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Log exception type when catching the exception #1749

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merged 1 commit into from
Sep 11, 2024
Merged

Log exception type when catching the exception #1749

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40 changes: 24 additions & 16 deletions controller_manager/src/controller_manager.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -470,8 +470,9 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Caught exception while loading the controller '%s' of plugin type '%s':\n%s",
controller_name.c_str(), controller_type.c_str(), e.what());
get_logger(),
"Caught exception of type : %s while loading the controller '%s' of plugin type '%s':\n%s",
typeid(e).name(), controller_name.c_str(), controller_type.c_str(), e.what());
return nullptr;
}
catch (...)
Expand Down Expand Up @@ -615,8 +616,9 @@ controller_interface::return_type ControllerManager::unload_controller(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Failed to clean-up the controller '%s' before unloading: %s",
controller_name.c_str(), e.what());
get_logger(),
"Caught exception of type : %s while cleaning up the controller '%s' before unloading: %s",
typeid(e).name(), controller_name.c_str(), e.what());
}
catch (...)
{
Expand Down Expand Up @@ -720,8 +722,8 @@ controller_interface::return_type ControllerManager::configure_controller(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Caught exception while configuring controller '%s': %s",
controller_name.c_str(), e.what());
get_logger(), "Caught exception of type : %s while configuring controller '%s': %s",
typeid(e).name(), controller_name.c_str(), e.what());
return controller_interface::return_type::ERROR;
}
catch (...)
Expand Down Expand Up @@ -1432,8 +1434,8 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::add_co
{
to.clear();
RCLCPP_ERROR(
get_logger(), "Caught exception while initializing controller '%s': %s",
controller.info.name.c_str(), e.what());
get_logger(), "Caught exception of type : %s while initializing controller '%s': %s",
typeid(e).name(), controller.info.name.c_str(), e.what());
return nullptr;
}
catch (...)
Expand Down Expand Up @@ -1508,8 +1510,8 @@ void ControllerManager::deactivate_controllers(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Caught exception while deactivating the controller '%s': %s",
controller_name.c_str(), e.what());
get_logger(), "Caught exception of type : %s while deactivating the controller '%s': %s",
typeid(e).name(), controller_name.c_str(), e.what());
continue;
}
catch (...)
Expand Down Expand Up @@ -1626,7 +1628,10 @@ void ControllerManager::activate_controllers(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
get_logger(),
"Caught exception of type : %s while claiming the command interfaces. Can't activate "
"controller '%s': %s",
typeid(e).name(), controller_name.c_str(), e.what());
assignment_successful = false;
break;
}
Expand Down Expand Up @@ -1661,7 +1666,10 @@ void ControllerManager::activate_controllers(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
get_logger(),
"Caught exception of type : %s while claiming the state interfaces. Can't activate "
"controller '%s': %s",
typeid(e).name(), controller_name.c_str(), e.what());
assignment_successful = false;
break;
}
Expand Down Expand Up @@ -1689,8 +1697,8 @@ void ControllerManager::activate_controllers(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Caught exception while activating the controller '%s': %s",
controller_name.c_str(), e.what());
get_logger(), "Caught exception of type : %s while activating the controller '%s': %s",
typeid(e).name(), controller_name.c_str(), e.what());
continue;
}
catch (...)
Expand Down Expand Up @@ -2295,8 +2303,8 @@ controller_interface::return_type ControllerManager::update(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Caught exception while updating controller '%s': %s",
loaded_controller.info.name.c_str(), e.what());
get_logger(), "Caught exception of type : %s while updating controller '%s': %s",
typeid(e).name(), loaded_controller.info.name.c_str(), e.what());
controller_ret = controller_interface::return_type::ERROR;
}
catch (...)
Expand Down
62 changes: 33 additions & 29 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,13 +160,15 @@ class ResourceStorage
}
catch (const pluginlib::PluginlibException & ex)
{
RCLCPP_ERROR(get_logger(), "Exception while loading hardware: %s", ex.what());
RCLCPP_ERROR(
get_logger(), "Caught exception of type : %s while loading hardware: %s", typeid(ex).name(),
ex.what());
}
catch (const std::exception & ex)
{
RCLCPP_ERROR(
get_logger(), "Exception occurred while loading hardware '%s': %s",
hardware_info.name.c_str(), ex.what());
get_logger(), "Exception of type : %s occurred while loading hardware '%s': %s",
typeid(ex).name(), hardware_info.name.c_str(), ex.what());
}
catch (...)
{
Expand Down Expand Up @@ -203,8 +205,8 @@ class ResourceStorage
