Create load_parameters and delete_parameters methods (#1596)

* Create delete_parameters method Signed-off-by: Brice <brice.renaudeau@wyca.fr> * cleaner way to delete Signed-off-by: Brice <brice.renaudeau@wyca.fr> * add delete_parameters TEST Signed-off-by: Brice <brice.renaudeau@wyca.fr> * fix uncrustify Signed-off-by: Brice <brice.renaudeau@wyca.fr> * create load_parameter method Signed-off-by: Brice <brice.renaudeau@wyca.fr> * create load_parameters TEST Signed-off-by: Brice <brice.renaudeau@wyca.fr> * add comments Signed-off-by: Brice <brice.renaudeau@wyca.fr> * fix exceptions Signed-off-by: Brice <brice.renaudeau@wyca.fr> * fix const auto Signed-off-by: Brice <brice.renaudeau@wyca.fr> * fix param node check Signed-off-by: Brice <brice.renaudeau@wyca.fr> * Change TEST to use remote_node_name_ Signed-off-by: Brice <brice.renaudeau@wyca.fr> * change comment style Signed-off-by: Brice <brice.renaudeau@wyca.fr> * parameter_map_from_yaml_file Signed-off-by: Brice <brice.renaudeau@wyca.fr> * Fix comments Signed-off-by: Brice <brice.renaudeau@wyca.fr> * fix sign-compare warning Signed-off-by: Brice <brice.renaudeau@wyca.fr> * use c style Signed-off-by: Brice <brice.renaudeau@wyca.fr>
ros2 · Apr 4, 2021 · 7226725 · 7226725
1 parent 1037822
commit 7226725
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diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -31,11 +31,14 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters_atomically.hpp"
+#include "rcl_yaml_param_parser/parser.h"
+#include "rclcpp/exceptions.hpp"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/create_subscription.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_map.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
@@ -154,6 +157,42 @@ class AsyncParametersClient
       void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
     > callback = nullptr);
 
+  /// Delete several parameters at once.
+  /**
+   * This function behaves like command-line tool `ros2 param delete` would.
+   *
+   * \param parameters_names vector of parameters names
+   * \return the future of the set_parameter service used to delete the parameters
+   */
+  RCLCPP_PUBLIC
+  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+  delete_parameters(
+    const std::vector<std::string> & parameters_names);
+
+  /// Load parameters from yaml file.
+  /**
+   * This function behaves like command-line tool `ros2 param load` would.
+   *
+   * \param yaml_filename the full name of the yaml file
+   * \return the future of the set_parameter service used to load the parameters
+   */
+  RCLCPP_PUBLIC
+  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+  load_parameters(
+    const std::string & yaml_filename);
+
+  /// Load parameters from parameter map.
+  /**
+   * This function filters the parameters to be set based on the node name.
+   *
+   * \param yaml_filename the full name of the yaml file
+   * \return the future of the set_parameter service used to load the parameters
+   * \throw InvalidParametersException if there is no parameter to set
+   */
+  RCLCPP_PUBLIC
+  std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+  load_parameters(const rclcpp::ParameterMap & parameter_map);
+
   RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::ListParametersResult>
   list_parameters(
@@ -444,6 +483,46 @@ class SyncParametersClient
     );
   }
 
+  /// Delete several parameters at once.
+  /**
+   * This function behaves like command-line tool `ros2 param delete` would.
+   *
+   * \param parameters_names vector of parameters names
+   * \param timeout for the spin used to make it synchronous
+   * \return the future of the set_parameter service used to delete the parameters
+   */
+  template<typename RepT = int64_t, typename RatioT = std::milli>
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  delete_parameters(
+    const std::vector<std::string> & parameters_names,
+    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
+  {
+    return delete_parameters(
+      parameters_names,
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
+    );
+  }
+
+  /// Load parameters from yaml file.
+  /**
+   * This function behaves like command-line tool `ros2 param load` would.
+   *
+   * \param yaml_filename the full name of the yaml file
+   * \param timeout for the spin used to make it synchronous
+   * \return the future of the set_parameter service used to load the parameters
+   */
+  template<typename RepT = int64_t, typename RatioT = std::milli>
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  load_parameters(
+    const std::string & yaml_filename,
+    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
+  {
+    return load_parameters(
+      yaml_filename,
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
+    );
+  }
+
   template<typename RepT = int64_t, typename RatioT = std::milli>
   rcl_interfaces::msg::ListParametersResult
   list_parameters(
@@ -524,6 +603,18 @@ class SyncParametersClient
     const std::vector<rclcpp::Parameter> & parameters,
     std::chrono::nanoseconds timeout);
 
