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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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78 changes: 41 additions & 37 deletions src/ConfigFile.c
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Original file line number Diff line number Diff line change
Expand Up @@ -697,6 +697,45 @@ 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 = %d", g_nodeConfigSettings.qos_robot_status);
Ros_Debug_BroadcastMsg("Config: publisher_qos.joint_states = %d", g_nodeConfigSettings.qos_joint_states);
Ros_Debug_BroadcastMsg("Config: publisher_qos.tf = %d", g_nodeConfigSettings.qos_tf);
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minor, but these lines will now only print a nr (ie: the value of the enum member). They used to print the name of the QoS profile.

It would be nice if we could add a mapping from the enum integer to their string description again, as that would be much more human readable, but I won't block merging this PR for that (seeing as this was already accepted as part of #81.

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 @@ -772,46 +811,11 @@ void Ros_ConfigFile_Parse()
continue;
}

} while (!bOkToInit);
} while (!bOkToInit);
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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