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Convert from rcl_params_t to map of node parameters
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Adds rclcpp::parameter_map_from(const rcl_params_t * const)
Adds rclcpp::parameter_value_from(const rcl_variant_t * const)
Adds dependency on rcl_yaml_param_parser
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sloretz committed May 31, 2018
1 parent f002629 commit 85ecbe3
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Showing 5 changed files with 585 additions and 0 deletions.
8 changes: 8 additions & 0 deletions rclcpp/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ find_package(ament_cmake_ros REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rcl REQUIRED)
find_package(rcl_interfaces REQUIRED)
find_package(rcl_yaml_param_parser REQUIRED)
find_package(rmw REQUIRED)
find_package(rmw_implementation REQUIRED)
find_package(rosidl_generator_cpp REQUIRED)
Expand Down Expand Up @@ -61,6 +62,7 @@ set(${PROJECT_NAME}_SRCS
src/rclcpp/parameter_value.cpp
src/rclcpp/parameter_client.cpp
src/rclcpp/parameter_events_filter.cpp
src/rclcpp/parameter_map.cpp
src/rclcpp/parameter_service.cpp
src/rclcpp/publisher.cpp
src/rclcpp/service.cpp
Expand Down Expand Up @@ -99,6 +101,7 @@ add_library(${PROJECT_NAME}
# specific order: dependents before dependencies
ament_target_dependencies(${PROJECT_NAME}
"rcl"
"rcl_yaml_param_parser"
"builtin_interfaces"
"rosidl_typesupport_cpp"
"rosidl_generator_cpp")
Expand All @@ -125,6 +128,7 @@ ament_export_dependencies(builtin_interfaces)
ament_export_dependencies(rosidl_typesupport_cpp)
ament_export_dependencies(rosidl_typesupport_c)
ament_export_dependencies(rosidl_generator_cpp)
ament_export_dependencies(rcl_yaml_param_parser)

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
Expand Down Expand Up @@ -222,6 +226,10 @@ if(BUILD_TESTING)
)
target_link_libraries(test_parameter ${PROJECT_NAME})
endif()
ament_add_gtest(test_parameter_map test/test_parameter_map.cpp)
if(TARGET test_parameter_map)
target_link_libraries(test_parameter_map ${PROJECT_NAME})
endif()
ament_add_gtest(test_publisher test/test_publisher.cpp)
if(TARGET test_publisher)
target_include_directories(test_publisher PUBLIC
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79 changes: 79 additions & 0 deletions rclcpp/include/rclcpp/parameter_map.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,79 @@
// Copyright 2018 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_MAP_HPP_
#define RCLCPP__PARAMETER_MAP_HPP_

#include <exception>
#include <string>
#include <unordered_map>
#include <vector>

#include "rclcpp/parameter.hpp"
#include "rclcpp/parameter_value.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rcl_yaml_param_parser/types.h"

namespace rclcpp
{

/// Indicate `rcl_params_t` is or invalid.
class InvalidParametersException : public std::exception
{
public:
/// Instantiate exception with a message.
/// \param[in] message A message to be included in the output of what().
RCLCPP_PUBLIC
explicit InvalidParametersException(std::string message);

RCLCPP_PUBLIC
~InvalidParametersException();

RCLCPP_PUBLIC
const char *
what() const noexcept override;

private:
std::string msg_;
};

/// Indicate `rcl_variant_t` is or invalid.
class InvalidParameterValueException : public InvalidParametersException
{
// inherit constructor
using InvalidParametersException::InvalidParametersException;
};

/// A map of fully qualified node names to a list of parameters
using ParameterMap = std::unordered_map<std::string, std::vector<Parameter>>;

/// Convert parameters from rcl_yaml_param_parser into C++ class instances.
/// \param[in] c_params C structures containing parameters for multiple nodes.
/// \returns a map where the keys are fully qualified node names and values a list of parameters.
/// \throws InvalidParametersException if the `rcl_params_t` is inconsistent or invalid.
RCLCPP_PUBLIC
ParameterMap
parameter_map_from(const rcl_params_t * const c_params);

/// Convert parameter value from rcl_yaml_param_parser into a C++ class instance.
/// \param[in] c_value C structure containing a value of a parameter.
/// \returns an instance of a parameter value
/// \throws InvalidParameterValueException if the `rcl_variant_t` is inconsistent or invalid.
RCLCPP_PUBLIC
ParameterValue
parameter_value_from(const rcl_variant_t * const c_value);

} // namespace rclcpp

#endif // RCLCPP__PARAMETER_MAP_HPP_
1 change: 1 addition & 0 deletions rclcpp/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
<build_export_depend>rosidl_typesupport_cpp</build_export_depend>

<depend>rcl</depend>
<depend>rcl_yaml_param_parser</depend>
<depend>rmw_implementation</depend>

