_PrintActiveConfiguration() to obtain complete d…
SejalBehere Jul 10, 2023
9a49f6f
Prefixing keys with enclosing namespaces
SejalBehere Jul 17, 2023
56dff4e
Merge branch 'Yaskawa-Global:main' into Issue-33-Config-Loader-only-p…
SejalBehere Jul 18, 2023
2cc92a9
Removal of trailing whitespaces
SejalBehere Jul 18, 2023
acc865f
Removal of whitespaces
SejalBehere Jul 18, 2023
ba26c3e
Mapping enum integers to strings
SejalBehere Jul 19, 2023
bd676f7
Refactoring Ros_ConfigFile_CheckYamlEvent and Mapping enum values to …
SejalBehere Jul 20, 2023
a2d2b29
Prefixing "Ros_" before QosString and QosMappings, Replaced strcmp wi…
SejalBehere Jul 20, 2023
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144 changes: 98 additions & 46 deletions src/ConfigFile.c
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,12 @@ typedef struct
Value_Type typeOfValue;
} Configuration_Item;

typedef struct
{
const char* QosString;
Ros_QoS_Profile_Setting QosValue;
} QoSMapping;

Configuration_Item Ros_ConfigFile_Items[] =
{
{ "ros_domain_id", &g_nodeConfigSettings.ros_domain_id, Value_Int },
Expand Down Expand Up @@ -122,6 +128,35 @@ Configuration_Item Ros_ConfigFile_Items[] =
{ "userlan_monitor_port", &g_nodeConfigSettings.userlan_monitor_port, Value_UserLanPort },
};

const QoSMapping Ros_QosMappings[] =
{
{ "sensor_data", ROS_QOS_PROFILE_SENSOR_DATA },
{ "parameters", ROS_QOS_PROFILE_PARAMETERS },
{ "default", ROS_QOS_PROFILE_DEFAULT },
{ "services", ROS_QOS_PROFILE_SERVICES},
{ "parameter events", ROS_QOS_PROFILE_PARAMETER_EVENTS},
{ "system Default", ROS_QOS_PROFILE_SYSTEM_DEFAULT},
};

const char* Ros_QosString(Ros_QoS_Profile_Setting profile)
{
switch (profile)
{
case ROS_QOS_PROFILE_SENSOR_DATA:
return "sensor_data";
case ROS_QOS_PROFILE_PARAMETERS:
return "parameters";
case ROS_QOS_PROFILE_DEFAULT:
return "default";
case ROS_QOS_PROFILE_SERVICES:
return "services";
case ROS_QOS_PROFILE_PARAMETER_EVENTS:
return "parameter events";
case ROS_QOS_PROFILE_SYSTEM_DEFAULT:
return "system Default";
}
}

void Ros_ConfigFile_SetAllDefaultValues()
{
//=========
Expand Down Expand Up @@ -303,22 +338,35 @@ void Ros_ConfigFile_CheckYamlEvent(yaml_event_t* event)
break;

case Value_Qos:
if (strcmp((char*)event->data.scalar.value, "sensor_data") == 0)
*(Ros_QoS_Profile_Setting*)activeItem->valueToSet = ROS_QOS_PROFILE_SENSOR_DATA;
else if (strcmp((char*)event->data.scalar.value, "default") == 0)
*(Ros_QoS_Profile_Setting*)activeItem->valueToSet = ROS_QOS_PROFILE_DEFAULT;
else
{
const char* QosProfileValue = (char*)event->data.scalar.value;
Ros_QoS_Profile_Setting enumValue = ROS_QOS_PROFILE_SENSOR_DATA;
bool valueFound = false;

// Finds enum value in the lookup table
for (size_t i = 0; i < sizeof(Ros_QosMappings) / sizeof(Ros_QosMappings[0]); i++)
{
mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Invalid QOS in motoros2_config", SUBCODE_CONFIGURATION_INVALID_QOS_VALUE);
if (strncmp(Ros_QosMappings[i].Ros_QosString, QosProfileValue, strnlen(QosProfileValue)) == 0)
{
enumValue = Ros_QosMappings[i].QosValue;
valueFound = true;
break;
}
}

*(Ros_QoS_Profile_Setting*)activeItem->valueToSet = ROS_QOS_PROFILE_DEFAULT;
// In case the value is not found in the lookup table or is invalid
if (!valueFound)
{
mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Invalid QOS in motoros2_config", SUBCODE_CONFIGURATION_INVALID_QOS_VALUE);
enumValue = ROS_QOS_PROFILE_DEFAULT;
*(Ros_QoS_Profile_Setting*)activeItem->valueToSet = enumValue;
Ros_Debug_BroadcastMsg(
"Falling back to '%s' profile for '%s': unrecognised profile: '%s'",
"default",
"Falling back to 'default' profile for '%s': unrecognised profile: '%s'",
(char*)activeItem->yamlKey,
(char*)event->data.scalar.value);
QosProfileValue);
}
break;
}

case Value_UserLanPort:
#if defined (DX200) || defined (FS100)
Expand Down Expand Up @@ -697,6 +745,45 @@ void Ros_ConfigFile_ValidateNonCriticalSettings()
}
}

void Ros_ConfigFile_PrintActiveConfiguration()
{
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: logging.log_to_stdout = %d", g_nodeConfigSettings.log_to_stdout);
Ros_Debug_BroadcastMsg("Config: update_periods.executor_sleep_period = %d", g_nodeConfigSettings.executor_sleep_period);
Ros_Debug_BroadcastMsg("Config: update_periods.action_feedback_publisher_period = %d", g_nodeConfigSettings.action_feedback_publisher_period);
Ros_Debug_BroadcastMsg("Config: update_periods.controller_status_monitor_period = %d", g_nodeConfigSettings.controller_status_monitor_period);
Ros_Debug_BroadcastMsg("Config: publisher_qos.robot_status = '%s'", Ros_QosString(g_nodeConfigSettings.qos_robot_status));
Ros_Debug_BroadcastMsg("Config: publisher_qos.joint_states = '%s'", Ros_QosString(g_nodeConfigSettings.qos_joint_states));
Ros_Debug_BroadcastMsg("Config: publisher_qos.tf = '%s'", Ros_QosString(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);
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}

void Ros_ConfigFile_Parse()
{
BOOL bAlarmOnce = TRUE;
Expand Down Expand Up @@ -776,42 +863,7 @@ 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);
Ros_ConfigFile_PrintActiveConfiguration();
}

rmw_qos_profile_t const* const Ros_ConfigFile_To_Rmw_Qos_Profile(Ros_QoS_Profile_Setting val)
Expand Down