Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Refactor printing of current configuration settings #84

Closed
wants to merge 8 commits into from
Closed

Refactor printing of current configuration settings #84

Changes from 1 commit
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
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
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
78 changes: 41 additions & 37 deletions src/ConfigFile.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -678,6 +678,45 @@ 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);
gavanderhoorn marked this conversation as resolved.
Show resolved Hide resolved
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);
gavanderhoorn marked this conversation as resolved.
Show resolved Hide resolved
}

void Ros_ConfigFile_Parse()
{
BOOL bAlarmOnce = TRUE;
Expand Down Expand Up @@ -753,46 +792,11 @@ void Ros_ConfigFile_Parse()
continue;
}

} while (!bOkToInit);
} while (!bOkToInit);
gavanderhoorn marked this conversation as resolved.
Show resolved Hide resolved

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