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Take parameter overrides provided through the CLI. (#865)

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* Take parameter overrides provided through the CLI.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Address peer review comments.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Do not 'find_package' rcpputils twice.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-09-25 14:57:49 -03:00 • committed by GitHub
parent b6d18ccc81
commit 7728d8a38c
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 110 additions and 50 deletions
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8
rclcpp/CMakeLists.txt
View file

@ -150,6 +150,8 @@ if(BUILD_TESTING)
include(cmake/rclcpp_add_build_failure_test.cmake)
add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/test/resources")
ament_add_gtest(test_client test/test_client.cpp)
if(TARGET test_client)
ament_target_dependencies(test_client
@ -215,6 +217,7 @@ if(BUILD_TESTING)
if(TARGET test_node)
ament_target_dependencies(test_node
"rcl_interfaces"
"rcpputils"
"rmw"
"rosidl_generator_cpp"
"rosidl_typesupport_cpp"
@ -462,6 +465,11 @@ if(BUILD_TESTING)
"rcl")
target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
endif()
# Install test resources
install(
DIRECTORY test/resources
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/test)
endif()
ament_package()

72
rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
View file

@ -84,65 +84,37 @@ NodeParameters::NodeParameters(
throw std::runtime_error("Need valid node options in NodeParameters");
}
// Get paths to yaml files containing initial parameter values
std::vector<std::string> yaml_paths;
auto get_yaml_paths = [&yaml_paths, &options](const rcl_arguments_t * args) {
int num_yaml_files = rcl_arguments_get_param_files_count(args);
if (num_yaml_files > 0) {
char ** param_files;
rcl_ret_t ret = rcl_arguments_get_param_files(args, options->allocator, &param_files);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
auto cleanup_param_files = make_scope_exit(
[&param_files, &num_yaml_files, &options]() {
for (int i = 0; i < num_yaml_files; ++i) {
options->allocator.deallocate(param_files[i], options->allocator.state);
}
options->allocator.deallocate(param_files, options->allocator.state);
});
for (int i = 0; i < num_yaml_files; ++i) {
yaml_paths.emplace_back(param_files[i]);
}
}
};
std::vector<const rcl_arguments_t *> argument_sources;
// global before local so that local overwrites global
if (options->use_global_arguments) {
auto context_ptr = node_base->get_context()->get_rcl_context();
get_yaml_paths(&(context_ptr->global_arguments));
argument_sources.push_back(&(context_ptr->global_arguments));
}
get_yaml_paths(&(options->arguments));
argument_sources.push_back(&options->arguments);
// Get fully qualified node name post-remapping to use to find node's params in yaml files
combined_name_ = node_base->get_fully_qualified_name();
// TODO(sloretz) use rcl to parse yaml when circular dependency is solved
// See https://github.com/ros2/rcl/issues/252
for (const std::string & yaml_path : yaml_paths) {
rcl_params_t * yaml_params = rcl_yaml_node_struct_init(options->allocator);
if (nullptr == yaml_params) {
throw std::bad_alloc();
for (const rcl_arguments_t * source : argument_sources) {
rcl_params_t * params = NULL;
rcl_ret_t ret = rcl_arguments_get_param_overrides(source, &params);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
if (!rcl_parse_yaml_file(yaml_path.c_str(), yaml_params)) {
std::ostringstream ss;
ss << "Failed to parse parameters from file '" << yaml_path << "': " <<
rcl_get_error_string().str;
rcl_reset_error();
throw std::runtime_error(ss.str());
}
rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(yaml_params);
rcl_yaml_node_struct_fini(yaml_params);
for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
// TODO(cottsay) implement further wildcard matching
if (iter->first == "/**" || iter->first == combined_name_) {
// Combine parameter yaml files, overwriting values in older ones
for (auto & param : iter->second) {
parameter_overrides_[param.get_name()] =
rclcpp::ParameterValue(param.get_value_message());
if (params) {
auto cleanup_params = make_scope_exit(
[params]() {
rcl_yaml_node_struct_fini(params);
});
rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
// TODO(cottsay) implement further wildcard matching
if (iter->first == "/**" || iter->first == combined_name_) {
// Combine parameter yaml files, overwriting values in older ones
for (auto & param : iter->second) {
parameter_overrides_[param.get_name()] =
rclcpp::ParameterValue(param.get_value_message());
}
}
}
}

4
rclcpp/test/resources/test_node/test_parameters.yaml Normal file
View file

@ -0,0 +1,4 @@
/**:
ros__parameters:
parameter_int: 21
parameter_string_array: [baz, baz, baz]

76
rclcpp/test/test_node.cpp
View file

@ -25,6 +25,8 @@
#include "rclcpp/scope_exit.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/filesystem_helper.hpp"
class TestNode : public ::testing::Test
{
protected:
@ -32,6 +34,13 @@ protected:
{
rclcpp::init(0, nullptr);
}
void SetUp() override
{
test_resources_path /= "test_node";
}
rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
};
/*
@ -469,6 +478,7 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
{"parameter_rejected", 42},
{"parameter_type_mismatch", "not an int"},
});
auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq, no);
{
// no default, with override
@ -685,6 +695,72 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
}
}
TEST_F(TestNode, declare_parameter_with_cli_overrides) {
const std::string parameters_filepath = (
test_resources_path / "test_parameters.yaml").string();
// test cases with overrides
rclcpp::NodeOptions no;
no.arguments({
"--ros-args",
"-p", "parameter_bool:=true",
"-p", "parameter_int:=42",
"-p", "parameter_double:=0.42",
"-p", "parameter_string:=foo",
"--params-file", parameters_filepath.c_str(),
"-p", "parameter_bool_array:=[false, true]",
"-p", "parameter_int_array:=[-21, 42]",
"-p", "parameter_double_array:=[-1.0, .42]",
"-p", "parameter_string_array:=[foo, bar]"
});
auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq, no);
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_bool");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_BOOL);
EXPECT_EQ(value.get<bool>(), true);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_int");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int64_t>(), 21); // set to 42 in CLI, overriden by file
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_double");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE);
EXPECT_EQ(value.get<double>(), 0.42);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_string");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_STRING);
EXPECT_EQ(value.get<std::string>(), "foo");
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_bool_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_BOOL_ARRAY);
std::vector<bool> expected_value{false, true};
EXPECT_EQ(value.get<std::vector<bool>>(), expected_value);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_int_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER_ARRAY);
std::vector<int64_t> expected_value{-21, 42};
EXPECT_EQ(value.get<std::vector<int64_t>>(), expected_value);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_double_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_DOUBLE_ARRAY);
std::vector<double> expected_value{-1.0, 0.42};
EXPECT_EQ(value.get<std::vector<double>>(), expected_value);
}
{
rclcpp::ParameterValue value = node->declare_parameter("parameter_string_array");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_STRING_ARRAY);
std::vector<std::string> expected_value{"foo", "bar"};
// set to [baz, baz, baz] in file, overriden by CLI
EXPECT_EQ(value.get<std::vector<std::string>>(), expected_value);
}
}
TEST_F(TestNode, undeclare_parameter) {
auto node = std::make_shared<rclcpp::Node>("test_undeclare_parameter_node"_unq);
{