From 5ada3a2232e5fdb6cd0e793eb7f7f8bcb3e8bc7a Mon Sep 17 00:00:00 2001
From: Christian Dreher <c.dreher@kit.edu>
Date: Fri, 24 Nov 2023 13:20:53 +0100
Subject: [PATCH] refactor: Improve a few error messages and clang-format
---
source/armarx/control/ethercat/Bus.cpp | 2 +-
source/armarx/control/ethercat/RTUnit.cpp | 52 +++++--------------
.../armarx/control/ethercat/bus_io/BusIO.cpp | 4 +-
3 files changed, 16 insertions(+), 42 deletions(-)
diff --git a/source/armarx/control/ethercat/Bus.cpp b/source/armarx/control/ethercat/Bus.cpp
index b58c392c..55272065 100644
--- a/source/armarx/control/ethercat/Bus.cpp
+++ b/source/armarx/control/ethercat/Bus.cpp
@@ -1129,7 +1129,7 @@ namespace armarx::control::ethercat
ARMARX_IMPORTANT << "ec_init(" << ifname << ")";
if (!ec_init(ifname.c_str()))
{
- BUS_ERROR("Could not init etherCAT on %s\nExecute as root\n", ifname.c_str());
+ BUS_ERROR("Could not init EtherCAT on %s\nExecute as root\n", ifname.c_str());
return false;
}
}
diff --git a/source/armarx/control/ethercat/RTUnit.cpp b/source/armarx/control/ethercat/RTUnit.cpp
index f4d2a296..c95f3307 100644
--- a/source/armarx/control/ethercat/RTUnit.cpp
+++ b/source/armarx/control/ethercat/RTUnit.cpp
@@ -54,19 +54,16 @@
#include <armarx/control/ethercat/SlaveErrorRegistersDevice.h>
#include <armarx/control/ethercat/SlaveInterface.h>
-
namespace armarx::control::ethercat
{
// The maximum stack size which is guaranteed safe to access without faulting
static constexpr unsigned int MAX_SAFE_STACK = (8 * 1024);
-
RTUnit::RTUnit()
{
;
}
-
void
RTUnit::onInitRobotUnit()
{
@@ -112,7 +109,6 @@ namespace armarx::control::ethercat
bus.setLocalMinimumLoggingLevel(this->getEffectiveLoggingLevel());
}
-
void
RTUnit::onConnectRobotUnit()
{
@@ -125,14 +121,12 @@ namespace armarx::control::ethercat
}
}
-
void
RTUnit::onDisconnectRobotUnit()
{
ARMARX_INFO << "RTUnit disconnects now";
}
-
void
RTUnit::onExitRobotUnit()
{
@@ -143,7 +137,6 @@ namespace armarx::control::ethercat
ARMARX_INFO << "RTUnit exit complete";
}
-
void
RTUnit::initializeKinematicUnit()
{
@@ -169,7 +162,6 @@ namespace armarx::control::ethercat
}
}
-
void
RTUnit::startRTThread()
{
@@ -195,7 +187,6 @@ namespace armarx::control::ethercat
}};
}
-
void
RTUnit::joinControlThread()
{
@@ -205,14 +196,12 @@ namespace armarx::control::ethercat
ARMARX_INFO << "rt task stopped";
}
-
void
RTUnit::publish(StringVariantBaseMap debugObserverMap, StringVariantBaseMap timingMap)
{
RobotUnit::publish(std::move(debugObserverMap), std::move(timingMap));
}
-
armarx::PropertyDefinitionsPtr
RTUnit::createPropertyDefinitions()
{
@@ -277,7 +266,6 @@ namespace armarx::control::ethercat
return def;
}
-
RTUnit::~RTUnit()
{
ARMARX_INFO << "DTOR of RTUnit";
@@ -289,7 +277,6 @@ namespace armarx::control::ethercat
}
}
-
void
RTUnit::rtRun()
{
@@ -323,7 +310,7 @@ namespace armarx::control::ethercat
}
catch (...)
