SuppressChildErrors Class

A decorator that filters the log messages produced while ticking its child Behavior. More...

Declaration

class moveit_pro::behaviors::SuppressChildErrors { ... }

Included Headers

#include <suppress_child_errors.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	SuppressChildErrors (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Private Member Functions Index

BT::NodeStatus	tick () override
	Installs the log filter on first tick, then ticks the child and passes its status through unchanged. More...
void	halt () override
	Pops the filter. A halted Objective is treated as user-cancelled. More...

Private Member Attributes Index

std::shared_ptr< void >	filter_token_
	RAII token for the installed log filter. Null when no filter is installed. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Required implementation of the static providedPorts function. More...
static BT::KeyValueVector	metadata ()

Description

A decorator that filters the log messages produced while ticking its child Behavior.

Objective authors regularly use recovery patterns such as Fallback where the first branch is expected to fail as part of normal decision logic (for example, "try to detect an object; if that fails, move to a default pose"). The failing Behavior correctly logs an ERROR from its own perspective, which surfaces as an alarming red toast in the UI and an ERROR line in the system logs even though the system is behaving exactly as designed.

SuppressChildErrors wraps such a subtree and drops the messages it produces at the configured severities, without changing the child's BT::NodeStatus. Suppressed messages are not downgraded to a different severity — they are removed entirely, so no UI toast, console line, or error-buffer entry is produced for them. It requires no changes to the wrapped Behaviors — they keep logging normally. Compose it with ForceSuccess when the author also wants to swallow the failure status.

While the child is ticking, the decorator installs a filter on the shared logger (see LoggerBase::pushFilter). A message is dropped when the per-severity flag for its level is true (suppress_error/suppress_warn/ suppress_info); otherwise it passes through unchanged. The filter is removed as soon as the child reaches a terminal status or the decorator is halted.

Data Port Name	Port Type	Object Type	Default	Description
suppress_error	input	bool	true	Drop ERROR messages logged by the child.
suppress_warn	input	bool	false	Drop WARN messages logged by the child.
suppress_info	input	bool	false	Drop INFO messages logged by the child.

info

Direct spdlog::error(...) calls from Behaviors bypass LoggerBase and are not filtered. They never reach the UI toast path regardless, so this is a console-only limitation.

info

When two SuppressChildErrors decorators are nested, only the innermost (top-of-stack) filter is consulted for messages logged while it is installed (see LoggerBase::pushFilter). An inner decorator's flags therefore fully shadow an outer one's for the duration of the inner child's tick — e.g. an outer suppress_error=true does not drop an ERROR that an inner suppress_error=false forwards.

Definition at line 52 of file suppress_child_errors.hpp.

Public Constructors

SuppressChildErrors()

moveit_pro::behaviors::SuppressChildErrors::SuppressChildErrors (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources)

Declaration at line 55 of file suppress_child_errors.hpp, definition at line 51 of file suppress_child_errors.cpp.

Private Member Functions

halt()

void moveit_pro::behaviors::SuppressChildErrors::halt ()

Pops the filter. A halted Objective is treated as user-cancelled.

Declaration at line 77 of file suppress_child_errors.hpp, definition at line 115 of file suppress_child_errors.cpp.

tick()

BT::NodeStatus moveit_pro::behaviors::SuppressChildErrors::tick ()

Installs the log filter on first tick, then ticks the child and passes its status through unchanged.

Exceptions

BT::LogicError

if the child returns IDLE.

Returns

The child's status, unchanged.

Declaration at line 72 of file suppress_child_errors.hpp, definition at line 73 of file suppress_child_errors.cpp.

Private Member Attributes

filter_token_

std::shared_ptr<void> moveit_pro::behaviors::SuppressChildErrors::filter_token_

RAII token for the installed log filter. Null when no filter is installed.

Definition at line 80 of file suppress_child_errors.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::SuppressChildErrors::metadata ()

static

Declaration at line 64 of file suppress_child_errors.hpp, definition at line 68 of file suppress_child_errors.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::SuppressChildErrors::providedPorts ()

static

Required implementation of the static providedPorts function.

Returns

The list of input ports used by this Behavior.

Declaration at line 62 of file suppress_child_errors.hpp, definition at line 57 of file suppress_child_errors.cpp.

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The documentation for this class was generated from the following files:

• suppress_child_errors.hpp
• suppress_child_errors.cpp

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