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Update types of declare_parameter, declare_parameters api
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@InvincibleRMC
InvincibleRMC committed May 31, 2024
1 parent bc7c46b commit 32bba4d
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Showing 2 changed files with 29 additions and 24 deletions.
39 changes: 21 additions & 18 deletions rclpy/rclpy/node.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@
from typing import List
from typing import Optional
from typing import overload
from typing import Sequence
from typing import Tuple
from typing import Type
from typing import TypeVar
Expand Down Expand Up @@ -164,7 +163,7 @@ def __init__(
"""
self.__handle = None
self._context = get_default_context() if context is None else context
self._parameters: dict = {}
self._parameters: Dict[str, Parameter] = {}
self._publishers: List[Publisher] = []
self._subscriptions: List[Subscription] = []
self._clients: List[Client] = []
Expand All @@ -179,8 +178,8 @@ def __init__(
self._post_set_parameters_callbacks: List[Callable[[List[Parameter]], None]] = []
self._rate_group = ReentrantCallbackGroup()
self._allow_undeclared_parameters = allow_undeclared_parameters
self._parameter_overrides: Dict[str, Parameter] = {}
self._descriptors = {}
self._parameter_overrides: Dict[str, Parameter[AllowableParameterValue]] = {}
self._descriptors: Dict[str, ParameterDescriptor] = {}

namespace = namespace or ''
if not self._context.ok():
Expand Down Expand Up @@ -357,20 +356,22 @@ def get_logger(self):
return self._logger

@overload
def declare_parameter(self, name: str, value: None = None,
def declare_parameter(self, name: str,
value: Union[None, Parameter.Type, ParameterValue] = None,
descriptor: Optional[ParameterDescriptor] = None,
ignore_override: bool = False) -> Parameter[None]: ...

@overload
def declare_parameter(self, name: str, value: AllowableParameterValueT,
def declare_parameter(self, name: str, value: Union[AllowableParameterValueT,
Parameter.Type, ParameterValue],
descriptor: Optional[ParameterDescriptor] = None,
ignore_override: bool = False
) -> Parameter[AllowableParameterValueT]: ...

def declare_parameter(
self,
name: str,
value: AllowableParameterValue = None,
value: Union[AllowableParameterValue, Parameter.Type, ParameterValue] = None,
descriptor: Optional[ParameterDescriptor] = None,
ignore_override: bool = False
) -> Parameter:
Expand All @@ -395,7 +396,8 @@ def declare_parameter(
"""
if value is None and descriptor is None:
# Temporal patch so we get deprecation warning if only a name is provided.
args: Union[Tuple[str], Tuple[str, AllowableParameterValue,
args: Union[Tuple[str], Tuple[str, Union[AllowableParameterValue,
Parameter.Type, ParameterValue],
ParameterDescriptor]] = (name, )
else:
descriptor = ParameterDescriptor() if descriptor is None else descriptor
Expand All @@ -408,7 +410,8 @@ def declare_parameters(
parameters: List[Union[
Tuple[str],
Tuple[str, Parameter.Type],
Tuple[str, AllowableParameterValue, ParameterDescriptor],
Tuple[str, Union[AllowableParameterValue, Parameter.Type, ParameterValue],
ParameterDescriptor],
]],
ignore_override: bool = False
) -> List[Parameter]:
Expand Down Expand Up @@ -483,9 +486,8 @@ def declare_parameters(
# Note(jubeira): declare_parameters verifies the name, but set_parameters doesn't.
validate_parameter_name(name)

second_arg = parameter_tuple[1] if 1 < len(parameter_tuple) else None
descriptor = parameter_tuple[2] if 2 < len(parameter_tuple) else ParameterDescriptor()

second_arg = parameter_tuple[1] if len(parameter_tuple) > 1 else None
descriptor = parameter_tuple[2] if len(parameter_tuple) > 2 else ParameterDescriptor()
if not isinstance(descriptor, ParameterDescriptor):
raise TypeError(
f'Third element {descriptor} at index {index} in parameters list '
Expand Down Expand Up @@ -529,6 +531,10 @@ def declare_parameters(
if not ignore_override and name in self._parameter_overrides:
value = self._parameter_overrides[name].value

if isinstance(value, ParameterValue):
raise ValueError('Cannot declare a Parameter from a ParameterValue without it'
'being included _parameter_overrides, and ignore_override=False')

parameter_list.append(Parameter(name, value=value))
descriptors.update({name: descriptor})

Expand Down Expand Up @@ -729,10 +735,7 @@ def get_parameter_or(

return self._parameters[name]

def get_parameters_by_prefix(self, prefix: str) -> Dict[str, Optional[Union[
bool, int, float, str, bytes,
Sequence[bool], Sequence[int], Sequence[float], Sequence[str]
]]]:
def get_parameters_by_prefix(self, prefix: str) -> Dict[str, Parameter]:
"""
Get parameters that have a given prefix in their names as a dictionary.
Expand Down Expand Up @@ -1049,7 +1052,7 @@ def _check_undeclared_parameters(self, parameter_list: List[Parameter]):
if not self._allow_undeclared_parameters and any(undeclared_parameters):
raise ParameterNotDeclaredException(list(undeclared_parameters))

def _call_pre_set_parameters_callback(self, parameter_list: [List[Parameter]]):
def _call_pre_set_parameters_callback(self, parameter_list: List[Parameter]):
if self._pre_set_parameters_callbacks:
modified_parameter_list = []
for callback in self._pre_set_parameters_callbacks:
Expand All @@ -1059,7 +1062,7 @@ def _call_pre_set_parameters_callback(self, parameter_list: [List[Parameter]]):
else:
return None

def _call_post_set_parameters_callback(self, parameter_list: [List[Parameter]]):
def _call_post_set_parameters_callback(self, parameter_list: List[Parameter]):
if self._post_set_parameters_callbacks:
for callback in self._post_set_parameters_callbacks:
callback(parameter_list)
Expand Down
14 changes: 8 additions & 6 deletions rclpy/rclpy/parameter.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import sys
import array
import sys
from enum import IntEnum
from typing import Dict
from typing import Generic
Expand Down Expand Up @@ -41,7 +41,8 @@
list[float], Tuple[float, ...], array.array[float],
list[str], Tuple[str, ...], array.array[str]]
AllowableParameterValueT = TypeVar('AllowableParameterValueT', None, bool, int, float, str,
list[bytes], Tuple[bytes, ...], List[bool], Tuple[bool, ...],
list[bytes], Tuple[bytes, ...], list[bool],
Tuple[bool, ...],
list[int], Tuple[int, ...], array.array[int],
list[float], Tuple[float, ...], array.array[float],
list[str], Tuple[str, ...], array.array[str])
Expand All @@ -54,10 +55,11 @@
List[str], Tuple[str, ...], 'array.array[str]']

AllowableParameterValueT = TypeVar('AllowableParameterValueT', None, bool, int, float, str,
List[bytes], Tuple[bytes, ...], List[bool], Tuple[bool, ...],
List[int], Tuple[int, ...], 'array.array[int]',
List[float], Tuple[float, ...], 'array.array[float]',
List[str], Tuple[str, ...], 'array.array[str]')
List[bytes], Tuple[bytes, ...], List[bool],
Tuple[bool, ...], List[int], Tuple[int, ...],
'array.array[int]', List[float], Tuple[float, ...],
'array.array[float]', List[str], Tuple[str, ...],
'array.array[str]')


class Parameter(Generic[AllowableParameterValueT]):
Expand Down

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