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Rename parameter options (#745)

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* rename initial_parameters in NodeOptions to parameter_overrides

Signed-off-by: William Woodall <william@osrfoundation.org>

* rename automatically_declare_initial_parameters to automatically_declare_parameters_from_overrides

Signed-off-by: William Woodall <william@osrfoundation.org>

* some additional renames I missed

Signed-off-by: William Woodall <william@osrfoundation.org>

* add test for setting after declaring with parameter overrides

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup NodeOptions docs

Signed-off-by: William Woodall <william+github@osrfoundation.org>

Co-Authored-By: chapulina <louise@openrobotics.org>

* clarify relationship between allow_undeclared_parameters and parameter_overrides

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2019-05-29 12:12:42 -07:00 • committed by GitHub
parent d2b2f9124e
commit ecc95009f1
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GPG key ID: 4AEE18F83AFDEB23
9 changed files with 86 additions and 58 deletions
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8
rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
View file

@ -63,13 +63,13 @@ public:
const node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
const node_interfaces::NodeServicesInterface::SharedPtr node_services,
const node_interfaces::NodeClockInterface::SharedPtr node_clock,
const std::vector<Parameter> & initial_parameters,
const std::vector<Parameter> & parameter_overrides,
bool start_parameter_services,
bool start_parameter_event_publisher,
const rclcpp::QoS & parameter_event_qos,
const rclcpp::PublisherOptionsBase & parameter_event_publisher_options,
bool allow_undeclared_parameters,
bool automatically_declare_initial_parameters);
bool automatically_declare_parameters_from_overrides);
RCLCPP_PUBLIC
virtual
@ -143,7 +143,7 @@ public:
RCLCPP_PUBLIC
const std::map<std::string, rclcpp::ParameterValue> &
get_initial_parameter_values() const override;
get_parameter_overrides() const override;
private:
RCLCPP_DISABLE_COPY(NodeParameters)
@ -154,7 +154,7 @@ private:
std::map<std::string, ParameterInfo> parameters_;
std::map<std::string, rclcpp::ParameterValue> initial_parameter_values_;
std::map<std::string, rclcpp::ParameterValue> parameter_overrides_;
bool allow_undeclared_ = false;

2
rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
View file

@ -183,7 +183,7 @@ public:
RCLCPP_PUBLIC
virtual
const std::map<std::string, rclcpp::ParameterValue> &
get_initial_parameter_values() const = 0;
get_parameter_overrides() const = 0;
};
} // namespace node_interfaces

48
rclcpp/include/rclcpp/node_options.hpp
View file

@ -40,7 +40,7 @@ public:
*
* - context = rclcpp::contexts::default_context::get_global_default_context()
* - arguments = {}
* - initial_parameters = {}
* - parameter_overrides = {}
* - use_global_arguments = true
* - use_intra_process_comms = false
* - start_parameter_services = true
@ -49,7 +49,7 @@ public:
* - with history setting and depth from rmw_qos_profile_parameter_events
* - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
* - allow_undeclared_parameters = false
* - automatically_declare_initial_parameters = false
* - automatically_declare_parameters_from_overrides = false
* - allocator = rcl_get_default_allocator()
*
* \param[in] allocator allocator to use in construction of NodeOptions.
@ -107,31 +107,31 @@ public:
NodeOptions &
arguments(const std::vector<std::string> & arguments);
/// Return a reference to the list of initial parameters.
/// Return a reference to the list of parameter overrides.
RCLCPP_PUBLIC
std::vector<rclcpp::Parameter> &
initial_parameters();
parameter_overrides();
RCLCPP_PUBLIC
const std::vector<rclcpp::Parameter> &
initial_parameters() const;
parameter_overrides() const;
/// Set the initial parameters, return this for parameter idiom.
/// Set the parameters overrides, return this for parameter idiom.
/**
* These initial parameter values are used to change the initial value
* These parameter overrides are used to change the initial value
* of declared parameters within the node, overriding hard coded default
* values if necessary.
*/
RCLCPP_PUBLIC
NodeOptions &
initial_parameters(const std::vector<rclcpp::Parameter> & initial_parameters);
parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides);
/// Append a single initial parameter, parameter idiom style.
/// Append a single parameter override, parameter idiom style.
template<typename ParameterT>
NodeOptions &
append_initial_parameter(const std::string & name, const ParameterT & value)
append_parameter_override(const std::string & name, const ParameterT & value)
{
this->initial_parameters().emplace_back(name, rclcpp::ParameterValue(value));
this->parameter_overrides().emplace_back(name, rclcpp::ParameterValue(value));
return *this;
}
@ -247,29 +247,35 @@ public:
* If true, allow any parameter name to be set on the node without first
* being declared.
* Otherwise, setting an undeclared parameter will raise an exception.
*
* This option being true does not affect parameter_overrides, as the first
* set action will implicitly declare the parameter and therefore consider
* any parameter overrides.
*/
RCLCPP_PUBLIC
NodeOptions &
allow_undeclared_parameters(bool allow_undeclared_parameters);
/// Return the automatically_declare_initial_parameters flag.
/// Return the automatically_declare_parameters_from_overrides flag.
RCLCPP_PUBLIC
bool
automatically_declare_initial_parameters() const;
automatically_declare_parameters_from_overrides() const;
/// Set the automatically_declare_initial_parameters, return this.
/// Set the automatically_declare_parameters_from_overrides, return this.
/**
* If true, automatically iterate through the node's initial parameters and
* If true, automatically iterate through the node's parameter overrides and
* implicitly declare any that have not already been declared.
* Otherwise, parameters passed to the node's initial_parameters, and/or the
* global initial parameter values, which are not explicitly declared will
* not appear on the node at all.
* Otherwise, parameters passed to the node's parameter_overrides, and/or the
* global arguments (e.g. parameter overrides from a YAML file), which are
* not explicitly declared will not appear on the node at all, even if
* `allow_undeclared_parameters` is true.
* Already declared parameters will not be re-declared, and parameters
* declared in this way will use the default constructed ParameterDescriptor.
*/
RCLCPP_PUBLIC
NodeOptions &
automatically_declare_initial_parameters(bool automatically_declare_initial_parameters);
automatically_declare_parameters_from_overrides(
bool automatically_declare_parameters_from_overrides);
/// Return the rcl_allocator_t to be used.
RCLCPP_PUBLIC
@ -302,7 +308,7 @@ private:
std::vector<std::string> arguments_ {};
std::vector<rclcpp::Parameter> initial_parameters_ {};
std::vector<rclcpp::Parameter> parameter_overrides_ {};
bool use_global_arguments_ {true};
@ -320,7 +326,7 @@ private:
bool allow_undeclared_parameters_ {false};
bool automatically_declare_initial_parameters_ {false};
bool automatically_declare_parameters_from_overrides_ {false};
rcl_allocator_t allocator_ {rcl_get_default_allocator()};
};