catch (const std::exception & ex)
{
RCLCPP_ERROR(
get_logger(), "Exception occurred while initializing hardware '%s': %s",
hardware_info.name.c_str(), ex.what());
get_logger(), "Exception of type : %s occurred while initializing hardware '%s': %s",
typeid(ex).name(), hardware_info.name.c_str(), ex.what());
}
catch (...)
{
Expand All @@ -229,8 +231,8 @@ class ResourceStorage
catch (const std::exception & ex)
{
RCLCPP_ERROR(
get_logger(), "Exception occurred while configuring hardware '%s': %s",
hardware.get_name().c_str(), ex.what());
get_logger(), "Exception of type : %s occurred while configuring hardware '%s': %s",
typeid(ex).name(), hardware.get_name().c_str(), ex.what());
}
catch (...)
{
Expand Down Expand Up @@ -378,8 +380,8 @@ class ResourceStorage
catch (const std::exception & ex)
{
RCLCPP_ERROR(
get_logger(), "Exception occurred while cleaning up hardware '%s': %s",
hardware.get_name().c_str(), ex.what());
get_logger(), "Exception of type : %s occurred while cleaning up hardware '%s': %s",
typeid(ex).name(), hardware.get_name().c_str(), ex.what());
}
catch (...)
{
Expand Down Expand Up @@ -412,8 +414,8 @@ class ResourceStorage
catch (const std::exception & ex)
{
RCLCPP_ERROR(
get_logger(), "Exception occurred while shutting down hardware '%s': %s",
hardware.get_name().c_str(), ex.what());
get_logger(), "Exception of type : %s occurred while shutting down hardware '%s': %s",
typeid(ex).name(), hardware.get_name().c_str(), ex.what());
}
catch (...)
{
Expand Down Expand Up @@ -451,8 +453,8 @@ class ResourceStorage
catch (const std::exception & ex)
{
RCLCPP_ERROR(
get_logger(), "Exception occurred while activating hardware '%s': %s",
hardware.get_name().c_str(), ex.what());
get_logger(), "Exception of type : %s occurred while activating hardware '%s': %s",
typeid(ex).name(), hardware.get_name().c_str(), ex.what());
}
catch (...)
{
Expand Down Expand Up @@ -486,8 +488,8 @@ class ResourceStorage
catch (const std::exception & ex)
{
RCLCPP_ERROR(
get_logger(), "Exception occurred while deactivating hardware '%s': %s",
hardware.get_name().c_str(), ex.what());
get_logger(), "Exception of type : %s occurred while deactivating hardware '%s': %s",
typeid(ex).name(), hardware.get_name().c_str(), ex.what());
}
catch (...)
{
Expand Down Expand Up @@ -625,8 +627,9 @@ class ResourceStorage
{
RCLCPP_ERROR(
get_logger(),
"Exception occurred while importing state interfaces for the hardware '%s' : %s",
hardware.get_name().c_str(), e.what());
"Exception of type : %s occurred while importing state interfaces for the hardware '%s' : "
"%s",
typeid(e).name(), hardware.get_name().c_str(), e.what());
}
catch (...)
{
Expand All @@ -650,8 +653,9 @@ class ResourceStorage
{
RCLCPP_ERROR(
get_logger(),
"Exception occurred while importing command interfaces for the hardware '%s' : %s",
hardware.get_name().c_str(), ex.what());
"Exception of type : %s occurred while importing command interfaces for the hardware '%s' "
": %s",
typeid(ex).name(), hardware.get_name().c_str(), ex.what());
}
catch (...)
{
Expand Down Expand Up @@ -1568,9 +1572,9 @@ bool ResourceManager::prepare_command_mode_switch(
{
RCLCPP_ERROR(
logger,
"Exception occurred while preparing command mode switch for component '%s' for the "
"interfaces: \n %s : %s",
component.get_name().c_str(),
"Exception of type : %s occurred while preparing command mode switch for component "
"'%s' for the interfaces: \n %s : %s",
typeid(e).name(), component.get_name().c_str(),
interfaces_to_string(start_interfaces, stop_interfaces).c_str(), e.what());
ret = false;
}
Expand Down Expand Up @@ -1632,9 +1636,9 @@ bool ResourceManager::perform_command_mode_switch(
{
RCLCPP_ERROR(
logger,
"Exception occurred while performing command mode switch for component '%s' for the "
"interfaces: \n %s : %s",
component.get_name().c_str(),
"Exception of type : %s occurred while performing command mode switch for component "
"'%s' for the interfaces: \n %s : %s",
typeid(e).name(), component.get_name().c_str(),
interfaces_to_string(start_interfaces, stop_interfaces).c_str(), e.what());
ret = false;
}
Expand Down Expand Up @@ -1791,8 +1795,8 @@ HardwareReadWriteStatus ResourceManager::read(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Exception thrown durind read of the component '%s': %s",
component.get_name().c_str(), e.what());
get_logger(), "Exception of type : %s thrown during read of the component '%s': %s",
typeid(e).name(), component.get_name().c_str(), e.what());
ret_val = return_type::ERROR;
}
catch (...)
Expand Down Expand Up @@ -1851,8 +1855,8 @@ HardwareReadWriteStatus ResourceManager::write(
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Exception thrown during write of the component '%s': %s",
component.get_name().c_str(), e.what());
get_logger(), "Exception of type : %s thrown during write of the component '%s': %s",
typeid(e).name(), component.get_name().c_str(), e.what());
ret_val = return_type::ERROR;
}
catch (...)
Expand Down
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