<exec_depend>ament_cmake</exec_depend>
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148 changes: 148 additions & 0 deletions rclcpp/src/rclcpp/parameter_map.cpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,148 @@
// Copyright 2018 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 <string>
#include <vector>

#include "rclcpp/parameter_map.hpp"

using rclcpp::InvalidParametersException;
using rclcpp::InvalidParameterValueException;
using rclcpp::ParameterMap;
using rclcpp::ParameterValue;

InvalidParametersException::InvalidParametersException(std::string message)
: msg_(message)
{
}

InvalidParametersException::~InvalidParametersException()
{
}

const char *
InvalidParametersException::what() const noexcept
{
return msg_.c_str();
}

ParameterMap
rclcpp::parameter_map_from(const rcl_params_t * const c_params)
{
if (NULL == c_params) {
throw InvalidParametersException("parameters struct is NULL");
} else if (NULL == c_params->node_names) {
throw InvalidParametersException("node names array is NULL");
} else if (NULL == c_params->params) {
throw InvalidParametersException("node params array is NULL");
}

// Convert c structs into a list of parameters to set
ParameterMap parameters;
for (size_t n = 0; n < c_params->num_nodes; ++n) {
const char * c_node_name = c_params->node_names[n];
if (NULL == c_node_name) {
throw InvalidParametersException("Node name at index " + std::to_string(n) + " is NULL");
}

/// make sure there is a leading slash on the fully qualified node name
std::string node_name("/");
if ('/' != c_node_name[0]) {
node_name += c_node_name;
} else {
node_name = c_node_name;
}

const rcl_node_params_t * const c_params_node = &(c_params->params[n]);

std::vector<Parameter> & params_node = parameters[node_name];
params_node.reserve(c_params_node->num_params);

for (size_t p = 0; p < c_params_node->num_params; ++p) {
const char * const c_param_name = c_params_node->parameter_names[p];
if (NULL == c_param_name) {
std::string message(
"At node " + std::to_string(n) + " parameter " + std::to_string(p) + " name is NULL");
throw InvalidParametersException(message);
}
const rcl_variant_t * const c_param_value = &(c_params_node->parameter_values[p]);
if (NULL == c_param_name) {
std::string message(
"At node " + std::to_string(n) + " parameter " + std::to_string(p) + " value is NULL");
throw InvalidParametersException(message);
}
params_node.emplace_back(c_param_name, parameter_value_from(c_param_value));
}
}
return parameters;
}

ParameterValue
rclcpp::parameter_value_from(const rcl_variant_t * const c_param_value)
{
if (NULL == c_param_value) {
throw InvalidParameterValueException("Passed argument is NULL");
}
if (c_param_value->bool_value) {
return ParameterValue(*(c_param_value->bool_value));
} else if (c_param_value->integer_value) {
return ParameterValue(*(c_param_value->integer_value));
} else if (c_param_value->double_value) {
return ParameterValue(*(c_param_value->double_value));
} else if (c_param_value->string_value) {
return ParameterValue(std::string(c_param_value->string_value));
} else if (c_param_value->byte_array_value) {
const rcl_byte_array_t * const byte_array = c_param_value->byte_array_value;
std::vector<uint8_t> bytes;
bytes.reserve(byte_array->size);
for (size_t v = 0; v < byte_array->size; ++v) {
bytes.push_back(byte_array->values[v]);
}
return ParameterValue(bytes);
} else if (c_param_value->bool_array_value) {
const rcl_bool_array_t * const bool_array = c_param_value->bool_array_value;
std::vector<bool> bools;
bools.reserve(bool_array->size);
for (size_t v = 0; v < bool_array->size; ++v) {
bools.push_back(bool_array->values[v]);
}
return ParameterValue(bools);
} else if (c_param_value->integer_array_value) {
const rcl_int64_array_t * const int_array = c_param_value->integer_array_value;
std::vector<int64_t> integers;
integers.reserve(int_array->size);
for (size_t v = 0; v < int_array->size; ++v) {
integers.push_back(int_array->values[v]);
}
return ParameterValue(integers);
} else if (c_param_value->double_array_value) {
const rcl_double_array_t * const double_array = c_param_value->double_array_value;
std::vector<double> doubles;
doubles.reserve(double_array->size);
for (size_t v = 0; v < double_array->size; ++v) {
doubles.push_back(double_array->values[v]);
}
return ParameterValue(doubles);
} else if (c_param_value->string_array_value) {
const rcutils_string_array_t * const string_array = c_param_value->string_array_value;
std::vector<std::string> strings;
strings.reserve(string_array->size);
for (size_t v = 0; v < string_array->size; ++v) {
strings.emplace_back(string_array->data[v]);
}
return ParameterValue(strings);
}

throw InvalidParameterValueException("No parameter value set");
}
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