provide a class to filter parameter events conveniently based on name and type of parameter event (#391)

adding test for parameter events filter

rclcpp/CMakeLists.txt

@@ -56,6 +56,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_interfaces/node_topics.cpp
   src/rclcpp/parameter.cpp
   src/rclcpp/parameter_client.cpp
+  src/rclcpp/parameter_events_filter.cpp
   src/rclcpp/parameter_service.cpp
   src/rclcpp/publisher.cpp
   src/rclcpp/service.cpp
@@ -185,6 +186,16 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_node ${PROJECT_NAME})
   endif()
+  ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
+  if(TARGET test_parameter_events_filter)
+    target_include_directories(test_parameter_events_filter PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+      ${rosidl_typesupport_cpp_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
+  endif()
   ament_add_gtest(test_publisher test/test_publisher.cpp)
   if(TARGET test_publisher)
     target_include_directories(test_publisher PUBLIC

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -0,0 +1,78 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__PARAMETER_EVENTS_FILTER_HPP_
+#define RCLCPP__PARAMETER_EVENTS_FILTER_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rcl_interfaces/msg/parameter.hpp"
+#include "rcl_interfaces/msg/parameter_event.hpp"
+#include "rcl_interfaces/msg/parameter_value.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rmw/rmw.h"
+
+namespace rclcpp
+{
+
+class ParameterEventsFilter
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventsFilter)
+  enum class EventType {NEW, DELETED, CHANGED};  ///< An enum for the type of event.
+  /// Used for the listed results
+  using EventPair = std::pair<EventType, rcl_interfaces::msg::Parameter *>;
+
+  /// Construct a filtered view of a parameter event.
+  /**
+   * \param[in] event The parameter event message to filter.
+   * \param[in] names A list of parameter names of interest.
+   * \param[in] types A list of the types of parameter events of iterest.
+  *    EventType NEW, DELETED, or CHANGED
+  *
+  * Example Usage:
+  * If you have recieved a parameter event and are only interested in parameters foo and
+  * bar being added or changed but don't care about deletion.
+  *    auto res = rclcpp::ParameterEventsFilter(
+  *      event_shared_ptr,
+  *      {"foo", "bar"},
+  *      {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
+  */
+  RCLCPP_PUBLIC
+  ParameterEventsFilter(
+    rcl_interfaces::msg::ParameterEvent::SharedPtr event,
+    const std::vector<std::string> & names,
+    const std::vector<EventType> & types);
+
+  /// Get the result of the filter
+  /**
+   * \return A std::vector<EventPair> of all matching parameter changes in this event.
+   */
+  RCLCPP_PUBLIC
+  const std::vector<EventPair> & get_events() const;
+
+private:
+  // access only allowed via const accessor.
+  std::vector<EventPair> result_;  ///< Storage of the resultant vector
+  rcl_interfaces::msg::ParameterEvent::SharedPtr event_;  ///< Keep event in scope
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__PARAMETER_EVENTS_FILTER_HPP_

rclcpp/include/rclcpp/time_source.hpp

@@ -24,6 +24,7 @@
 
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter_client.hpp"
+#include "rclcpp/parameter_events_filter.hpp"
 
 
 namespace rclcpp

rclcpp/src/rclcpp/parameter_events_filter.cpp

@@ -0,0 +1,60 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/parameter_events_filter.hpp"
+
+#include <string>
+#include <vector>
+
+using rclcpp::ParameterEventsFilter;
+using EventType = rclcpp::ParameterEventsFilter::EventType;
+using EventPair = rclcpp::ParameterEventsFilter::EventPair;
+
+ParameterEventsFilter::ParameterEventsFilter(
+  rcl_interfaces::msg::ParameterEvent::SharedPtr event,
+  const std::vector<std::string> & names,
+  const std::vector<EventType> & types)
+: event_(event)
+{
+  if (std::find(types.begin(), types.end(), EventType::NEW) != types.end()) {
+    for (auto & new_parameter : event->new_parameters) {
+      if (std::find(names.begin(), names.end(), new_parameter.name) != names.end()) {
+        result_.push_back(
+          EventPair(EventType::NEW, &new_parameter));
+      }
+    }
+  }
+  if (std::find(types.begin(), types.end(), EventType::CHANGED) != types.end()) {
+    for (auto & changed_parameter : event->changed_parameters) {
+      if (std::find(names.begin(), names.end(), changed_parameter.name) != names.end()) {
+        result_.push_back(
+          EventPair(EventType::CHANGED, &changed_parameter));
+      }
+    }
+  }
+  if (std::find(types.begin(), types.end(), EventType::DELETED) != types.end()) {
+    for (auto & deleted_parameter : event->deleted_parameters) {
+      if (std::find(names.begin(), names.end(), deleted_parameter.name) != names.end()) {
+        result_.push_back(
+          EventPair(EventType::DELETED, &deleted_parameter));
+      }
+    }
+  }
+}
+
+const std::vector<EventPair> &
+ParameterEventsFilter::get_events() const
+{
+  return result_;
+}

