Improve runtime checking for behaviour tree and print

Chi-EEE · Mar 19, 2024 · 00e0057 · 00e0057
1 parent 5de72aa
commit 00e0057
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/app/other/behaviour_tree_car/include/behaviour_tree/node/custom/action/Print.hpp b/app/other/behaviour_tree_car/include/behaviour_tree/node/custom/action/Print.hpp
@@ -23,11 +23,12 @@ namespace behaviour_tree::node::custom::action
 
 		const Status run(const int& tick_count, std::shared_ptr<Context> context) final override
 		{
-#ifndef BEHAVIOUR_TREE_DISABLE_RUN
-			std::shared_ptr<CarContext> car_context = std::dynamic_pointer_cast<CarContext>(context);
-#else
+// #ifndef BEHAVIOUR_TREE_DISABLE_RUN
+// 			std::shared_ptr<CarContext> car_context = std::dynamic_pointer_cast<CarContext>(context);
+// #else
+// 			std::cout << this->getText();
+// #endif
 			std::cout << this->getText();
-#endif
 			return Status::Success;
 		}
 

diff --git a/app/rpi/common/include/behaviour_tree/BehaviourTreeHandler.hpp b/app/rpi/common/include/behaviour_tree/BehaviourTreeHandler.hpp
@@ -82,12 +82,15 @@ namespace behaviour_tree
 
 		void startBehaviourTree()
 		{
-			assert(this->behaviour_tree != nullptr);
 			assert(this->car_system != nullptr);
+			if (this->behaviour_tree == nullptr) {
+				spdlog::error("The Behaviour tree has not been set");
+				return;
+			}
 			this->tick_count = 0;
 			std::shared_ptr<Context> context = std::make_shared<CarContext>(this->behaviour_tree, this->car_system);
 			this->context = context;
-			spdlog::info("Starting the behaviour tree");
+			spdlog::info("Starting the Saved Behaviour tree");
 		}
 
 		void update() final override