4
rclcpp/src/rclcpp/node.cpp
View file

@ -132,13 +132,13 @@ Node::Node(
node_topics_,
node_services_,
node_clock_,
options.initial_parameters(),
options.parameter_overrides(),
options.start_parameter_services(),
options.start_parameter_event_publisher(),
options.parameter_event_qos(),
options.parameter_event_publisher_options(),
options.allow_undeclared_parameters(),
options.automatically_declare_initial_parameters()
options.automatically_declare_parameters_from_overrides()
)),
node_time_source_(new rclcpp::node_interfaces::NodeTimeSource(
node_base_,

24
rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
View file

@ -51,13 +51,13 @@ NodeParameters::NodeParameters(
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
const rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
const std::vector<rclcpp::Parameter> & initial_parameters,
const std::vector<rclcpp::Parameter> & parameter_overrides,
bool start_parameter_services,
bool start_parameter_event_publisher,
const rclcpp::QoS & parameter_event_qos,
const rclcpp::PublisherOptionsBase & parameter_event_publisher_options,
bool allow_undeclared_parameters,
bool automatically_declare_initial_parameters)
bool automatically_declare_parameters_from_overrides)
: allow_undeclared_(allow_undeclared_parameters),
events_publisher_(nullptr),
node_logging_(node_logging),
@ -151,21 +151,21 @@ NodeParameters::NodeParameters(
// Combine parameter yaml files, overwriting values in older ones
for (auto & param : iter->second) {
initial_parameter_values_[param.get_name()] =
parameter_overrides_[param.get_name()] =
rclcpp::ParameterValue(param.get_value_message());
}
}
// initial values passed to constructor overwrite yaml file sources
for (auto & param : initial_parameters) {
initial_parameter_values_[param.get_name()] =
// parameter overrides passed to constructor will overwrite overrides from yaml file sources
for (auto & param : parameter_overrides) {
parameter_overrides_[param.get_name()] =
rclcpp::ParameterValue(param.get_value_message());
}
// If asked, initialize any parameters that ended up in the initial parameter values,
// but did not get declared explcitily by this point.
if (automatically_declare_initial_parameters) {
for (const auto & pair : this->get_initial_parameter_values()) {
if (automatically_declare_parameters_from_overrides) {
for (const auto & pair : this->get_parameter_overrides()) {
if (!this->has_parameter(pair.first)) {
this->declare_parameter(
pair.first,
@ -389,7 +389,7 @@ NodeParameters::declare_parameter(
default_value,
parameter_descriptor,
parameters_,
initial_parameter_values_,
parameter_overrides_,
on_parameters_set_callback_,
&parameter_event);
@ -520,7 +520,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
parameter_to_be_declared->get_parameter_value(),
rcl_interfaces::msg::ParameterDescriptor(), // Implicit declare uses default descriptor.
staged_parameter_changes,
initial_parameter_values_,
parameter_overrides_,
nullptr, // callback is explicitly null, so that it is called only once, when setting below.
&parameter_event_msg);
if (!result.successful) {
@ -840,7 +840,7 @@ NodeParameters::register_param_change_callback(ParametersCallbackFunction callba
#endif
const std::map<std::string, rclcpp::ParameterValue> &
NodeParameters::get_initial_parameter_values() const
NodeParameters::get_parameter_overrides() const
{
return initial_parameter_values_;
return parameter_overrides_;
}

