HiveCoreRD/hivecore_robot_brain
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disable some logs

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This commit is contained in:
NuoDaJia02
2025-11-05 15:18:34 +08:00
parent 893bca0d2e
commit 100e06fe81
2 changed files with 6 additions and 6 deletions
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2
src/brain/src/cerebellum_node.cpp
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@@ -859,7 +859,7 @@ void CerebellumNode::SetupExecuteBtServer()
if (!c.payload_yaml.empty()) {
// Log payload content (trim if very long)
const std::string payload = c.payload_yaml.size() > 512 ? c.payload_yaml.substr(0, 512) + "..." : c.payload_yaml;
RCLCPP_INFO(this->get_logger(), "payload:{%s}", payload.c_str());
// RCLCPP_INFO(this->get_logger(), "payload:{%s}", payload.c_str());
}
}
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;

10
src/brain/src/cerebrum_node.cpp
View File

@@ -201,7 +201,7 @@ void CerebrumNode::RegisterActionClient()
}
robot_work_info_.bt_node_status = "RUNNING";
// Debug: log outgoing calls being sent to Cerebellum
RCLCPP_INFO(this->get_logger(), "[ExecuteBtAction] Sending goal with calls_count=%zu", g.calls.size());
// RCLCPP_INFO(this->get_logger(), "[ExecuteBtAction] Sending goal with calls_count=%zu", g.calls.size());
for (size_t i = 0; i < g.calls.size(); ++i) {
const auto & c = g.calls[i];
RCLCPP_INFO(this->get_logger(), " out_call[%zu]: name=%s interface=%s kind=%s topic=%s payload_len=%zu",
@@ -437,7 +437,7 @@ void CerebrumNode::RegisterSkillBtActions()
{
std::lock_guard<std::mutex> lk(exec_mutex_);
if (done_instances_epoch_.find(key) != done_instances_epoch_.end()) {
RCLCPP_INFO(this->get_logger(), "[%s/%s] skipped: already SUCCESS in current epoch", bt_type.c_str(), instance_name.c_str());
// RCLCPP_INFO(this->get_logger(), "[%s/%s] skipped: already SUCCESS in current epoch", bt_type.c_str(), instance_name.c_str());
return BT::NodeStatus::SUCCESS;
}
}
@@ -548,7 +548,7 @@ bool CerebrumNode::UpdateBtActionParamsForSkillInstance(
RCLCPP_INFO(this->get_logger(), "Declaring BT action parameters for skill instance %s", instance_name.c_str());
try {
this->set_parameter(rclcpp::Parameter(p_payload, instance_params));
RCLCPP_INFO(this->get_logger(), "Seeded sample payload for %s instance %s", skill_name.c_str(), instance_name.c_str());
// RCLCPP_INFO(this->get_logger(), "Seeded sample payload for %s instance %s", skill_name.c_str(), instance_name.c_str());
} catch (const std::exception & e) {
RCLCPP_ERROR(this->get_logger(), "[%s] seeding sample payload failed: %s", skill_name.c_str(), e.what());
return false;
@@ -594,8 +594,8 @@ bool CerebrumNode::DeclareBtActionParamsForSkillInstance(
return false;
} else {
instance_params = *params;
RCLCPP_INFO(this->get_logger(), "Loaded BT params for %s, instance_params: %s",
instance_name.c_str(), instance_params.c_str());
// RCLCPP_INFO(this->get_logger(), "Loaded BT params for %s, instance_params: %s",
// instance_name.c_str(), instance_params.c_str());
}
} catch (const std::exception & e) {
RCLCPP_ERROR(this->get_logger(), "[%s] read params failed: %s", skill_name.c_str(), e.what());