Migrate from parameter_traits to RSL (take 2)

.github/workflows/ci.yaml

@@ -27,6 +27,7 @@ jobs:
 
     env:
       BASEDIR: ${{ github.workspace }}/.work
+      UPSTREAM_WORKSPACE: upstream.repos
 
     name: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
     runs-on: ubuntu-latest

README.md

@@ -250,35 +250,37 @@ The built-in validator functions provided by this package are:
 | upper_element_bounds<> | [upper]             | Upper bound for each element (inclusive)             |
 
 ### Custom validator functions
-Validators are functions that return a `Result` type and accept a `rclcpp::Parameter const&` as their first argument and any number of arguments after that can be specified in YAML.
+Validators are functions that return a `tl::expected<void, std::string>` type and accept a `rclcpp::Parameter const&` as their first argument and any number of arguments after that can be specified in YAML.
 Validators are C++ functions defined in a header file similar to the example shown below.
 
-The `Result` type has a alias `OK` that is shorthand for returning a successful validation.
-It also had a function `ERROR` that uses the expressive [fmt format](https://github.com/fmtlib/fmt) for constructing a human readable error.
-These come from the `parameter_traits` library.
-Note that you need to place your custom validators in the `parameter_traits` namespace.
+Here is an example custom allocator.
 
 ```c++
-#include <parameter_traits/parameter_traits.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <fmt/core.h>
+#include <tl_expected/expected.hpp>
 
-namespace parameter_traits {
+namespace my_project {
 
-Result integer_equal_value(rclcpp::Parameter const& parameter, int expected_value) {
+tl::expected<void, std::string> integer_equal_value(
+    rclcpp::Parameter const& parameter, int expected_value) {
   int param_value = parameter.as_int();
     if (param_value != expected_value) {
-        return ERROR("Invalid value {} for parameter {}. Expected {}",
-               param_value, parameter.get_name(), expected_value);
+        return tl::make_unexpected(fmt::format(
+            "Invalid value {} for parameter {}. Expected {}",
+            param_value, parameter.get_name(), expected_value);
     }
 
-  return OK;
+  return {};
 }
 
-}  // namespace parameter_traits
+}  // namespace my_project
 ```
 To configure a parameter to be validated with the custom validator function `integer_equal_value` with an `expected_value` of `3` you could would this to the YAML.
 ```yaml
 validation: {
-  integer_equal_value: [3]
+  "my_project::integer_equal_value": [3]
 }
 ```
 

example/include/generate_parameter_library_example/example_validators.hpp

@@ -28,34 +28,42 @@
 
 #pragma once
 
-#include <parameter_traits/parameter_traits.hpp>
+#include <string>
 
-namespace parameter_traits {
+#include <rclcpp/rclcpp.hpp>
+
+#include <fmt/core.h>
+#include <tl_expected/expected.hpp>
+
+namespace custom_validators {
 
 // User defined parameter validation
-Result validate_double_array_custom_func(const rclcpp::Parameter& parameter,
-                                         double max_sum, double max_element) {
+tl::expected<void, std::string> validate_double_array_custom_func(
+    const rclcpp::Parameter& parameter, double max_sum, double max_element) {
   const auto& double_array = parameter.as_double_array();
   double sum = 0.0;
   for (auto val : double_array) {
     sum += val;
     if (val > max_element) {
-      return ERROR(
+      return tl::make_unexpected(fmt::format(
           "The parameter contained an element greater than the max allowed "
           "value.  (%f) was greater than (%f)",
-          val, max_element);
+          val, max_element));
     }
   }
   if (sum > max_sum) {
-    return ERROR(
+    return tl::make_unexpected(fmt::format(
         "The sum of the parameter vector was greater than the max allowed "
         "value.  (%f) was greater than (%f)",
-        sum, max_sum);
+        sum, max_sum));
   }
 
-  return OK;
+  return {};
 }
 
-Result no_args_validator(const rclcpp::Parameter& parameter) { return OK; }
+tl::expected<void, std::string> no_args_validator(
+    const rclcpp::Parameter& parameter) {
+  return {};
+}
 
