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Always include exception message in response strings #8

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Merged
heuristicus merged 2 commits into from
Apr 28, 2023
Merged

Always include exception message in response strings #8

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90eb0e7
always include exception message in response strings
heuristicus Apr 26, 2023
8b0e16b
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heuristicus Apr 28, 2023
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44 changes: 21 additions & 23 deletions spot_wrapper/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -977,16 +977,16 @@ def assertEStop(self, severe=True):
self._estop_keepalive.settle_then_cut()

return True, "Success"
except:
return False, "Error"
except Exception as e:
return False, f"Exception while attempting to estop: {e}"

def disengageEStop(self):
"""Disengages the E-Stop"""
try:
self._estop_keepalive.allow()
return True, "Success"
except:
return False, "Error"
except Exception as e:
return False, f"Exception while attempting to disengage estop {e}"

def releaseEStop(self):
"""Stop eStop keepalive"""
Expand Down Expand Up @@ -1017,7 +1017,7 @@ def release(self):
self.releaseEStop()
return True, "Success"
except Exception as e:
return False, str(e)
return False, f"Exception while attempting to release the lease: {e}"

def disconnect(self):
"""Release control of robot as gracefully as posssible."""
Expand All @@ -1043,9 +1043,7 @@ def _robot_command(self, command_proto, end_time_secs=None, timesync_endpoint=No
)
return True, "Success", command_id
except Exception as e:
self._logger.error(
"Unable to execute robot command, exception was" + str(e)
)
self._logger.error(f"Unable to execute robot command: {e}")
return False, str(e), None

@try_claim
Expand Down Expand Up @@ -1142,7 +1140,7 @@ def clear_behavior_fault(self, id):
)
return True, "Success", rid
except Exception as e:
return False, str(e), None
return False, f"Exception while clearing behavior fault: {e}", None

@try_claim
def power_on(self):
Expand All @@ -1156,7 +1154,7 @@ def power_on(self):
self._logger.info("Powering on")
self._robot.power_on()
except Exception as e:
return False, str(e)
return False, f"Exception while powering on: {e}"

return True, "Success"

Expand Down Expand Up @@ -1358,7 +1356,7 @@ def ensure_arm_power_and_stand(self):
except Exception as e:
return (
False,
"Exception occured while Spot or its arm were trying to power on",
f"Exception occured while Spot or its arm were trying to power on: {e}",
)

if not self._is_standing:
Expand Down Expand Up @@ -1388,7 +1386,7 @@ def arm_stow(self):
time.sleep(2.0)

except Exception as e:
return False, "Exception occured while trying to stow"
return False, f"Exception occured while trying to stow: {e}"

return True, "Stow arm success"

Expand All @@ -1409,7 +1407,7 @@ def arm_unstow(self):
time.sleep(2.0)

except Exception as e:
return False, "Exception occured while trying to unstow"
return False, f"Exception occured while trying to unstow: {e}"

return True, "Unstow arm success"

Expand All @@ -1430,7 +1428,7 @@ def arm_carry(self):
time.sleep(2.0)

except Exception as e:
return False, "Exception occured while carry mode was issued"
return False, f"Exception occured while carry mode was issued: {e}"

return True, "Carry mode success"

Expand Down Expand Up @@ -1531,7 +1529,7 @@ def arm_joint_move(self, joint_targets):
return True, "Spot Arm moved successfully"

except Exception as e:
return False, "Exception occured during arm movement: " + str(e)
return False, f"Exception occured during arm movement: {e}"

@try_claim
def force_trajectory(self, data):
Expand Down Expand Up @@ -1599,7 +1597,7 @@ def create_wrench_from_msg(forces, torques):
time.sleep(float(traj_duration) + 1.0)

except Exception as e:
return False, "Exception occured during arm movement"
return False, f"Exception occured during arm movement: {e}"

return True, "Moved arm successfully"

Expand All @@ -1620,7 +1618,7 @@ def gripper_open(self):
time.sleep(2.0)

except Exception as e:
return False, "Exception occured while gripper was moving"
return False, f"Exception occured while gripper was moving: {e}"

return True, "Open gripper success"

Expand All @@ -1641,7 +1639,7 @@ def gripper_close(self):
time.sleep(2.0)

except Exception as e:
return False, "Exception occured while gripper was moving"
return False, f"Exception occured while gripper was moving: {e}"

return True, "Closed gripper successfully"

Expand Down Expand Up @@ -1670,7 +1668,7 @@ def gripper_angle_open(self, gripper_ang):
time.sleep(2.0)

except Exception as e:
return False, "Exception occured while gripper was moving"
return False, f"Exception occured while gripper was moving: {e}"

return True, "Opened gripper successfully"

Expand Down Expand Up @@ -1740,7 +1738,7 @@ def hand_pose(self, data):
except Exception as e:
return (
False,
"An error occured while trying to move arm \n Exception:" + str(e),
f"An error occured while trying to move arm \n Exception: {e}",
)

return True, "Moved arm successfully"
Expand Down Expand Up @@ -1795,7 +1793,7 @@ def grasp_3d(self, frame, object_rt_frame):
self._robot.logger.info("Finished grasp.")

except Exception as e:
return False, "An error occured while trying to grasp from pose"
return False, f"An error occured while trying to grasp from pose: {e}"

return True, "Grasped successfully"

Expand Down Expand Up @@ -2201,7 +2199,7 @@ def dock(self, dock_id):
self._last_stand_command = None
return True, "Success"
except Exception as e:
return False, str(e)
return False, f"Exception while trying to dock: {e}"

@try_claim
def undock(self, timeout=20):
Expand All @@ -2213,7 +2211,7 @@ def undock(self, timeout=20):
blocking_undock(self._robot, timeout)
return True, "Success"
except Exception as e:
return False, str(e)
return False, f"Exception while trying to undock: {e}"

def get_docking_state(self, **kwargs):
"""Get docking state of robot."""
Expand Down