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Fix issues with parameters descriptors #50

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Merged
merged 1 commit into from
Nov 10, 2020
Merged

Fix issues with parameters descriptors #50

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23 changes: 18 additions & 5 deletions rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,10 @@ public class NodeImpl implements Node {
private Object parametersMutex;

class ParameterAndDescriptor {
public ParameterAndDescriptor() {
this.parameter = new ParameterVariant();
this.descriptor = new rcl_interfaces.msg.ParameterDescriptor();
}
public ParameterVariant parameter;
public rcl_interfaces.msg.ParameterDescriptor descriptor;
}
Expand Down Expand Up @@ -618,7 +622,7 @@ private rcl_interfaces.msg.SetParametersResult internalSetParametersAtomically(
// them in the parameter list before setting them to the new value. We
// do this multi-stage thing so that all of the parameters are set, or
// none of them.
List<String> parametersToDeclare = new ArrayList<String>();
List<ParameterVariant>parametersToDeclare = new ArrayList<ParameterVariant>();
List<String> parametersToUndeclare = new ArrayList<String>();
for (ParameterVariant parameter : parameters) {
if (this.parameters.containsKey(parameter.getName())) {
Expand All @@ -627,7 +631,7 @@ private rcl_interfaces.msg.SetParametersResult internalSetParametersAtomically(
}
} else {
if (this.allowUndeclaredParameters) {
parametersToDeclare.add(parameter.getName());
parametersToDeclare.add(parameter);
} else {
throw new ParameterNotDeclaredException(String.format("Parameter '%s' is not declared", parameter.getName()));
}
Expand All @@ -636,7 +640,8 @@ private rcl_interfaces.msg.SetParametersResult internalSetParametersAtomically(

// Check to make sure that a parameter isn't both trying to be declared
// and undeclared simultaneously.
for (String name : parametersToDeclare) {
for (ParameterVariant parameter : parametersToDeclare) {
String name = parameter.getName();
if (parametersToUndeclare.contains(name)) {
throw new IllegalArgumentException(String.format("Cannot both declare and undeclare the same parameter name '%s'", name));
}
Expand All @@ -651,8 +656,16 @@ private rcl_interfaces.msg.SetParametersResult internalSetParametersAtomically(
this.parameters.remove(name);
}

for (String name : parametersToDeclare) {
this.parameters.put(name, new ParameterAndDescriptor());
for (ParameterVariant parameter : parametersToDeclare) {
String name = parameter.getName();
ParameterAndDescriptor pandd = new ParameterAndDescriptor();
rcl_interfaces.msg.ParameterDescriptor descriptor =
new rcl_interfaces.msg.ParameterDescriptor()
.setName(name)
.setType(parameter.getType().getValue());
pandd.parameter = parameter;
pandd.descriptor = descriptor;
this.parameters.put(name, pandd);
}

for (ParameterVariant parameter : parameters) {
Expand Down