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Improve Error Reporting and Reduce Log Redundancy #327

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merged 3 commits into from
Nov 26, 2024
Merged

Improve Error Reporting and Reduce Log Redundancy #327

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e0811ca
Improve error handling: list invalid parameters and dedupe error log …
rdumas01 Nov 18, 2024
eaffb6f
Fixed formatting
rdumas01 Nov 19, 2024
c2d646e
Added upper bound on number of invalid params tracked
rdumas01 Nov 20, 2024
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28 changes: 27 additions & 1 deletion ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ constexpr uint32_t SUBSCRIPTION_QUEUE_LENGTH = 10;
constexpr double MIN_UPDATE_PERIOD_MS = 100.0;
constexpr uint32_t PUBLICATION_QUEUE_LENGTH = 10;
constexpr int DEFAULT_SERVICE_TYPE_RETRIEVAL_TIMEOUT_MS = 250;
constexpr int MAX_INVALID_PARAMS_TRACKED = 1000;

using ConnectionHandle = websocketpp::connection_hdl;
using TopicAndDatatype = std::pair<std::string, std::string>;
Expand Down Expand Up @@ -656,6 +657,7 @@ class FoxgloveBridge : public nodelet::Nodelet {

bool success = true;
std::vector<foxglove::Parameter> params;
std::vector<std::string> invalidParams;
for (const auto& paramName : parameterNames) {
if (!isWhitelisted(paramName, _paramWhitelistPatterns)) {
if (allParametersRequested) {
Expand All @@ -665,27 +667,50 @@ class FoxgloveBridge : public nodelet::Nodelet {
success = false;
}
}
if (_invalidParams.find(paramName) != _invalidParams.end()) {
continue;
}

try {
XmlRpc::XmlRpcValue value;
getMTNodeHandle().getParam(paramName, value);
params.push_back(fromRosParam(paramName, value));
} catch (const std::exception& ex) {
ROS_ERROR("Invalid parameter '%s': %s", paramName.c_str(), ex.what());
invalidParams.push_back(paramName);
success = false;
} catch (const XmlRpc::XmlRpcException& ex) {
ROS_ERROR("Invalid parameter '%s': %s", paramName.c_str(), ex.getMessage().c_str());
invalidParams.push_back(paramName);
success = false;
} catch (...) {
ROS_ERROR("Invalid parameter '%s'", paramName.c_str());
invalidParams.push_back(paramName);
success = false;
}
}

_server->publishParameterValues(hdl, params, requestId);

if (!success) {
throw std::runtime_error("Failed to retrieve one or multiple parameters");
for (std::string& param : invalidParams) {
if (_invalidParams.size() < MAX_INVALID_PARAMS_TRACKED) {
_invalidParams.insert(param);
}
}

if (!invalidParams.empty()) {
std::string errorMsg = "Failed to retrieve the following parameters: ";
for (size_t i = 0; i < invalidParams.size(); i++) {
errorMsg += invalidParams[i];
if (i < invalidParams.size() - 1) {
errorMsg += ", ";
}
}
throw std::runtime_error(errorMsg);
} else {
throw std::runtime_error("Failed to retrieve one or multiple parameters");
}
}
}

Expand Down Expand Up @@ -922,6 +947,7 @@ class FoxgloveBridge : public nodelet::Nodelet {
int _serviceRetrievalTimeoutMs = DEFAULT_SERVICE_TYPE_RETRIEVAL_TIMEOUT_MS;
std::atomic<bool> _subscribeGraphUpdates = false;
std::unique_ptr<foxglove::CallbackQueue> _fetchAssetQueue;
std::unordered_set<std::string> _invalidParams;
};

} // namespace foxglove_bridge
Expand Down
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