Update plugin lib exception handling (#263)

ros-controls · Jan 8, 2025 · ec19b21 · ec19b21
1 parent e7049ab
commit ec19b21
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Showing 5 changed files with 31 additions and 17 deletions.
diff --git a/include/control_filters/exponential_filter.hpp b/include/control_filters/exponential_filter.hpp
@@ -86,13 +86,14 @@ bool ExponentialFilter<T>::configure()
         std::make_shared<exponential_filter::ParamListener>(this->params_interface_,
                                                          this->param_prefix_);
     }
-    catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
-      RCLCPP_ERROR((*logger_), "Exponential filter cannot be configured: %s", ex.what());
+    catch (const std::exception & ex) {
+      RCLCPP_ERROR((*logger_),
+        "Exponential filter cannot be configured: %s (type : %s)", ex.what(), typeid(ex).name());
       parameter_handler_.reset();
       return false;
     }
-    catch (rclcpp::exceptions::InvalidParameterValueException & ex)  {
-      RCLCPP_ERROR((*logger_), "Exponential filter cannot be configured: %s", ex.what());
+    catch (...) {
+      RCLCPP_ERROR((*logger_), "Caught unknown exception while configuring Exponential filter");
       parameter_handler_.reset();
       return false;
     }

diff --git a/include/control_filters/low_pass_filter.hpp b/include/control_filters/low_pass_filter.hpp
@@ -112,13 +112,14 @@ bool LowPassFilter<T>::configure()
         std::make_shared<low_pass_filter::ParamListener>(this->params_interface_,
                                                          this->param_prefix_);
     }
-    catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
-      RCLCPP_ERROR((*logger_), "LowPass filter cannot be configured: %s", ex.what());
+    catch (const std::exception & ex) {
+      RCLCPP_ERROR((*logger_),
+        "LowPass filter cannot be configured: %s (type : %s)", ex.what(), typeid(ex).name());
       parameter_handler_.reset();
       return false;
     }
-    catch (rclcpp::exceptions::InvalidParameterValueException & ex)  {
-      RCLCPP_ERROR((*logger_), "LowPass filter cannot be configured: %s", ex.what());
+    catch (...) {
+      RCLCPP_ERROR((*logger_), "Caught unknown exception while configuring LowPass filter");
       parameter_handler_.reset();
       return false;
     }

diff --git a/include/control_filters/rate_limiter.hpp b/include/control_filters/rate_limiter.hpp
@@ -89,13 +89,14 @@ bool RateLimiter<T>::configure()
         std::make_shared<rate_limiter::ParamListener>(this->params_interface_,
                                                          this->param_prefix_);
     }
-    catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
-      RCLCPP_ERROR((*logger_), "Rate limiter cannot be configured: %s", ex.what());
+    catch (const std::exception & ex) {
+      RCLCPP_ERROR((*logger_),
+        "Rate Limiter filter cannot be configured: %s (type : %s)", ex.what(), typeid(ex).name());
       parameter_handler_.reset();
       return false;
     }
-    catch (rclcpp::exceptions::InvalidParameterValueException & ex)  {
-      RCLCPP_ERROR((*logger_), "Rate limiter cannot be configured: %s", ex.what());
+    catch (...) {
+      RCLCPP_ERROR((*logger_), "Caught unknown exception while configuring Rate Limiter filter");
       parameter_handler_.reset();
       return false;
     }

diff --git a/test/control_filters/test_exponential_filter.cpp b/test/control_filters/test_exponential_filter.cpp
@@ -27,6 +27,13 @@ TEST_F(FilterTest, TestExponentialFilterThrowsUnconfigured)
     ASSERT_THROW(filter_->update(in, out), std::runtime_error);
 }
 
+TEST_F(FilterTest, TestExponentialFilterInvalidParameterValue)
+{
+    std::shared_ptr<filters::FilterBase<double>> filter_ =
+        std::make_shared<control_filters::ExponentialFilter<double>>();
+    ASSERT_FALSE(filter_->configure("", "TestExponentialFilter",
+        node_->get_node_logging_interface(), node_->get_node_parameters_interface()));
+}
 
 TEST_F(FilterTest, TestExponentialFilterComputation)
 {
@@ -47,13 +54,13 @@ TEST_F(FilterTest, TestExponentialFilterComputation)
     ASSERT_EQ(out, 1.0);
 
     // second filter pass with same values: no change
-      // check equality with low-pass-filter
-      ASSERT_TRUE(filter_->update(in, out));
-      calculated = in;
-      ASSERT_EQ(calculated, out);
+    // check equality with low-pass-filter
+    ASSERT_TRUE(filter_->update(in, out));
+    calculated = in;
+    ASSERT_EQ(calculated, out);
 
     // input change
-      in = 0.0;
+    in = 0.0;
     for (int i = 0; i < 100; ++i){
       ASSERT_TRUE(filter_->update(in, out));
       calculated = alpha * in + (1 - alpha) * calculated;

diff --git a/test/control_filters/test_exponential_filter_parameters.yaml b/test/control_filters/test_exponential_filter_parameters.yaml
@@ -1,3 +1,7 @@
 TestExponentialFilterComputation:
   ros__parameters:
     alpha: 0.7
+
+TestExponentialInvalidParameterValue:
+  ros__parameters:
+    alpha: "a"