-}  // namespace parameter_traits
+}  // namespace custom_validators

example/src/parameters.yaml

@@ -10,7 +10,7 @@ admittance_controller:
     description: "specifies which algorithm to use for interpolation.",
     validation: {
       one_of<>: [ [ "spline", "linear" ] ],
-      no_args_validator: null
+      "custom_validators::no_args_validator": null
     }
   }
   joints: {
@@ -218,7 +218,7 @@ admittance_controller:
       The values are calculated as damping can be used instead: zeta = D / (2 * sqrt( M * S ))",
       validation: {
         fixed_size<>: 6,
-        validate_double_array_custom_func: [ 20.3, 5.0 ],
+        "custom_validators::validate_double_array_custom_func": [ 20.3, 5.0 ],
         element_bounds<>: [ 0.1, 10.0 ]
       }
     }

generate_parameter_library/cmake/generate_parameter_library.cmake

@@ -85,7 +85,9 @@ function(generate_parameter_library LIB_NAME YAML_FILE)
     parameter_traits::parameter_traits
     rclcpp::rclcpp
     rclcpp_lifecycle::rclcpp_lifecycle
+    rsl::rsl
     tcb_span::tcb_span
+    tl_expected::tl_expected
   )
   install(DIRECTORY ${LIB_INCLUDE_DIR} DESTINATION include/)
 endfunction()

generate_parameter_library/generate_parameter_library-extras.cmake

@@ -29,7 +29,9 @@
 find_package(fmt REQUIRED)
 find_package(parameter_traits REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rsl REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(tcb_span REQUIRED)
+find_package(tl_expected REQUIRED)
 
 include("${generate_parameter_library_DIR}/generate_parameter_library.cmake")

generate_parameter_library/package.xml

@@ -16,7 +16,9 @@
   <depend>parameter_traits</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rsl</depend>
   <depend>tcb_span</depend>
+  <depend>tl_expected</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/declare_parameter

@@ -7,7 +7,7 @@ descriptor.read_only = {{parameter_read_only}};
 auto parameter = rclcpp::ParameterType::PARAMETER_{{parameter_type}};
 {% endif -%}
 {%- if parameter_value|length %}
-auto parameter = rclcpp::ParameterValue(updated_params.{{parameter_value}});
+auto parameter = to_parameter_value(updated_params.{{parameter_value}});
 {% endif -%}
 parameters_interface_->declare_parameter(prefix_ + "{{parameter_name}}", parameter, descriptor);
 {% endfilter -%}

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/declare_runtime_parameter

@@ -1,6 +1,6 @@
 for (const auto & value : {{param_struct_instance}}.{{mapped_param}}){
 {%- filter indent(width=4) %}
-auto entry = {{param_struct_instance}}.{{parameter_map}}[value];
+auto& entry = {{param_struct_instance}}.{{parameter_map}}[value];
 auto param_name = fmt::format("{}{}.{}.{}", prefix_, "{{struct_name}}", value, "{{parameter_field}}");
 if (!parameters_interface_->has_parameter(param_name)) {
 {%- filter indent(width=4) %}

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/parameter_library_header

@@ -20,12 +20,54 @@
 
 #include <parameter_traits/parameter_traits.hpp>
 
+#include <rsl/static_string.hpp>
+#include <rsl/static_vector.hpp>
+#include <rsl/parameter_validators.hpp>
+
 {% if user_validation_file|length -%}
 #include "{{user_validation_file}}"
 {% endif %}
 
 namespace {{namespace}} {
 
+// Use validators from RSL
+using rsl::unique;
+using rsl::subset_of;
+using rsl::fixed_size;
+using rsl::size_gt;
+using rsl::size_lt;
+using rsl::not_empty;
+using rsl::element_bounds;
+using rsl::lower_element_bounds;
+using rsl::upper_element_bounds;
+using rsl::bounds;
+using rsl::upper_bounds;
+using rsl::lower_bounds;
+using rsl::lt;
+using rsl::gt;
+using rsl::lt_eq;
+using rsl::gt_eq;
+using rsl::one_of;
+using rsl::to_parameter_result_msg;
+
+// temporarily needed for backwards compatibility for custom validators
+using namespace parameter_traits;
+
+template <typename T>
+[[nodiscard]] auto to_parameter_value(T value) {
+    return rclcpp::ParameterValue(value);
+}
+
+template <size_t capacity>
+[[nodiscard]] auto to_parameter_value(rsl::StaticString<capacity> const& value) {
+    return rclcpp::ParameterValue(rsl::to_string(value));
+}
+
+template <typename T, size_t capacity>
+[[nodiscard]] auto to_parameter_value(rsl::StaticVector<T, capacity> const& value) {
+    return rclcpp::ParameterValue(rsl::to_vector(value));
+}
+
 {%- filter indent(width=4) %}
 struct Params {
 {%- filter indent(width=4) %}
@@ -118,7 +160,7 @@ struct StackParams {
 {%- endif %}
       updated_params.__stamp = clock_.now();
       update_interal_params(updated_params);
-      return parameter_traits::OK;
+      return rsl::to_parameter_result_msg({});
     }
 