rclcpp/src/rclcpp/time_source.cpp

@@ -13,7 +13,9 @@
 // limitations under the License.
 
 #include <memory>
+#include <string>
 #include <utility>
+#include <vector>
 
 #include "builtin_interfaces/msg/time.hpp"
 
@@ -167,39 +169,30 @@ void TimeSource::clock_cb(const builtin_interfaces::msg::Time::SharedPtr msg)
 
 void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
 {
-  for (auto & new_parameter : event->new_parameters) {
+  // Filter for only 'use_sim_time' being added or changed.
-    if (new_parameter.value.type == rclcpp::parameter::ParameterType::PARAMETER_BOOL) {
+  rclcpp::ParameterEventsFilter filter(event, {"use_sim_time"},
-      if (new_parameter.name == "use_sim_time") {
+    {rclcpp::ParameterEventsFilter::EventType::NEW,
-        bool value = new_parameter.value.bool_value;
+      rclcpp::ParameterEventsFilter::EventType::CHANGED});
-        if (value) {
+  for (auto & it : filter.get_events()) {
-          parameter_state_ = SET_TRUE;
+    if (it.second->value.type != parameter::ParameterType::PARAMETER_BOOL) {
-          enable_ros_time();
+      RCUTILS_LOG_ERROR("use_sim_time parameter set to something besides a bool");
-        } else {
+      continue;
-          parameter_state_ = SET_FALSE;
+    }
-          disable_ros_time();
+    if (it.second->value.bool_value) {
-        }
+      parameter_state_ = SET_TRUE;
-      }
+      enable_ros_time();
+    } else {
+      parameter_state_ = SET_FALSE;
+      disable_ros_time();
     }
   }
-  for (auto & changed_parameter : event->changed_parameters) {
+  // Handle the case that use_sim_time was deleted.
-    if (changed_parameter.value.type == rclcpp::parameter::ParameterType::PARAMETER_BOOL) {
+  rclcpp::ParameterEventsFilter deleted(event, {"use_sim_time"},
-      if (changed_parameter.name == "use_sim_time") {
+    {rclcpp::ParameterEventsFilter::EventType::DELETED});
-        bool value = changed_parameter.value.bool_value;
+  for (auto & it : deleted.get_events()) {
-        if (value) {
+    (void) it;  // if there is a match it's already matched, don't bother reading it.
-          parameter_state_ = SET_TRUE;
+    // If the parameter is deleted mark it as unset but dont' change state.
-          enable_ros_time();
+    parameter_state_ = UNSET;
-        } else {
-          parameter_state_ = SET_FALSE;
-          disable_ros_time();
-        }
-      }
-    }
-  }
-  for (auto & deleted_parameter : event->deleted_parameters) {
-    if (deleted_parameter.name == "use_sim_time") {
-      // If the parameter is deleted mark it as unset but dont' change state.
-      parameter_state_ = UNSET;
-    }
   }
 }
 

