(chore) Refactor error handling

openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp

@@ -210,7 +210,7 @@ static UNUSED void printPerformanceCounts(ov::InferRequest request, std::ostream
                                           bool bshowHeader = true)
 {
   auto performanceMap = request.get_profiling_info();
-  //printPerformanceCounts(performanceMap, stream, deviceName, bshowHeader);
+  // printPerformanceCounts(performanceMap, stream, deviceName, bshowHeader);
 }
 
 inline std::map<std::string, std::string> getMapFullDevicesNames(ov::Core& core, std::vector<std::string> devices)

openvino_wrapper_lib/src/inputs/realsense_camera.cpp

@@ -30,7 +30,6 @@ bool Input::RealSenseCamera::initialize(size_t width, size_t height)
   if (3 * width != 4 * height) {
     slog::err << "The aspect ratio must be 4:3 when using RealSense camera" << slog::endl;
     throw std::runtime_error("The aspect ratio must be 4:3 when using RealSense camera!");
-    return false;
   }
 
   auto devSerialNumber = getCameraSN();
@@ -63,7 +62,11 @@ bool Input::RealSenseCamera::read(cv::Mat* frame)
     cv::Mat(cv::Size(static_cast<int>(getWidth()), static_cast<int>(getHeight())), CV_8UC3,
             const_cast<void*>(color_frame.get_data()), cv::Mat::AUTO_STEP)
         .copyTo(*frame);
+  } catch (const std::exception& e) {
+    slog::err << "RealSense camera read error: " << e.what() << slog::endl;
+    return false;
   } catch (...) {
+    slog::err << "RealSense camera read error: unknown exception" << slog::endl;
     return false;
   }
 

sample/src/image_object_server.cpp

@@ -41,11 +41,12 @@ int main(int argc, char** argv)
     auto node = std::make_shared<vino_service::FrameProcessingServer<object_msgs::srv::DetectObject>>(service_name,
                                                                                                       config_path);
     rclcpp::spin(node);
-  } catch (std::exception& e) {
-    std::cout << e.what() << std::endl;
+  } catch (const std::exception& e) {
+    slog::err << "[frame_processing_server] Error: " << e.what() << slog::endl;
+    return -1;
   } catch (...) {
-    std::cout << "[ERROR] [frame_processing_server]: "
-              << "exception caught" << std::endl;
+    slog::err << "[frame_processing_server] Error: Unknown exception caught" << slog::endl;
+    return -1;
   }
 
   return 0;

sample/src/image_people_server.cpp

@@ -41,11 +41,12 @@ int main(int argc, char** argv)
     auto node = std::make_shared<vino_service::FrameProcessingServer<object_msgs::srv::People>>(
         "service_people_detection", config_path);
     rclcpp::spin(node);
-  } catch (std::exception& e) {
-    std::cout << e.what() << std::endl;
+  } catch (const std::exception& e) {
+    slog::err << "[service_people_detection] Error: " << e.what() << slog::endl;
+    return -1;
   } catch (...) {
-    std::cout << "[ERROR] [service_people_detection]: "
-              << "exception caught" << std::endl;
+    slog::err << "[service_people_detection] Error: Unknown exception caught" << slog::endl;
+    return -1;
   }
 
   return 0;

sample/src/parameters.cpp

@@ -38,7 +38,6 @@ int main(int argc, char* argv[])
     std::string config = getConfigPath(argc, argv);
     if (config.empty()) {
       throw std::runtime_error("Config File is not correctly set.");
-      return -1;
     }
 
     Params::ParamManager::getInstance().parse(config);
@@ -47,11 +46,11 @@ int main(int argc, char* argv[])
     slog::info << "print again, should same as above....." << slog::endl;
     Params::ParamManager::getInstance().print();
   } catch (const std::exception& error) {
-    slog::err << error.what() << slog::endl;
+    slog::err << "Error: " << error.what() << slog::endl;
     return -1;
   } catch (...) {
     slog::err << "Unknown/internal exception happened." << slog::endl;
-    return -2;
+    return -1;
   }
 
   return 0;

sample/src/pipeline_with_params.cpp

@@ -100,10 +100,10 @@ int main(int argc, char* argv[])
     rclcpp::shutdown();
 
   } catch (const std::exception& error) {
-    slog::err << error.what() << slog::endl;
+    slog::err << "Pipeline error: " << error.what() << slog::endl;
     return -2;
   } catch (...) {
-    slog::err << "Unknown/internal exception happened." << slog::endl;
+    slog::err << "Pipeline error: Unknown/internal exception happened." << slog::endl;
     return -3;
   }