From 8521d3855164172fc0ae6807be088f8957c5c129 Mon Sep 17 00:00:00 2001
From: Mike Wake <michael.wake@aosgrp.com.au>
Date: Thu, 29 Aug 2024 14:09:14 +1000
Subject: [PATCH] Add tool to help check for error_code and error_msg in
 behavior trees (#4341)

Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
---
 ...gate_to_pose_w_replanning_and_recovery.xml |  2 +-
 tools/checkBehaviourTree.py                   | 68 +++++++++++++++++++
 2 files changed, 69 insertions(+), 1 deletion(-)
 create mode 100755 tools/checkBehaviourTree.py

diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
index 58c4bb11ae9..09e04a53242 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -41,7 +41,7 @@
             </Sequence>
             <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}" error_msg="{backup_code_error_msg}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>
diff --git a/tools/checkBehaviourTree.py b/tools/checkBehaviourTree.py
new file mode 100755
index 00000000000..8dd7a3028e9
--- /dev/null
+++ b/tools/checkBehaviourTree.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+
+# This tool checks behavior_trees for error_code_id and error_msg
+# conformity
+
+# Example usage to check all xml files found recursively in the parent
+# directory.
+# python3 checkBehaviourTree.py $(find .. -name \*.xml)
+
+import xml.etree.ElementTree as ET
+import argparse
+from pathlib import Path
+
+def check_xml_attributes(xml_file):
+    try:
+        # Parse the XML file
+        tree = ET.parse(xml_file)
+        root = tree.getroot()
+
+        # Find all elements with error_code_id attribute
+        elements_with_error_code = root.findall(".//*[@error_code_id]")
+
+        # Check if all elements with error_code_id also have error_msg
+        missing_error_msg = []
+        error_prefix_mismatch = []
+        for element in elements_with_error_code:
+            if "error_msg" not in element.attrib:
+                missing_error_msg.append(element)
+            else:
+                error_code_id_prefix = element.attrib['error_code_id'].replace('error_code','')
+                error_msg_prefix = element.attrib['error_msg'].replace('error_msg','')
+                if error_code_id_prefix != error_msg_prefix:
+                    error_prefix_mismatch.append(element)
+
+        # Print results
+        if missing_error_msg:
+            print(f"  {xml_file} Found {len(missing_error_msg)} element(s) missing 'error_msg' attribute:")
+            for element in missing_error_msg:
+                print(f"    Tag: {element.tag}, Attributes: {element.attrib}")
+        if error_prefix_mismatch:
+            print(f"  {xml_file} Found {len(error_prefix_mismatch)} element(s) with mismatched error_code_name_prefix")
+            for element in error_prefix_mismatch:
+                print(f"    Tag: {element.tag}, Attributes: {element.attrib}")
+
+    except ET.ParseError as e:
+        print(f"  Error parsing XML file: {e}")
+    except FileNotFoundError:
+        print(f"  File not found: {xml_file}")
+    except Exception as e:
+        print(f"  An error occurred: {e}")
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Check behaviour trees conform to error code and msg prefix requirements.")
+    parser.add_argument("files", nargs="+", type=str,
+                        help="BehaviorTree XML file(s) to process")
+    args = parser.parse_args()
+
+    for file_path in args.files:
+        xml_path = Path(file_path)
+        if xml_path.is_file() and xml_path.suffix.lower() == '.xml':
+            check_xml_attributes(xml_path)
+        else:
+            print(f"\nSkipping {file_path}: Not a valid XML file.")
+
+if __name__ == "__main__":
+    main()
+