Merge pull request #123 from personalrobotics/bugfix/postprocess_path_params

Improved error handling in defer=True and GetTrajectoryTags.

Author: mkoval

src/prpy/base/robot.py

@@ -307,7 +307,7 @@ def do_postprocess():
 
                 return CopyTrajectory(traj, env=self.GetEnv())
 
-        if defer:
+        if defer is True:
             from trollius.executor import get_default_executor
             from trollius.futures import wrap_future
 
@@ -316,6 +316,10 @@ def do_postprocess():
 
             return wrap_future(executor.submit(do_postprocess))
         else:
+            if defer is not False:
+                logger.warning('Received unexpected value "%s" for defer.',
+                               defer)
+
             return do_postprocess()
 
     def ExecutePath(self, path, defer=False, executor=None, **kwargs):
@@ -350,7 +354,7 @@ def do_execute():
 
             return self.ExecuteTrajectory(traj, defer=False, **kwargs)
 
-        if defer:
+        if defer is True:
             from trollius.executor import get_default_executor
             from trollius.futures import wrap_future
 
@@ -359,6 +363,10 @@ def do_execute():
 
             return wrap_future(executor.submit(do_execute))
         else:
+            if defer is not False:
+                logger.warning('Received unexpected value "%s" for defer.',
+                               defer)
+
             return do_execute()
 
     def ExecuteTrajectory(self, traj, defer=False, timeout=None, period=0.01):
@@ -416,7 +424,7 @@ def ExecuteTrajectory(self, traj, defer=False, timeout=None, period=0.01):
                     'Trajectory includes the base, but no base controller is'
                     ' available. Is self.base.controller set?')
 
-        if defer:
+        if defer is True:
             import time
             import trollius
 
@@ -436,6 +444,10 @@ def do_poll():
 
             return trollius.async(do_poll())
         else:
+            if defer is not False:
+                logger.warning('Received unexpected value "%s" for defer.',
+                               defer)
+
             util.WaitForControllers(active_controllers, timeout=timeout)
 
         return traj

src/prpy/util.py

@@ -32,6 +32,10 @@
 import logging, numpy, openravepy, scipy.misc, time, threading, math
 import scipy.optimize
 
+
+logger = logging.getLogger('prpy.util')
+
+
 def create_sensor(env, args, anonymous=True):
     sensor = openravepy.RaveCreateSensor(env, args)
     if sensor is None:
@@ -283,10 +287,14 @@ def GetTrajectoryTags(traj):
 
     description = traj.GetDescription()
 
-    if description:
-        return json.loads(description)
-    else:
+    if description == '':
         return dict()
+    else:
+        try:
+            return json.loads(description)
+        except ValueError as e:
+            logger.warning('Failed reading tags from trajectory: %s', e.message)
+            return dict()
 
 
 def SetTrajectoryTags(traj, tags, append=False):