rclcpp/test/test_parameter_events_filter.cpp

@@ -0,0 +1,205 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/parameter_events_filter.hpp"
+
+#include "rcl_interfaces/msg/parameter_event.hpp"
+
+class TestParameterEventFilter : public ::testing::Test
+{
+protected:
+  void SetUp()
+  {
+    empty = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
+    full = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
+    multiple = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
+    np = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
+    cp = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
+    dp = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
+
+    rcl_interfaces::msg::Parameter p;
+    p.name = "new";
+    p.value.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    p.value.integer_value = 1;
+    full->new_parameters.push_back(p);
+    np->new_parameters.push_back(p);
+    multiple->new_parameters.push_back(p);
+
+    p.name = "new2";
+    p.value.integer_value = 2;
+    multiple->new_parameters.push_back(p);
+
+    p.name = "changed";
+    p.value.integer_value = 1;
+    full->changed_parameters.push_back(p);
+    cp->changed_parameters.push_back(p);
+
+    p.name = "deleted";
+    p.value.integer_value = 1;
+    full->deleted_parameters.push_back(p);
+    dp->changed_parameters.push_back(p);
+  }
+
+  rcl_interfaces::msg::ParameterEvent::SharedPtr empty;
+  rcl_interfaces::msg::ParameterEvent::SharedPtr full;
+  rcl_interfaces::msg::ParameterEvent::SharedPtr multiple;
+  rcl_interfaces::msg::ParameterEvent::SharedPtr np;
+  rcl_interfaces::msg::ParameterEvent::SharedPtr cp;
+  rcl_interfaces::msg::ParameterEvent::SharedPtr dp;
+
+  rclcpp::ParameterEventsFilter::EventType nt = rclcpp::ParameterEventsFilter::EventType::NEW;
+  rclcpp::ParameterEventsFilter::EventType ct = rclcpp::ParameterEventsFilter::EventType::CHANGED;
+  rclcpp::ParameterEventsFilter::EventType dt = rclcpp::ParameterEventsFilter::EventType::DELETED;
+};
+
+/*
+   Testing filters.
+ */
+TEST_F(TestParameterEventFilter, full_by_type) {
+  auto res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(3u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {nt, ct});
+  EXPECT_EQ(2u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {nt, dt});
+  EXPECT_EQ(2u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {ct, dt});
+  EXPECT_EQ(2u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {nt});
+  EXPECT_EQ(1u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {ct});
+  EXPECT_EQ(1u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {dt});
+  EXPECT_EQ(1u, res.get_events().size());
+}
+
+TEST_F(TestParameterEventFilter, full_by_name) {
+  auto res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(3u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "changed"},
+    {nt, ct, dt});
+  EXPECT_EQ(2u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(2u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"changed", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(2u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"new"},
+    {nt, ct, dt});
+  EXPECT_EQ(1u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"changed"},
+    {nt, ct, dt});
+  EXPECT_EQ(1u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    full,
+    {"deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(1u, res.get_events().size());
+}
+
+TEST_F(TestParameterEventFilter, empty) {
+  auto res = rclcpp::ParameterEventsFilter(
+    empty,
+    {"new", "changed", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(0u, res.get_events().size());
+}
+
+TEST_F(TestParameterEventFilter, singular) {
+  auto res = rclcpp::ParameterEventsFilter(
+    np,
+    {"new", "changed", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(1u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    cp,
+    {"new", "changed", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(1u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    dp,
+    {"new", "changed", "deleted"},
+    {nt, ct, dt});
+  EXPECT_EQ(1u, res.get_events().size());
+}
+
+TEST_F(TestParameterEventFilter, multiple) {
+  auto res = rclcpp::ParameterEventsFilter(
+    multiple,
+    {"new", "new2"},
+    {nt, ct, dt});
+  EXPECT_EQ(2u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    multiple,
+    {"new2"},
+    {nt, ct, dt});
+  EXPECT_EQ(1u, res.get_events().size());
+  res = rclcpp::ParameterEventsFilter(
+    multiple,
+    {"new", "new2"},
+    {ct, dt});
+  EXPECT_EQ(0u, res.get_events().size());
+}
+
+TEST_F(TestParameterEventFilter, validate_data) {
+  auto res = rclcpp::ParameterEventsFilter(
+    multiple,
+    {"new", "new2"},
+    {nt, ct, dt});
+  EXPECT_EQ(2u, res.get_events().size());
+  EXPECT_EQ(nt, res.get_events()[0].first);
+  EXPECT_EQ(nt, res.get_events()[1].first);
+  EXPECT_EQ(1, res.get_events()[0].second->value.integer_value);
+  EXPECT_EQ(2, res.get_events()[1].second->value.integer_value);
+}