can set any parameter except enum as long as it can't be parsed to an…

…other type first

dynamic_reconfigure_tools/src/bin/dynrec.rs

@@ -1,5 +1,6 @@
 /// call a dynamic reconfigure server from the command line
 
+use std::collections::HashMap;
 use tracing_subscriber;
 
 roslibrust_codegen_macro::find_and_generate_ros_messages!();
@@ -11,19 +12,90 @@ async fn main() -> Result<(), anyhow::Error> {
     let tracing_sub = tracing_subscriber::fmt().finish();
     tracing::subscriber::set_global_default(tracing_sub)?;
 
-    let nh = NodeHandle::new("http://localhost:11311", "service_client_rs").await?;
-    tracing::info!("connected to roscore");
+    let mut params = HashMap::<String, String>::new();
+    params.insert("_name".to_string(), "camera_fov_plane_intersection".to_string());
+    params.insert("_ns".to_string(), "".to_string());
 
+    // TODO(lucasw) can an existing rust arg handling library handle the ':=' ros cli args?
+    let args = std::env::args();
+    let mut args2 = Vec::new();
+    for arg in args {
+        let key_val: Vec<&str> = arg.split(":=").collect();
+        if key_val.len() != 2 {
+            args2.push(arg);
+            continue;
+        }
+
+        let (mut key, val) = (key_val[0].to_string(), key_val[1].to_string());
+        if !key.starts_with("_") {
+            println!("unused arg pair {key}:={val}- need to prefix name with underscore");
+            continue;
+        }
+        key.replace_range(0..1, "");
+
+        if params.contains_key(&key) {
+            params.insert(key, val);
+        } else {
+            println!("unused '{key}' '{val}'");
+        }
+    }
+    println!("{args2:?}");
+
+    let ns = params.remove("_ns").unwrap();
+    let full_node_name = &format!(
+        "/{}/{}",
+        &ns,
+        &params["_name"],
+        ).replace("//", "/");
+    let ros_master_uri = std::env::var("ROS_MASTER_URI").unwrap_or("http://localhost:11311".to_string());
+    let nh = NodeHandle::new(&ros_master_uri, full_node_name).await?;
+    tracing::info!("connected to roscore at {ros_master_uri}");
+
+    // TODO(lucasw) prefix ns to server name if no leading slash
+    let partial_server_name = &args2[1];
+    let full_server_name = &format!(
+        "/{}/set_parameters",
+        &partial_server_name,
+        )
+        .replace("//", "/")
+        .replace("set_parameters/set_parameters", "set_parameters");
     let client = nh
-        .service_client::<dynamic_reconfigure::Reconfigure>("/example_server_node2/set_parameters")
-        .await?;
+        .service_client::<dynamic_reconfigure::Reconfigure>(&full_server_name)
+        .await.expect("can't connect to {full_server_name}");
+    tracing::info!("connected to dynamic reconfigure server {full_server_name}");
+
+    let name = args2[2].to_string();
 
     let req = {
+        let raw_value = &args2[3];
         let mut req = dynamic_reconfigure::ReconfigureRequest::default();
-        let mut double = dynamic_reconfigure::DoubleParameter::default();
-        double.name = "small_double".to_string();
-        double.value = 0.123;
-        req.config.doubles.push(double);
+        // TODO(lucasw) with this setup can't set a string to 'true' or a number, need to prefix
+        // it with other text to make it fail through
+        // could require a type be provided on the command line instead
+        if let Ok(double_value) = raw_value.parse::<f64>() {
+            let mut double_param = dynamic_reconfigure::DoubleParameter::default();
+            double_param.name = name;
+            double_param.value = double_value;
+            req.config.doubles.push(double_param);
+        } else if let Ok(int_value) = raw_value.parse::<i32>() {
+            let mut int_param = dynamic_reconfigure::IntParameter::default();
+            int_param.name = name.to_string();
+            int_param.value = int_value;
+            req.config.ints.push(int_param);
+        } else if let Ok(bool_value) = raw_value.parse::<bool>() {
+            let mut bool_param = dynamic_reconfigure::BoolParameter::default();
+            bool_param.name = name.to_string();
+            bool_param.value = bool_value;
+            req.config.bools.push(bool_param);
+        } else {
+            let mut str_param = dynamic_reconfigure::StrParameter::default();
+            str_param.name = name;
+            str_param.value = raw_value.to_string();
+            req.config.strs.push(str_param);
+        }
+        // TODO(lucasw) enum params
+
+        tracing::info!("{req:?}");
         req
     };