diff --git a/lrs_exec/executor.py b/lrs_exec/executor.py index 71516c6820d3427a2d11bb9cff1bd7a91cf80ed7..5104dcf77f30edd2b03345f6dcf4c7dc027972b3 100644 --- a/lrs_exec/executor.py +++ b/lrs_exec/executor.py @@ -466,6 +466,7 @@ class Executor(): self.node.get_logger().error(f'do_before_work - pre-work conditions failed: {self.id}') return False + self.node.get_logger().info(f'do_before_work - RETURN true: {self.id}') return True def wait_for_approved(self): @@ -624,9 +625,13 @@ class Executor(): return False def ticked_wait_for_prework_conditions(self): + ## self.node.get_logger().error(f'ticked_wait_for_prework_conditions') if self.ticked_executor_wait(): + ## self.node.get_logger().error(f'ticked_wait_for_prework_conditions.SUCCESS') self.executor_wait_finished = True self.set_executing_flag(True) + else: + self.node.get_logger().error(f'ticked_wait_for_prework_conditions.FAIL') def unlock_resources(self): res = True @@ -672,21 +677,25 @@ class Executor(): return self.normal_exit_flag def basic_do_before_work(self): + self.node.get_logger().info(f'basic_do_before_work - ENTER true: {self.id}') if not self.do_before_work(): self.failed = True self.finished = True - self.node.get_logger().error(f'Executor basic_start: do_before_work failed') + ## self.node.get_logger().error(f'Executor basic_start: do_before_work failed') self.basic_start_exited = True + self.node.get_logger().info(f'basic_do_before_work - RETURN false: {self.id}') return False + self.node.get_logger().info(f'basic_do_before_work - RETURN true: {self.id}') return True def basic_start(self): - self.node.get_logger().error(f'Executor basic_start: {self.id}') + ## self.node.get_logger().error(f'Executor basic_start: {self.id}') if not self.basic_do_before_work(): + self.node.get_logger().error(f'Executor basic_do_before_work failed') return - self.node.get_logger().error(f'Executor basic_start before callin start: {self.id}') + ## self.node.get_logger().error(f'Executor basic_start before callin start: {self.id}') self.start() if self.normal_exit(): diff --git a/lrs_exec/executor_factory.py b/lrs_exec/executor_factory.py index 08f982687c27e7b04521b36c42b3a15e7d93dc58..fb529b8a41b66c28ace3b12e4a889ef1827982fb 100644 --- a/lrs_exec/executor_factory.py +++ b/lrs_exec/executor_factory.py @@ -226,7 +226,7 @@ class ExecutorFactory(Node): self.get_logger().info(f"Call basic start on {type(self.executor_map[id])}") if self.executor_map[id].use_ticking: - self.get_logger().info(f'Use ticking, no threads') + self.get_logger().info(f'executor_factory: Use ticking, no threads') if self.executor_map[id].basic_do_before_work(): self.executor_map[id].start() else: diff --git a/lrs_exec/ticked_executor.py b/lrs_exec/ticked_executor.py index 9df7e69460504420621e429f1ea1aa52d6b9bef0..ac0996a130fe2b593a57829ce193a65e67c4e097 100644 --- a/lrs_exec/ticked_executor.py +++ b/lrs_exec/ticked_executor.py @@ -19,6 +19,7 @@ class TickedExecutor(Executor): return def tick(self): + ## self.node.get_logger().info(f'ticked_executor tick: {self.inside_tick} {self.started_flag}') if self.inside_tick: return #if self.finished: @@ -27,7 +28,7 @@ class TickedExecutor(Executor): return self.inside_tick = True try: - # self.node.get_logger().error(f'Tick!!! {self.tni.type} - {self.id}') + ## self.node.get_logger().error(f'Tick!!! {self.tni.type} - {self.id}') if self.tick_finished and not self.first_tick: self.node.get_logger().info(f'Tick tick_finished: {self.tni.type}') @@ -41,7 +42,7 @@ class TickedExecutor(Executor): self.started_flag = False self.inside_tick = False return - + if not self.executor_wait_finished: self.ticked_wait_for_prework_conditions() if self.executor_wait_failed: @@ -59,19 +60,21 @@ class TickedExecutor(Executor): self.do_work_finished() self.inside_tick = False return + if self.executor_wait_finished and self.tni.enough_when_starting: self.node.get_logger().info(f'Tick ENOUGH: {self.executor_wait_finished}') self.do_work_finished() self.inside_tick = False return + if self.first_tick: - self.node.get_logger().info(f'FIRST Tick - {self.id}') + ## self.node.get_logger().info(f'FIRST Tick - {self.id}') self.do_work_begin() if not self.first_tick: - # self.node.get_logger().error(f'NOT FIRST Tick - {self.id}') + ## self.node.get_logger().error(f'NOT FIRST Tick - {self.id}') if self.blocking: self.tick_finished = True self.do_work() diff --git a/lrs_exec/ticked_executor_factory.py b/lrs_exec/ticked_executor_factory.py index e1ba81c9e583871f2278cd299ccd3dc0f9247a75..53b4ad7585d2fa1e47b2744d1919e34b2a90b712 100644 --- a/lrs_exec/ticked_executor_factory.py +++ b/lrs_exec/ticked_executor_factory.py @@ -23,7 +23,7 @@ class TickedExecutorFactory(ExecutorFactory): self.executors_lock.acquire() self.executors.append(obj) self.executors_lock.release() - self.get_logger().error(f'add_executor: {self.type}') + self.get_logger().info(f'add_executor: {self.type}') return obj def tick(self): diff --git a/lrs_exec/tree_executor.py b/lrs_exec/tree_executor.py index ce8887071be167afac6051119c17121eefb004db..84e6a6282603353ac46c44625f5db6d55fa35a46 100644 --- a/lrs_exec/tree_executor.py +++ b/lrs_exec/tree_executor.py @@ -459,7 +459,7 @@ class TreeExecutor(Node): jobjstr = json.dumps(jobj, sort_keys=True, indent=4, separators=(',', ': ')) self.get_logger().info(f'traverse_start_non_terminal: {jobjstr}') - self.get_logger().info(f'traverse_start_non_terminal: {jobj["execution_ns"]} - {self.get_namespace()}') + ## self.get_logger().info(f'traverse_start_non_terminal: {jobj["execution_ns"]} - {self.get_namespace()}') if jobj["execution_ns"] != self.get_namespace(): ## self.get_logger().info(f'traverse_start_non_terminal: RETURN FALSE')