29
rclcpp/src/rclcpp/node_options.cpp
View file

@ -67,14 +67,14 @@ NodeOptions::operator=(const NodeOptions & other)
if (this != &other) {
this->context_ = other.context_;
this->arguments_ = other.arguments_;
this->initial_parameters_ = other.initial_parameters_;
this->parameter_overrides_ = other.parameter_overrides_;
this->use_global_arguments_ = other.use_global_arguments_;
this->use_intra_process_comms_ = other.use_intra_process_comms_;
this->start_parameter_services_ = other.start_parameter_services_;
this->allocator_ = other.allocator_;
this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
this->automatically_declare_initial_parameters_ =
other.automatically_declare_initial_parameters_;
this->automatically_declare_parameters_from_overrides_ =
other.automatically_declare_parameters_from_overrides_;
}
return *this;
}
@ -142,21 +142,21 @@ NodeOptions::arguments(const std::vector<std::string> & arguments)
}
std::vector<rclcpp::Parameter> &
NodeOptions::initial_parameters()
NodeOptions::parameter_overrides()
{
return this->initial_parameters_;
return this->parameter_overrides_;
}
const std::vector<rclcpp::Parameter> &
NodeOptions::initial_parameters() const
NodeOptions::parameter_overrides() const
{
return this->initial_parameters_;
return this->parameter_overrides_;
}
NodeOptions &
NodeOptions::initial_parameters(const std::vector<rclcpp::Parameter> & initial_parameters)
NodeOptions::parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides)
{
this->initial_parameters_ = initial_parameters;
this->parameter_overrides_ = parameter_overrides;
return *this;
}
@ -254,16 +254,17 @@ NodeOptions::allow_undeclared_parameters(bool allow_undeclared_parameters)
}
bool
NodeOptions::automatically_declare_initial_parameters() const
NodeOptions::automatically_declare_parameters_from_overrides() const
{
return this->automatically_declare_initial_parameters_;
return this->automatically_declare_parameters_from_overrides_;
}
NodeOptions &
NodeOptions::automatically_declare_initial_parameters(
bool automatically_declare_initial_parameters)
NodeOptions::automatically_declare_parameters_from_overrides(
bool automatically_declare_parameters_from_overrides)
{
this->automatically_declare_initial_parameters_ = automatically_declare_initial_parameters;
this->automatically_declare_parameters_from_overrides_ =
automatically_declare_parameters_from_overrides;
return *this;
}

23
rclcpp/test/test_node.cpp
View file

@ -365,8 +365,10 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
TEST_F(TestNode, declare_parameter_with_initial_values) {
// test cases with initial values
rclcpp::NodeOptions no;
no.initial_parameters({
no.parameter_overrides({
{"parameter_no_default", 42},
{"parameter_no_default_set", 42},
{"parameter_no_default_set_cvref", 42},
{"parameter_and_default", 42},
{"parameter_custom", 42},
{"parameter_template", 42},
@ -381,6 +383,25 @@ TEST_F(TestNode, declare_parameter_with_initial_values) {
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42);
}
{
// no default, with initial, and set after
rclcpp::ParameterValue value = node->declare_parameter("parameter_no_default_set");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42);
// check that the value is changed after a set
node->set_parameter({"parameter_no_default_set", 44});
EXPECT_EQ(node->get_parameter("parameter_no_default_set").get_value<int>(), 44);
}
{
// no default, with initial
const rclcpp::ParameterValue & value =
node->declare_parameter("parameter_no_default_set_cvref");
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(value.get<int>(), 42);
// check that the value is changed after a set
node->set_parameter({"parameter_no_default_set_cvref", 44});
EXPECT_EQ(value.get<int>(), 44);
}
{
// int default, with initial
rclcpp::ParameterValue default_value(43);

2
rclcpp_components/src/component_manager.cpp
View file

@ -150,7 +150,7 @@ ComponentManager::OnLoadNode(
auto options = rclcpp::NodeOptions()
.use_global_arguments(false)
.initial_parameters(parameters)
.parameter_overrides(parameters)
.arguments(remap_rules);
auto node_id = unique_id++;

4
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -91,13 +91,13 @@ LifecycleNode::LifecycleNode(
node_topics_,
node_services_,
node_clock_,
options.initial_parameters(),
options.parameter_overrides(),
options.start_parameter_services(),
options.start_parameter_event_publisher(),
options.parameter_event_qos(),
options.parameter_event_publisher_options(),
options.allow_undeclared_parameters(),
options.automatically_declare_initial_parameters()
options.automatically_declare_parameters_from_overrides()
)),
node_time_source_(new rclcpp::node_interfaces::NodeTimeSource(
node_base_,