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Guard against ParameterNotDeclaredException in parameter service callbacks (#718)

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Fixes #705.

If the set_parameters() call fails, it's nice to be able to return a partial result.
Since there is no convenient method to obtain a partial result, we call set_parameters()
once for each parameter.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-05-15 16:10:53 -07:00 • committed by GitHub
parent 1081e75079
commit 2152e0574b
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 36 additions and 13 deletions
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49
rclcpp/src/rclcpp/parameter_service.cpp
View file

@ -57,11 +57,15 @@ ParameterService::ParameterService(
const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
{
auto types = node_params->get_parameter_types(request->names);
std::transform(types.cbegin(), types.cend(),
std::back_inserter(response->types), [](const uint8_t & type) {
return static_cast<rclcpp::ParameterType>(type);
});
try {
auto types = node_params->get_parameter_types(request->names);
std::transform(types.cbegin(), types.cend(),
std::back_inserter(response->types), [](const uint8_t & type) {
return static_cast<rclcpp::ParameterType>(type);
});
} catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
}
},
qos_profile, nullptr);
@ -73,12 +77,20 @@ ParameterService::ParameterService(
const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
{
std::vector<rclcpp::Parameter> pvariants;
// Set parameters one-by-one, since there's no way to return a partial result if
// set_parameters() fails.
auto result = rcl_interfaces::msg::SetParametersResult();
for (auto & p : request->parameters) {
pvariants.push_back(rclcpp::Parameter::from_parameter_msg(p));
try {
result = node_params->set_parameters_atomically(
{rclcpp::Parameter::from_parameter_msg(p)});
} catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
result.successful = false;
result.reason = ex.what();
}
response->results.push_back(result);
}
auto results = node_params->set_parameters(pvariants);
response->results = results;
},
qos_profile, nullptr);
@ -96,8 +108,15 @@ ParameterService::ParameterService(
[](const rcl_interfaces::msg::Parameter & p) {
return rclcpp::Parameter::from_parameter_msg(p);
});
auto result = node_params->set_parameters_atomically(pvariants);
response->result = result;
try {
auto result = node_params->set_parameters_atomically(pvariants);
response->result = result;
} catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
response->result.successful = false;
response->result.reason = "One or more parameters wer not declared before setting";
}
},
qos_profile, nullptr);
@ -109,8 +128,12 @@ ParameterService::ParameterService(
const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
{
auto descriptors = node_params->describe_parameters(request->names);
response->descriptors = descriptors;
try {
auto descriptors = node_params->describe_parameters(request->names);
response->descriptors = descriptors;
} catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
}
},
qos_profile, nullptr);