From 8e7b4b0720b486466ba1e370d2a45b82111d6946 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 3 Feb 2025 17:42:56 +0100
Subject: [PATCH] Fix ROS_ERROR msg for missing ports in get_dyn_reconf_*
functions. Add unsigned int type for print_port action
---
include/iri_base_bt_client/iri_bt_dyn_reconf.h | 12 ++++++------
src/common_bt_helpers.cpp | 13 ++++++++++---
2 files changed, 16 insertions(+), 9 deletions(-)
diff --git a/include/iri_base_bt_client/iri_bt_dyn_reconf.h b/include/iri_base_bt_client/iri_bt_dyn_reconf.h
index e577ac9..136c91d 100644
--- a/include/iri_base_bt_client/iri_bt_dyn_reconf.h
+++ b/include/iri_base_bt_client/iri_bt_dyn_reconf.h
@@ -197,7 +197,7 @@ BT::NodeStatus IriBTDynReconf<Config>::get_dyn_reconf_string(BT::TreeNode& self)
if ((!config) || (!name))
{
- ROS_ERROR("IriBTDynReconf::get_dyn_reconf_string -> Incorrect or missing input. It needs the following input ports: name (std::string) value (std::string)");
+ ROS_ERROR("IriBTDynReconf::get_dyn_reconf_string -> Incorrect or missing input. It needs the following input ports: dyn_config (Config *) and param_name (std::string)");
return BT::NodeStatus::FAILURE;
}
@@ -222,7 +222,7 @@ BT::NodeStatus IriBTDynReconf<Config>::get_dyn_reconf_bool(BT::TreeNode& self)
if ((!config) || (!name))
{
- ROS_ERROR("IriBTDynReconf::get_dyn_reconf_bool -> Incorrect or missing input. It needs the following input ports: name (std::string) value (std::string)");
+ ROS_ERROR("IriBTDynReconf::get_dyn_reconf_bool -> Incorrect or missing input. It needs the following input ports: dyn_config (Config *) and param_name (std::string)");
return BT::NodeStatus::FAILURE;
}
@@ -247,7 +247,7 @@ BT::NodeStatus IriBTDynReconf<Config>::get_dyn_reconf_integer(BT::TreeNode& self
if ((!config) || (!name))
{
- ROS_ERROR("IriBTDynReconf::get_dyn_reconf_integer -> Incorrect or missing input. It needs the following input ports: name (std::string) value (int)");
+ ROS_ERROR("IriBTDynReconf::get_dyn_reconf_integer -> Incorrect or missing input. It needs the following input ports: dyn_config (Config *) and param_name (std::string)");
return BT::NodeStatus::FAILURE;
}
@@ -272,7 +272,7 @@ BT::NodeStatus IriBTDynReconf<Config>::get_dyn_reconf_unsigned_integer(BT::TreeN
if ((!config) || (!name))
{
- ROS_ERROR("IriBTDynReconf::get_dyn_reconf_unsigned_integer -> Incorrect or missing input. It needs the following input ports: name (std::string) value (int)");
+ ROS_ERROR("IriBTDynReconf::get_dyn_reconf_unsigned_integer -> Incorrect or missing input. It needs the following input ports: dyn_config (Config *) and param_name (std::string)");
return BT::NodeStatus::FAILURE;
}
@@ -297,7 +297,7 @@ BT::NodeStatus IriBTDynReconf<Config>::get_dyn_reconf_double(BT::TreeNode& self)
if ((!config) || (!name))
{
- ROS_ERROR("IriBTDynReconf::get_dyn_reconf_double -> Incorrect or missing input. It needs the following input ports: name (std::string) value (std::string)");
+ ROS_ERROR("IriBTDynReconf::get_dyn_reconf_double -> Incorrect or missing input. It needs the following input ports: dyn_config (Config *) and param_name (std::string)");
return BT::NodeStatus::FAILURE;
}
@@ -322,7 +322,7 @@ BT::NodeStatus IriBTDynReconf<Config>::get_dyn_reconf_double_vector(BT::TreeNode
if ((!config) || (!name))
{
- ROS_ERROR("IriBTDynReconf::get_dyn_reconf_double_vector -> Incorrect or missing input. It needs the following input ports: name (std::string) value (std::vector<double>)");
+ ROS_ERROR("IriBTDynReconf::get_dyn_reconf_double_vector -> Incorrect or missing input. It needs the following input ports: dyn_config (Config *) and param_name (std::string)");
return BT::NodeStatus::FAILURE;
}
diff --git a/src/common_bt_helpers.cpp b/src/common_bt_helpers.cpp
index 406fcf4..02e9322 100644
--- a/src/common_bt_helpers.cpp
+++ b/src/common_bt_helpers.cpp
@@ -11,7 +11,8 @@ void CommonBTHelpers::init(IriBehaviorTreeFactory &factory)
BT::PortsList print_port_ports = {BT::InputPort<std::string>("port_name"),
BT::InputPort<std::string>("value_str"),
BT::InputPort<double>("value_double"),
- BT::InputPort<int>("value_int") };
+ BT::InputPort<int>("value_int"),
+ BT::InputPort<unsigned int>("value_uint") };
BT::PortsList concatenate_ports = {BT::BidirectionalPort<std::string>("string1"), BT::InputPort<std::string>("string2")};
BT::PortsList start_timeout_ports = {BT::InputPort<std::string>("tout_name"), BT::InputPort<double>("duration")};
BT::PortsList stop_timeout_ports = {BT::InputPort<std::string>("tout_name")};
@@ -65,17 +66,19 @@ BT::NodeStatus CommonBTHelpers::print_port(BT::TreeNode& _self)
BT::Optional<std::string> value_str_p = _self.getInput<std::string>("value_str");
BT::Optional<double> value_double_p = _self.getInput<double>("value_double");
BT::Optional<int> value_int_p = _self.getInput<int>("value_int");
+ BT::Optional<unsigned int> value_uint_p = _self.getInput<unsigned int>("value_uint");
std::string port_name;
std::string value_str;
double value_double;
int value_int;
+ unsigned int value_uint;
std::string msg;
std::string msg_value;
- if (!port_name_p || !(value_str_p || value_double_p || value_int_p))
+ if (!port_name_p || !(value_str_p || value_double_p || value_int_p || value_uint_p))
{
ROS_ERROR_STREAM("common_helpers::print_port (" << _self.name() << ") -> Incorrect or missing input. It needs the following input ports:"
- << " port_name (sdt::string)" << ", one of value_str, value_double, value_int");
+ << " port_name (sdt::string)" << ", one of value_str, value_double, value_int, value_uint");
return BT::NodeStatus::FAILURE;
}
@@ -93,6 +96,10 @@ BT::NodeStatus CommonBTHelpers::print_port(BT::TreeNode& _self)
{
msg_value = std::to_string(value_int_p.value());
}
+ else if(value_uint_p)
+ {
+ msg_value = std::to_string(value_uint_p.value());
+ }
msg = port_name + ": " + msg_value;
ROS_INFO_STREAM(msg);
--
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