     void declare_params(){

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/parameter_validation

@@ -1,5 +1,5 @@
-if(auto validation_result = parameter_traits::{{validation_function}};
-  !validation_result.success()) {
+if(auto validation_result = {{validation_function}};
+  !validation_result) {
 {%- filter indent(width=4) %}
 {{invalid_effect}}
 {% endfilter -%}

generate_parameter_library_py/generate_parameter_library_py/main.py

@@ -85,7 +85,7 @@ def initialization_fail_validation(param_name: str) -> str:
     return (
         f"throw rclcpp::exceptions::InvalidParameterValueException"
         f'(fmt::format("Invalid value set during initialization for '
-        f"parameter '{param_name}': \" + validation_result.error_msg()));"
+        f"parameter '{param_name}': \" + validation_result.error()));"
     )
 
 
@@ -96,7 +96,7 @@ def initialization_pass_validation(param_name: str, parameter_conversion: str) -
 
 @typechecked
 def update_parameter_fail_validation() -> str:
-    return "return validation_result;"
+    return "return rsl::to_parameter_result_msg(validation_result);"
 
 
 @typechecked
@@ -272,10 +272,10 @@ class CodeGenVariableBase:
         "double_array": lambda defined_type, templates: "std::vector<double>",
         "int_array": lambda defined_type, templates: "std::vector<int64_t>",
         "string_array": lambda defined_type, templates: "std::vector<std::string>",
-        "double_array_fixed": lambda defined_type, templates: f"parameter_traits::FixedSizeArray<{templates[0]}, {templates[1]}>",
-        "int_array_fixed": lambda defined_type, templates: f"parameter_traits::FixedSizeArray<{templates[0]}, {templates[1]}>",
-        "string_array_fixed": lambda defined_type, templates: f"parameter_traits::FixedSizeArray<{templates[0]}, {templates[1]}>",
-        "string_fixed": lambda defined_type, templates: f"parameter_traits::FixedSizeString<{templates[1]}>",
+        "double_array_fixed": lambda defined_type, templates: f"rsl::StaticVector<{templates[0]}, {templates[1]}>",
+        "int_array_fixed": lambda defined_type, templates: f"rsl::StaticVector<{templates[0]}, {templates[1]}>",
+        "string_array_fixed": lambda defined_type, templates: f"rsl::StaticVector<{templates[0]}, {templates[1]}>",
+        "string_fixed": lambda defined_type, templates: f"rsl::StaticString<{templates[1]}>",
     }
     yaml_type_to_as_function = {
         "string_array": "as_string_array()",

parameter_traits/CMakeLists.txt

@@ -5,7 +5,9 @@ project(parameter_traits)
 find_package(ament_cmake REQUIRED)
 find_package(fmt REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rsl REQUIRED)
 find_package(tcb_span REQUIRED)
+find_package(tl_expected REQUIRED)
 
 add_library(parameter_traits INTERFACE)
 target_include_directories(parameter_traits INTERFACE
@@ -16,7 +18,9 @@ target_link_libraries(parameter_traits
   INTERFACE
     fmt::fmt
     rclcpp::rclcpp
+    rsl::rsl
     tcb_span::tcb_span
+    tl_expected::tl_expected
 )
 
 if(BUILD_TESTING)
@@ -25,8 +29,6 @@ if(BUILD_TESTING)
   set(ament_cmake_cpplint_FOUND TRUE) # Conflicts with clang-foramt
   set(ament_cmake_uncrustify_FOUND TRUE) # Conflicts with clang-format
   ament_lint_auto_find_test_dependencies()
-
-  add_subdirectory(test)
 endif()
 
 install(
@@ -44,5 +46,5 @@ install(
 )
 
 ament_export_targets(export_parameter_traits HAS_LIBRARY_TARGET)
-ament_export_dependencies(fmt rclcpp tcb_span)
+ament_export_dependencies(fmt rclcpp rsl tcb_span tl_expected)
 ament_package()