+  RCLCPP_PUBLIC
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  delete_parameters(
+    const std::vector<std::string> & parameters_names,
+    std::chrono::nanoseconds timeout);
+
+  RCLCPP_PUBLIC
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  load_parameters(
+    const std::string & yaml_filename,
+    std::chrono::nanoseconds timeout);
+
   RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(

diff --git a/rclcpp/include/rclcpp/parameter_map.hpp b/rclcpp/include/rclcpp/parameter_map.hpp
@@ -15,6 +15,7 @@
 #ifndef RCLCPP__PARAMETER_MAP_HPP_
 #define RCLCPP__PARAMETER_MAP_HPP_
 
+#include <rcl_yaml_param_parser/parser.h>
 #include <rcl_yaml_param_parser/types.h>
 
 #include <string>
@@ -48,6 +49,14 @@ RCLCPP_PUBLIC
 ParameterValue
 parameter_value_from(const rcl_variant_t * const c_value);
 
+/// Get the ParameterMap from a yaml file.
+/// \param[in] yaml_filename full name of the yaml file.
+/// \returns an instance of a parameter map
+/// \throws from rcl error of rcl_parse_yaml_file()
+RCLCPP_PUBLIC
+ParameterMap
+parameter_map_from_yaml_file(const std::string & yaml_filename);
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__PARAMETER_MAP_HPP_
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -42,7 +42,7 @@ AsyncParametersClient::AsyncParametersClient(
   if (remote_node_name != "") {
     remote_node_name_ = remote_node_name;
   } else {
-    remote_node_name_ = node_base_interface->get_name();
+    remote_node_name_ = node_base_interface->get_fully_qualified_name();
   }
 
   rcl_client_options_t options = rcl_client_get_default_options();
@@ -273,6 +273,55 @@ AsyncParametersClient::set_parameters_atomically(
   return future_result;
 }
 
+std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+AsyncParametersClient::delete_parameters(
+  const std::vector<std::string> & parameters_names)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  for (const std::string & name : parameters_names) {
+    parameters.push_back(rclcpp::Parameter(name));
+  }
+  auto future_result = set_parameters(parameters);
+
+  return future_result;
+}
+
+std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+AsyncParametersClient::load_parameters(
+  const std::string & yaml_filename)
+{
+  rclcpp::ParameterMap parameter_map = rclcpp::parameter_map_from_yaml_file(yaml_filename);
+  return this->load_parameters(parameter_map);
+}
+
+std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
+AsyncParametersClient::load_parameters(
+  const rclcpp::ParameterMap & parameter_map)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  std::string remote_name = remote_node_name_.substr(remote_node_name_.substr(1).find("/") + 2);
+  for (const auto & params : parameter_map) {
+    std::string node_full_name = params.first;
+    std::string node_name = node_full_name.substr(node_full_name.find("/*/") + 3);
+    if (node_full_name == remote_node_name_ ||
+      node_full_name == "/**" ||
+      (node_name == remote_name))
+    {
+      for (const auto & param : params.second) {
+        parameters.push_back(param);
+      }
+    }
+  }
+
+  if (parameters.size() == 0) {
+    throw rclcpp::exceptions::InvalidParametersException("No valid parameter");
+  }
+  auto future_result = set_parameters(parameters);
+
+  return future_result;
+}
+
+
 std::shared_future<rcl_interfaces::msg::ListParametersResult>
 AsyncParametersClient::list_parameters(
   const std::vector<std::string> & prefixes,
@@ -420,6 +469,42 @@ SyncParametersClient::set_parameters(
   return std::vector<rcl_interfaces::msg::SetParametersResult>();
 }
 
+std::vector<rcl_interfaces::msg::SetParametersResult>
+SyncParametersClient::delete_parameters(
+  const std::vector<std::string> & parameters_names,
+  std::chrono::nanoseconds timeout)
+{
+  auto f = async_parameters_client_->delete_parameters(parameters_names);
+
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_, f,
+      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+  {
+    return f.get();
+  }
+  return std::vector<rcl_interfaces::msg::SetParametersResult>();
+}
+
+std::vector<rcl_interfaces::msg::SetParametersResult>
+SyncParametersClient::load_parameters(
+  const std::string & yaml_filename,
+  std::chrono::nanoseconds timeout)
+{
+  auto f = async_parameters_client_->load_parameters(yaml_filename);
+
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_, f,
+      timeout) == rclcpp::FutureReturnCode::SUCCESS)
+  {
+    return f.get();
+  }
+  return std::vector<rcl_interfaces::msg::SetParametersResult>();
+}
+
 rcl_interfaces::msg::SetParametersResult
 SyncParametersClient::set_parameters_atomically(
   const std::vector<rclcpp::Parameter> & parameters,

