feat(modulo-controllers): use exceptions from modulo utils and update to CL v8.1.0

CHANGELOG.md

@@ -23,6 +23,7 @@ Release Versions:
 - refactor: remove modulo_component_interfaces (#88)
 - feat: add add_interfaces function for derived controllers (#102)
 - refactor: remove period parameter and make rate double (#108)
+- feat(modulo-controllers): use exceptions from modulo utils and update to CL v8.1.0 (#106)
 
 ## 4.2.1
 

aica-package.toml

@@ -12,7 +12,7 @@ type = "ros"
 image = "v1.0.1-iron"
 
 [build.dependencies]
-"@aica/foss/control-libraries" = "v7.4.1"
+"@aica/foss/control-libraries" = "v8.1.0"
 
 [build.packages.modulo_components]
 source = "./source/modulo_components"

source/modulo_controllers/CMakeLists.txt

@@ -21,7 +21,7 @@ if (ENABLE_SIGNING)
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
-find_package(control_libraries 7.4.0 CONFIG REQUIRED COMPONENTS state_representation robot_model controllers)
+find_package(control_libraries 8.1.0 CONFIG REQUIRED COMPONENTS state_representation robot_model controllers)
 
 ament_auto_find_build_dependencies()
 

source/modulo_controllers/include/modulo_controllers/ControllerInterface.hpp

@@ -14,11 +14,11 @@
 #include <modulo_core/translators/message_writers.hpp>
 #include <modulo_core/translators/parameter_translators.hpp>
 #include <modulo_interfaces/msg/predicate_collection.hpp>
-
-#include "modulo_controllers/utils/utilities.hpp"
-
 #include <modulo_interfaces/srv/empty_trigger.hpp>
 #include <modulo_interfaces/srv/string_trigger.hpp>
+#include <modulo_utils/exceptions/ParameterException.hpp>
+#include <modulo_utils/parsing.hpp>
+#include <modulo_utils/predicate_variant.hpp>
 
 namespace modulo_controllers {
 
@@ -295,6 +295,7 @@ class ControllerInterface : public controller_interface::ControllerInterface {
   /**
    * @brief Get a parameter by name.
    * @param name The name of the parameter
+   * @throws modulo_utils::exceptions::ParameterException if the parameter could not be accessed
    * @return The ParameterInterface pointer to a Parameter instance
    */
   [[nodiscard]] std::shared_ptr<state_representation::ParameterInterface> get_parameter(const std::string& name) const;
@@ -303,6 +304,7 @@ class ControllerInterface : public controller_interface::ControllerInterface {
    * @brief Get a parameter value by name.
    * @tparam T The type of the parameter
    * @param name The name of the parameter
+   * @throws modulo_utils::exceptions::ParameterException if the parameter value could not be accessed
    * @return The value of the parameter
    */
   template<typename T>
@@ -487,14 +489,14 @@ class ControllerInterface : public controller_interface::ControllerInterface {
    * @param name The name of the predicate
    * @param predicate The predicate variant
    */
-  void add_variant_predicate(const std::string& name, const utilities::PredicateVariant& predicate);
+  void add_variant_predicate(const std::string& name, const modulo_utils::PredicateVariant& predicate);
 
   /**
    * @brief Set the predicate given as parameter, if the predicate is not found does not do anything.
    * @param name The name of the predicate
    * @param predicate The predicate variant
    */
-  void set_variant_predicate(const std::string& name, const utilities::PredicateVariant& predicate);
+  void set_variant_predicate(const std::string& name, const modulo_utils::PredicateVariant& predicate);
 
   /**
    * @brief Populate a Prediate message with the name and the value of a predicate.
@@ -604,7 +606,7 @@ class ControllerInterface : public controller_interface::ControllerInterface {
   std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::StringTrigger>>>
       string_services_;///< Map of StringTrigger services
 
-  std::map<std::string, utilities::PredicateVariant> predicates_; ///< Map of predicates
+  std::map<std::string, modulo_utils::PredicateVariant> predicates_; ///< Map of predicates
   std::shared_ptr<rclcpp::Publisher<modulo_interfaces::msg::PredicateCollection>>
       predicate_publisher_; ///< Predicate publisher
   std::map<std::string, bool> triggers_; ///< Map of triggers
@@ -638,7 +640,12 @@ inline void ControllerInterface::add_parameter(
 
 template<typename T>
 inline T ControllerInterface::get_parameter_value(const std::string& name) const {
-  return parameter_map_.template get_parameter_value<T>(name);
+  try {
+    return this->parameter_map_.template get_parameter_value<T>(name);
+  } catch (const state_representation::exceptions::InvalidParameterException& ex) {
+    throw modulo_utils::exceptions::ParameterException(
+        "Failed to get parameter value of parameter '" + name + "': " + ex.what());
+  }
 }
 
 template<typename T>

source/modulo_controllers/package.xml

@@ -20,6 +20,7 @@
 
   <depend>modulo_core</depend>
   <depend>modulo_interfaces</depend>
+  <depend>modulo_utils</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>

source/modulo_controllers/src/ControllerInterface.cpp

@@ -4,15 +4,14 @@
 
 #include <modulo_core/translators/message_readers.hpp>
 
-#include "modulo_controllers/utils/utilities.hpp"
-
 template<class... Ts>
 struct overloaded : Ts... {
   using Ts::operator()...;
 };
 template<class... Ts>
 overloaded(Ts...) -> overloaded<Ts...>;
 
