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add raise RobotNotConfiguredError #41

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Merged
Flova merged 4 commits into from
Jul 21, 2025
Merged

add raise RobotNotConfiguredError #41

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6a4e755
add raise RobotNotConfiguredError
ayin21 Jul 21, 2025
baf76f0
correct format
ayin21 Jul 21, 2025
267697e
fix format
ayin21 Jul 21, 2025
df223a4
fix format
ayin21 Jul 21, 2025
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15 changes: 12 additions & 3 deletions udp_bridge/sender.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
from queue import Empty, Full, Queue

import rclpy
from bitbots_utils.utils import get_parameters_from_other_node
from bitbots_utils.utils import RobotNotConfiguredError, get_parameters_from_other_node
from rclpy.executors import SingleThreadedExecutor
from rclpy.logging import LoggingSeverity
from rclpy.node import Node
Expand Down Expand Up @@ -155,8 +155,17 @@ def __init__(self, node: Node):
self.freq: float = node.get_parameter("send_frequency").value

target_ip_parameter_name: str = "monitoring_host_ip"
params_blackboard = get_parameters_from_other_node(node, "parameter_blackboard", [target_ip_parameter_name])
self.target: str = params_blackboard[target_ip_parameter_name]
self.params_blackboard = get_parameters_from_other_node(
node, "parameter_blackboard", [target_ip_parameter_name]
)
if any(param_val is None for param_val in self.params_blackboard.values()):
error_text = """
The robot is not configured properly or the parameter_blackboard is not found.
It is likely that the robot was not configured when you syncronised your clean code onto the robot.
Run the deploy_robots script with the -c option to configure the robot and set parameters like the robot id and its role."""
self._node.get_logger().fatal(error_text)
raise RobotNotConfiguredError(error_text)
self.target: str = self.params_blackboard[target_ip_parameter_name]
self.port: int = node.get_parameter("port").value
self.sock = self.setup_udp_socket()

Expand Down