From 9c49af1c2d0a54af29c4edd0e36ffc6ff8556191 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 6 Apr 2021 16:35:14 +0200
Subject: [PATCH] Fixed exception when creating a logger with a tree not
initialized
---
.../iri_base_bt_client/iri_base_bt_client.h | 28 ++++++++++++++++---
1 file changed, 24 insertions(+), 4 deletions(-)
diff --git a/include/iri_base_bt_client/iri_base_bt_client.h b/include/iri_base_bt_client/iri_base_bt_client.h
index caba2ee..4b6082d 100644
--- a/include/iri_base_bt_client/iri_base_bt_client.h
+++ b/include/iri_base_bt_client/iri_base_bt_client.h
@@ -476,7 +476,12 @@ template <class ConfigClass>
void IriBaseBTClient<ConfigClass>::enable_cout_logger()
{
if(this->logger_cout==NULL)
- this->logger_cout=new BT::StdCoutLogger(this->tree);
+ {
+ if (this->tree.rootNode() != nullptr)
+ this->logger_cout=new BT::StdCoutLogger(this->tree);
+ else
+ ROS_WARN("IriBaseBTClient::enable_cout_logger -> BehaviorTree not initialized. Disable and re-enable BT cout logger if not working.");
+ }
}
template <class ConfigClass>
@@ -504,7 +509,12 @@ void IriBaseBTClient<ConfigClass>::enable_minitrace_logger()
path_ok=true;
if(path_ok)
- this->logger_minitrace=new BT::MinitraceLogger(this->tree, (this->path + "/logs/" + this->tree_xml_file + ".json").c_str());
+ {
+ if (this->tree.rootNode() != nullptr)
+ this->logger_minitrace=new BT::MinitraceLogger(this->tree, (this->path + "/logs/" + this->tree_xml_file + ".json").c_str());
+ else
+ ROS_WARN("IriBaseBTClient::enable_minitrace_logger -> BehaviorTree not initialized. Disable and re-enable BT minitrace logger if not working.");
+ }
else
ROS_ERROR("IriBaseBTClient: MinitraceLogger couldn't be enabled");
}
@@ -535,7 +545,12 @@ void IriBaseBTClient<ConfigClass>::enable_file_logger()
path_ok=true;
if(path_ok)
- this->logger_file=new BT::FileLogger(this->tree, (this->path + "/logs/" + this->tree_xml_file + ".fbl").c_str());
+ {
+ if (this->tree.rootNode() != nullptr)
+ this->logger_file=new BT::FileLogger(this->tree, (this->path + "/logs/" + this->tree_xml_file + ".fbl").c_str());
+ else
+ ROS_WARN("IriBaseBTClient::enable_file_logger -> BehaviorTree not initialized. Disable and re-enable BT file logger if not working.");
+ }
else
ROS_ERROR("IriBaseBTClient: Filelogger couldn't be enabled");
}
@@ -545,7 +560,12 @@ template <class ConfigClass>
void IriBaseBTClient<ConfigClass>::enable_zmq_publisher()
{
if(this->publisher_zmq==NULL)
- this->publisher_zmq=new BT::PublisherZMQ(this->tree);
+ {
+ if (this->tree.rootNode() != nullptr)
+ this->publisher_zmq=new BT::PublisherZMQ(this->tree);
+ else
+ ROS_WARN("IriBaseBTClient::enable_zmq_publisher -> BehaviorTree not initialized. Disable and re-enable BT ZMQ logger if not working.");
+ }
}
template <class ConfigClass>
--
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