robokudo.utils.error_handling¶

Error handling utilities for RoboKudo.

This module provides error handling utilities for behavior trees.

module:

error_handling

synopsis:

Error handling utilities for behavior trees

moduleauthor:

RoboKudo Team

Dependencies:

py_trees
robokudo.identifier
functools.wraps
traceback

Functions¶

`raise_to_blackboard`(exception)	Store exception in blackboard.
`has_blackboard_exception`()	Check if blackboard contains an exception.
`get_blackboard_exception`()	Retrieve exception from blackboard.
`clear_blackboard_exception`()	Clear any stored exception from blackboard.
`catch_and_raise_to_blackboard`(...)	Catch and store exceptions in blackboard.

Module Contents¶

robokudo.utils.error_handling.raise_to_blackboard(exception)¶

Store exception in blackboard.

Parameters:: exception (Exception or None) – Exception to store or None to clear
Example:

try:
    # Some code that might raise
    pass
except Exception as e:
    raise_to_blackboard(e)

robokudo.utils.error_handling.has_blackboard_exception()¶

Check if blackboard contains an exception.

Returns:: True if exception exists and is not None
Return type:: bool
Example:

if has_blackboard_exception():
    # Handle exception
    pass

robokudo.utils.error_handling.get_blackboard_exception()¶

Retrieve exception from blackboard.

Returns:: Stored exception or None if not found
Return type:: Exception or None
Example:

exc = get_blackboard_exception()
if exc is not None:
    # Handle exception
    pass

robokudo.utils.error_handling.clear_blackboard_exception()¶

Clear any stored exception from blackboard.

Example:

clear_blackboard_exception()
assert not has_blackboard_exception()

robokudo.utils.error_handling.catch_and_raise_to_blackboard(function: Callable) → py_trees.common.Status | Callable¶

Catch and store exceptions in blackboard.

This decorator is used to catch exceptions in Annotators to place them into the blackboard. Mostly useful in analysis-engines that have a query-interface which should return a failure back to the action-server caller if one of the Annotators yields an exception.

Returns:
Parameters:: function (callable) – The update or compute method of the desired Annotator
Returns:: Exception that has been catched or found in the Blackboard or wrapped function that handles exceptions
Return type:: Union[py_trees.Status.FAILURE, Callable]
Example:

@catch_and_raise_to_blackboard
def update(self) -> py_trees.common.Status:
    # Method code here
    pass

Warning

Should not be used on ThreadedAnnotators