+using namespace modulo_utils::exceptions;
 using namespace state_representation;
 using namespace std::chrono_literals;
 
@@ -335,7 +334,11 @@ void ControllerInterface::add_parameter(
 }
 
 std::shared_ptr<ParameterInterface> ControllerInterface::get_parameter(const std::string& name) const {
-  return parameter_map_.get_parameter(name);
+  try {
+    return this->parameter_map_.get_parameter(name);
+  } catch (const state_representation::exceptions::InvalidParameterException& ex) {
+    throw ParameterException("Failed to get parameter '" + name + "': " + ex.what());
+  }
 }
 
 rcl_interfaces::msg::SetParametersResult
@@ -386,14 +389,15 @@ bool ControllerInterface::on_validate_parameter_callback(const std::shared_ptr<P
 }
 
 void ControllerInterface::add_predicate(const std::string& name, bool predicate) {
-  add_variant_predicate(name, utilities::PredicateVariant(predicate));
+  add_variant_predicate(name, modulo_utils::PredicateVariant(predicate));
 }
 
 void ControllerInterface::add_predicate(const std::string& name, const std::function<bool(void)>& predicate) {
-  add_variant_predicate(name, utilities::PredicateVariant(predicate));
+  add_variant_predicate(name, modulo_utils::PredicateVariant(predicate));
 }
 
-void ControllerInterface::add_variant_predicate(const std::string& name, const utilities::PredicateVariant& predicate) {
+void ControllerInterface::add_variant_predicate(
+    const std::string& name, const modulo_utils::PredicateVariant& predicate) {
   if (name.empty()) {
     RCLCPP_ERROR(get_node()->get_logger(), "Failed to add predicate: Provide a non empty string as a name.");
     return;
@@ -434,14 +438,15 @@ bool ControllerInterface::get_predicate(const std::string& predicate_name) const
 }
 
 void ControllerInterface::set_predicate(const std::string& name, bool predicate) {
-  set_variant_predicate(name, utilities::PredicateVariant(predicate));
+  set_variant_predicate(name, modulo_utils::PredicateVariant(predicate));
 }
 
 void ControllerInterface::set_predicate(const std::string& name, const std::function<bool(void)>& predicate) {
-  set_variant_predicate(name, utilities::PredicateVariant(predicate));
+  set_variant_predicate(name, modulo_utils::PredicateVariant(predicate));
 }
 
-void ControllerInterface::set_variant_predicate(const std::string& name, const utilities::PredicateVariant& predicate) {
+void ControllerInterface::set_variant_predicate(
+    const std::string& name, const modulo_utils::PredicateVariant& predicate) {
   auto predicate_iterator = predicates_.find(name);
   if (predicate_iterator == predicates_.end()) {
     RCLCPP_ERROR_THROTTLE(
@@ -505,7 +510,7 @@ void ControllerInterface::publish_predicates() const {
 
 std::string ControllerInterface::validate_and_declare_signal(
     const std::string& signal_name, const std::string& type, const std::string& default_topic, bool fixed_topic) {
-  auto parsed_signal_name = utilities::parse_topic_name(signal_name);
+  auto parsed_signal_name = modulo_utils::parse_topic_name(signal_name);
   if (parsed_signal_name.empty()) {
     RCLCPP_WARN(
         get_node()->get_logger(),
@@ -646,7 +651,7 @@ bool ControllerInterface::check_input_valid(const std::string& name) const {
 }
 
 std::string ControllerInterface::validate_service_name(const std::string& service_name, const std::string& type) const {
-  std::string parsed_service_name = utilities::parse_topic_name(service_name);
+  std::string parsed_service_name = modulo_utils::parse_topic_name(service_name);
   if (parsed_service_name.empty()) {
     RCLCPP_WARN(
         get_node()->get_logger(),

source/modulo_core/CMakeLists.txt

@@ -26,8 +26,8 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(tf2_msgs REQUIRED)
 
-find_package(control_libraries 7.4.1 REQUIRED COMPONENTS state_representation)
-find_package(clproto 7.4.1 REQUIRED)
+find_package(control_libraries 8.1.0 REQUIRED COMPONENTS state_representation)
+find_package(clproto 8.1.0 REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
     ${PROJECT_SOURCE_DIR}/src/communication/MessagePair.cpp