mrs_lib::errorgraph::ErrorPublisher Class Reference

A helper class for aggregating and publishing errors to the Errorgraph. Report errors preventing your node from functioning properly using the respective methods. These are aggregated and periodically published by this class. After publishing, the list of errors is cleared, so take care when setting the publish_period. More...

#include <error_publisher.h>

Public Types
using	error_id_t = uint16_t
	Type of the ID used to avoid duplication of errors when using addGeneralError.

Public Member Functions
	ErrorPublisher (const rclcpp::Node::SharedPtr node, const rclcpp::Clock::SharedPtr clock, const std::string &node_name, const std::string &component_name, const rclcpp::Rate &publish_period=rclcpp::Rate(1.0))
	The main constructor.
void	flushAndShutdown ()
	Publishes all aggregated errors and calls rclcpp::shutdown().
void	addGeneralError (const error_id_t id, const std::string &description)
	Add a custom error to the list of aggregated errors to be published in the next period. This method uses the id to distinguish between different error types and avoid error duplication. If an element with the same id is found in the list of currently aggregated errors, it will be replaced by the new one provided. Otherwise, a new error will be added to the list.
template<typename enum_T > requires (std::is_enum_v<enum_T> && sizeof(std::underlying_type_t<enum_T>) <= sizeof(error_id_t))
void	addGeneralError (const enum_T id, const std::string &description)
	A convenience overload for custom enumeration types. This overload just casts the id parameter to the error_id_t type so that you can call it with your own enumeration type more easily without casting it yourself.
void	addOneshotError (const std::string &description)
	Add an error that only appears once. This overload assumes that the error is unique, so it cannot be duplicate and doesn't need an identifier. Useful for errors during initialization that lead to termination of the node anyways.
void	addWaitingForNodeError (const node_id_t &node_id)
	Add a special error type waiting_for_node. Use this whenever your node is blocked because it waits for some kind of input from another node, such as a transformation, messages, a service, etc. This helps construct the Errorgraph and decide which errors are the roots problems blocking the system. If you don't know the component of the node for the node_id, use main.
void	addWaitingForTopicError (const std::string &topic_name)
	Add a special error type waiting_for_topic. You should prioritize using the addWaitingForNodeError() method if you know the node that should publish this topic to provide better information to the Errorgraph. Use this method if the node publishing the topic is unknown or can change.

Detailed Description

A helper class for aggregating and publishing errors to the Errorgraph. Report errors preventing your node from functioning properly using the respective methods. These are aggregated and periodically published by this class. After publishing, the list of errors is cleared, so take care when setting the publish_period.

Constructor & Destructor Documentation

ErrorPublisher()

mrs_lib::errorgraph::ErrorPublisher::ErrorPublisher	(	const rclcpp::Node::SharedPtr	node,
		const rclcpp::Clock::SharedPtr	clock,
		const std::string &	node_name,
		const std::string &	component_name,
		const rclcpp::Rate &	publish_period = rclcpp::Rate(1.0)
	)

The main constructor.

Parameters

node	The ROS2 node used for publisher advertisement and timer registration.
clock	The clock used for timestamping the published error messages.
node_name	Name of the ROS node used for filling out the node_id in the published error messages.
component_name	Name of the component used for filling out the node_id in the published error messages.
publish_period	How often will the aggregated errors be published.

Member Function Documentation

addGeneralError() [1/2]

template<typename enum_T >
requires (std::is_enum_v<enum_T> && sizeof(std::underlying_type_t<enum_T>) <= sizeof(error_id_t))

void mrs_lib::errorgraph::ErrorPublisher::addGeneralError ( const enum_T  id, const std::string &  description  )

inline

A convenience overload for custom enumeration types. This overload just casts the id parameter to the error_id_t type so that you can call it with your own enumeration type more easily without casting it yourself.

Parameters

id	The unique identification number of this error type for this ErrorPublisher.
description	A short and succinct description of the error.

addGeneralError() [2/2]

void mrs_lib::errorgraph::ErrorPublisher::addGeneralError	(	const error_id_t	id,
		const std::string &	description
	)

Add a custom error to the list of aggregated errors to be published in the next period. This method uses the id to distinguish between different error types and avoid error duplication. If an element with the same id is found in the list of currently aggregated errors, it will be replaced by the new one provided. Otherwise, a new error will be added to the list.

Parameters

id	The unique identification number of this error type for this ErrorPublisher.
description	A short and succinct description of the error.

addOneshotError()

void mrs_lib::errorgraph::ErrorPublisher::addOneshotError

(

const std::string &

description

)

Add an error that only appears once. This overload assumes that the error is unique, so it cannot be duplicate and doesn't need an identifier. Useful for errors during initialization that lead to termination of the node anyways.

Parameters

description

A short and succinct description of the error.

addWaitingForNodeError()

void mrs_lib::errorgraph::ErrorPublisher::addWaitingForNodeError

(

const node_id_t &

node_id

)

Add a special error type waiting_for_node. Use this whenever your node is blocked because it waits for some kind of input from another node, such as a transformation, messages, a service, etc. This helps construct the Errorgraph and decide which errors are the roots problems blocking the system. If you don't know the component of the node for the node_id, use main.

Parameters

node_id

Identifier of the node and component that is being waited for. If the component is unknown, use main.

addWaitingForTopicError()

void mrs_lib::errorgraph::ErrorPublisher::addWaitingForTopicError

(

const std::string &

topic_name

)

Add a special error type waiting_for_topic. You should prioritize using the addWaitingForNodeError() method if you know the node that should publish this topic to provide better information to the Errorgraph. Use this method if the node publishing the topic is unknown or can change.

Parameters

topic_name

Full name of the topic that is being waited for.

flushAndShutdown()

void mrs_lib::errorgraph::ErrorPublisher::flushAndShutdown

(

)

Publishes all aggregated errors and calls rclcpp::shutdown().

Note

To make sure that the published messages are propagated through ROS to any subscribers, the method waits 1s after publishing before calling rclcpp::shutdown().

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The documentation for this class was generated from the following files:

• include/mrs_lib/errorgraph/error_publisher.h
• src/errorgraph/error_publisher.cpp