{
- ARMARX_ERROR << "init ethercat bus failed with exception: "
+ ARMARX_ERROR << "Initializing EtherCAT bus RT thread failed with exception: "
<< armarx::GetHandledExceptionString();
return;
}
@@ -420,7 +407,6 @@ namespace armarx::control::ethercat
}
}
-
MultiNodeRapidXMLReader
RTUnit::ReadHardwareConfigFile(std::string busConfigFilePath, std::string robotName)
{
@@ -476,7 +462,6 @@ namespace armarx::control::ethercat
return multiNode;
}
-
bool
RTUnit::initBusRTThread()
{
@@ -486,7 +471,7 @@ namespace armarx::control::ethercat
bus.setIfName(properties.ethercatInterfaceName);
if (!bus.switchBusToSafeOp())
{
- ARMARX_ERROR << "Starting bus to SafeOp failed.";
+ ARMARX_ERROR << "Bringing bus to EtherCAT state 'safe-operational' failed.";
return false;
}
@@ -537,12 +522,10 @@ namespace armarx::control::ethercat
}
}
-
ARMARX_INFO << "EtherCAT bus is started";
return true;
}
-
void
RTUnit::controlLoopRTThread()
{
@@ -565,8 +548,8 @@ namespace armarx::control::ethercat
ARMARX_CHECK_EXPRESSION(rtRobotJointSet->getSize() > 0);
VirtualRobot::Gravity gravity(rtGetRobot(), rtRobotJointSet, rtRobotBodySet);
- const std::uint64_t loopDurationThreshold = properties.rtLoopTimeInUS / 1000 *
- properties.rTLoopTimingCheckToleranceFactor;
+ const std::uint64_t loopDurationThreshold =
+ properties.rtLoopTimeInUS / 1000 * properties.rTLoopTimingCheckToleranceFactor;
//#if 0
std::vector<float> gravityValues(rtRobotJointSet->getSize());
@@ -576,7 +559,7 @@ namespace armarx::control::ethercat
if (!bus.switchBusToOp())
{
- BUS_FATAL_AND_THROW("Switching bus to ESM state 'operational' failed");
+ BUS_FATAL_AND_THROW("Switching bus to EtherCAT state 'operational' failed");
}
@@ -609,27 +592,21 @@ namespace armarx::control::ethercat
RT_TIMING_START(RunControllers)
RT_TIMING_START(SwitchControllers)
rtSwitchControllerSetup();
- RT_TIMING_CEND(SwitchControllers,
- 0.3 * loopDurationThreshold)
+ RT_TIMING_CEND(SwitchControllers, 0.3 * loopDurationThreshold)
RT_TIMING_START(ResettingTargets)
rtResetAllTargets();
- RT_TIMING_CEND(ResettingTargets,
- 0.3 * loopDurationThreshold)
+ RT_TIMING_CEND(ResettingTargets, 0.3 * loopDurationThreshold)
RT_TIMING_START(RunNJointControllers)
rtRunNJointControllers(currentPDOUpdateTimestamp, cappedDeltaT);
- RT_TIMING_CEND(RunNJointControllers,
- 0.3 * loopDurationThreshold)
+ RT_TIMING_CEND(RunNJointControllers, 0.3 * loopDurationThreshold)
RT_TIMING_START(CheckInvalidTargets)
rtHandleInvalidTargets();
- RT_TIMING_CEND(CheckInvalidTargets,
- 0.3 * loopDurationThreshold)
+ RT_TIMING_CEND(CheckInvalidTargets, 0.3 * loopDurationThreshold)
RT_TIMING_START(RunJointControllers)
rtRunJointControllers(currentPDOUpdateTimestamp, cappedDeltaT);
- RT_TIMING_CEND(RunJointControllers,
- 0.3 * loopDurationThreshold)
- RT_TIMING_CEND(RunControllers,
- 0.3 * loopDurationThreshold)
+ RT_TIMING_CEND(RunJointControllers, 0.3 * loopDurationThreshold)
+ RT_TIMING_CEND(RunControllers, 0.3 * loopDurationThreshold)
}
//bus update
@@ -682,8 +659,7 @@ namespace armarx::control::ethercat
i++;
}
- RT_TIMING_CEND(ComputeGravityTorques,
- 0.2 * loopDurationThreshold)
+ RT_TIMING_CEND(ComputeGravityTorques, 0.2 * loopDurationThreshold)
rtGetRTThreadTimingsSensorDevice().rtMarkRtLoopPreSleep();
@@ -691,8 +667,7 @@ namespace armarx::control::ethercat
const auto loopPreSleepTime = armarx::rtNow();
RT_TIMING_START(RTLoopWaiting)
auto diff = cycleKeeper.waitForCycleDuration();
- RT_TIMING_CEND(RTLoopWaiting,
- loopDurationThreshold)
+ RT_TIMING_CEND(RTLoopWaiting, loopDurationThreshold)
const auto loopPostSleepTime = armarx::rtNow();
const auto loopDuration = armarx::rtNow() - loopStartTime;
@@ -809,7 +784,6 @@ namespace armarx::control::ethercat
ARMARX_INFO << "Leaving control loop function";
}
-
void
RTUnit::startBackupLogging()
{
diff --git a/source/armarx/control/ethercat/bus_io/BusIO.cpp b/source/armarx/control/ethercat/bus_io/BusIO.cpp
index 745e3c76..4055de37 100644
--- a/source/armarx/control/ethercat/bus_io/BusIO.cpp
+++ b/source/armarx/control/ethercat/bus_io/BusIO.cpp
@@ -62,7 +62,7 @@ namespace armarx::control::ethercat
{
if (!sdoAccessAvailable)
{
- BUS_WARNING("SDO-access is not yet available. Probably the bus was not started yet");
+ BUS_WARNING("SDO-access is not yet available. Probably the bus was not started yet");
return false;
}
return true;
@@ -227,7 +227,7 @@ namespace armarx::control::ethercat
actualState.c_str(),
timeouts.stateCheck_us,
statecheckDuration.toMicroSeconds(),
- probablyTimedOut ? ", so the operation probably timed out." : "");
+ probablyTimedOut ? ", so the operation probably timed out" : "");
request->setFailed();
}
--
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