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fully delete parameters (#489)

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* allow ParameterValue class to be copy constructed with type not-set

* actually remove deleted parameters from the map
This commit is contained in:
Dirk Thomas 2018-06-04 15:06:01 -07:00 • committed by GitHub
parent 2a17232ad0
commit 5ab6bde1db
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3 changed files with 23 additions and 17 deletions
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33
rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
View file

@ -88,27 +88,34 @@ NodeParameters::set_parameters_atomically(
}
for (auto p : parameters) {
if (parameters_.find(p.get_name()) == parameters_.end()) {
if (p.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET) {
if (p.get_type() == rclcpp::ParameterType::PARAMETER_NOT_SET) {
if (parameters_.find(p.get_name()) != parameters_.end()) {
// case: parameter was set before, and input is "NOT_SET"
// therefore we will erase the parameter from parameters_ later
parameter_event->deleted_parameters.push_back(p.to_parameter_msg());
}
} else {
if (parameters_.find(p.get_name()) == parameters_.end()) {
// case: parameter not set before, and input is something other than "NOT_SET"
parameter_event->new_parameters.push_back(p.to_parameter_msg());
} else {
// case: parameter was set before, and input is something other than "NOT_SET"
parameter_event->changed_parameters.push_back(p.to_parameter_msg());
}
} else if (p.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET) {
// case: parameter was set before, and input is something other than "NOT_SET"
parameter_event->changed_parameters.push_back(p.to_parameter_msg());
} else {
// case: parameter was set before, and input is "NOT_SET"
// therefore we will "unset" the previously set parameter
// it is not necessary to erase the parameter from parameters_
// because the new value for this key (p.get_name()) will be a
// Parameter with type "NOT_SET"
parameter_event->deleted_parameters.push_back(p.to_parameter_msg());
tmp_map[p.get_name()] = p;
}
tmp_map[p.get_name()] = p;
}
// std::map::insert will not overwrite elements, so we'll keep the new
// ones and add only those that already exist in the Node's internal map
tmp_map.insert(parameters_.begin(), parameters_.end());
// remove explicitly deleted parameters
for (auto p : parameters) {
if (p.get_type() == rclcpp::ParameterType::PARAMETER_NOT_SET) {
tmp_map.erase(p.get_name());
}
}
std::swap(tmp_map, parameters_);
events_publisher_->publish(parameter_event);

3
rclcpp/src/rclcpp/parameter_value.cpp
View file

@ -126,9 +126,8 @@ ParameterValue::ParameterValue(const rcl_interfaces::msg::ParameterValue & value
case PARAMETER_INTEGER_ARRAY:
case PARAMETER_DOUBLE_ARRAY:
case PARAMETER_STRING_ARRAY:
break;
case PARAMETER_NOT_SET:
throw std::runtime_error("Type from ParameterValue is not set");
break;
default:
// TODO(wjwwood): use custom exception
throw std::runtime_error("Unknown type: " + std::to_string(value.type));

4
rclcpp/test/test_parameter.cpp
View file

@ -53,8 +53,8 @@ TEST(TestParameter, not_set_variant) {
EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET, not_set_param.value.type);
// From parameter message
EXPECT_THROW(rclcpp::Parameter::from_parameter_msg(not_set_param),
std::runtime_error);
EXPECT_EQ(rclcpp::ParameterType::PARAMETER_NOT_SET,
rclcpp::Parameter::from_parameter_msg(not_set_param).get_type());
}
TEST(TestParameter, bool_variant) {