diff --git a/rclcpp/src/rclcpp/parameter_map.cpp b/rclcpp/src/rclcpp/parameter_map.cpp
@@ -126,3 +126,15 @@ rclcpp::parameter_value_from(const rcl_variant_t * const c_param_value)
 
   throw InvalidParameterValueException("No parameter value set");
 }
+
+ParameterMap
+rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_params_t * rcl_parameters = rcl_yaml_node_struct_init(allocator);
+  const char * path = yaml_filename.c_str();
+  if (!rcl_parse_yaml_file(path, rcl_parameters)) {
+    rclcpp::exceptions::throw_from_rcl_error(RCL_RET_ERROR);
+  }
+  return rclcpp::parameter_map_from(rcl_parameters);
+}
diff --git a/rclcpp/test/rclcpp/test_parameter_client.cpp b/rclcpp/test/rclcpp/test_parameter_client.cpp
@@ -861,3 +861,90 @@ TEST_F(TestParameterClient, sync_parameter_describe_parameters_allow_undeclared)
     ASSERT_FALSE(parameter_descs[1].read_only);
   }
 }
+
+/*
+  Coverage for async delete_parameters
+ */
+TEST_F(TestParameterClient, async_parameter_delete_parameters) {
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(node_with_option);
+  // set parameter
+  auto set_future = asynchronous_client->set_parameters({rclcpp::Parameter("foo", 4)});
+  rclcpp::spin_until_future_complete(
+    node_with_option, set_future, std::chrono::milliseconds(100));
+  ASSERT_EQ(set_future.get()[0].successful, true);
+  // delete one parameter
+  auto delete_future = asynchronous_client->delete_parameters({"foo"});
+  rclcpp::spin_until_future_complete(
+    node_with_option, delete_future, std::chrono::milliseconds(100));
+  ASSERT_EQ(delete_future.get()[0].successful, true);
+  // check that deleted parameter isn't set
+  auto get_future2 = asynchronous_client->get_parameters({"foo"});
+  rclcpp::spin_until_future_complete(
+    node_with_option, get_future2, std::chrono::milliseconds(100));
+  ASSERT_EQ(
+    get_future2.get()[0].get_type(),
+    rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
+}
+/*
+  Coverage for sync delete_parameters
+ */
+TEST_F(TestParameterClient, sync_parameter_delete_parameters) {
+  auto synchronous_client =
+    std::make_shared<rclcpp::SyncParametersClient>(node_with_option);
+  // set parameter
+  auto set_result = synchronous_client->set_parameters({rclcpp::Parameter("foo", 4)});
+  // delete one parameter
+  auto delete_result = synchronous_client->delete_parameters({"foo"});
+  // check that deleted parameter isn't set
+  auto get_result = synchronous_client->get_parameters({"foo"});
+  ASSERT_EQ(
+    get_result[0].get_type(),
+    rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
+}
+
+/*
+  Coverage for async load_parameters
+ */
+TEST_F(TestParameterClient, async_parameter_load_parameters) {
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(load_node, "/namespace/load_node");
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "load_parameters.yaml").string();
+  auto load_future = asynchronous_client->load_parameters(parameters_filepath);
+  auto result_code = rclcpp::spin_until_future_complete(
+    load_node, load_future, std::chrono::milliseconds(100));
+  ASSERT_EQ(result_code, rclcpp::FutureReturnCode::SUCCESS);
+  ASSERT_EQ(load_future.get()[0].successful, true);
+  // list parameters
+  auto list_parameters = asynchronous_client->list_parameters({}, 3);
+  rclcpp::spin_until_future_complete(
+    load_node, list_parameters, std::chrono::milliseconds(100));
+  ASSERT_EQ(list_parameters.get().names.size(), static_cast<uint64_t>(5));
+}
+/*
+  Coverage for sync load_parameters
+ */
+TEST_F(TestParameterClient, sync_parameter_load_parameters) {
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  auto synchronous_client =
+    std::make_shared<rclcpp::SyncParametersClient>(load_node);
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "load_parameters.yaml").string();
+  auto load_future = synchronous_client->load_parameters(parameters_filepath);
+  ASSERT_EQ(load_future[0].successful, true);
+  // list parameters
+  auto list_parameters = synchronous_client->list_parameters({}, 3);
+  ASSERT_EQ(list_parameters.names.size(), static_cast<uint64_t>(5));
+}
diff --git a/rclcpp/test/resources/test_node/load_parameters.yaml b/rclcpp/test/resources/test_node/load_parameters.yaml
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    bar: 5
+    foo: 3.5
+
+/*:
+  load_node:
+    ros__parameters:
+      bar_foo: "ok"
+
+namespace:
+  load_node:
+    ros__parameters:
+      foo_bar: true
+
+bar:
+  ros__parameters:
+    fatal: 10