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Let integer values be assigned to double parameters #1024

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Let integer values be assigned to double parameters #1024

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bd38110
Let integer values be assigned to double parameters
jacobperron Mar 12, 2020
b65f95e
Revert "Let integer values be assigned to double parameters"
jacobperron Mar 17, 2020
9d17592
Get primitive parameters by value
jacobperron Mar 17, 2020
b67522e
Implicitly cast integer parameter values to double
jacobperron Mar 17, 2020
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22 changes: 13 additions & 9 deletions rclcpp/include/rclcpp/parameter_value.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,7 @@ class ParameterValue

template<ParameterType type>
constexpr
typename std::enable_if<type == ParameterType::PARAMETER_BOOL, const bool &>::type
typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type
get() const
{
if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
Expand All @@ -155,7 +155,7 @@ class ParameterValue

template<ParameterType type>
constexpr
typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, const int64_t &>::type
typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
get() const
{
if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
Expand All @@ -166,13 +166,17 @@ class ParameterValue

template<ParameterType type>
constexpr
typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, const double &>::type
typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type
get() const
{
if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
throw ParameterTypeException(ParameterType::PARAMETER_DOUBLE, get_type());
// Allow integer values to be cast to double
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We should really document this somewhere, maybe in the high level get/declare_parameter() APIs, or maybe just right here.

if (value_.type == rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
return static_cast<double>(value_.integer_value);
}
return value_.double_value;
if (value_.type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
return value_.double_value;
}
throw ParameterTypeException(ParameterType::PARAMETER_DOUBLE, get_type());
}

template<ParameterType type>
Expand Down Expand Up @@ -250,7 +254,7 @@ class ParameterValue

template<typename type>
constexpr
typename std::enable_if<std::is_same<type, bool>::value, const bool &>::type
typename std::enable_if<std::is_same<type, bool>::value, bool>::type
get() const
{
return get<ParameterType::PARAMETER_BOOL>();
Expand All @@ -259,15 +263,15 @@ class ParameterValue
template<typename type>
constexpr
typename std::enable_if<
std::is_integral<type>::value && !std::is_same<type, bool>::value, const int64_t &>::type
std::is_integral<type>::value && !std::is_same<type, bool>::value, int64_t>::type
get() const
{
return get<ParameterType::PARAMETER_INTEGER>();
}

template<typename type>
constexpr
typename std::enable_if<std::is_floating_point<type>::value, const double &>::type
typename std::enable_if<std::is_floating_point<type>::value, double>::type
get() const
{
return get<ParameterType::PARAMETER_DOUBLE>();
Expand Down
10 changes: 8 additions & 2 deletions rclcpp/test/test_parameter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,7 @@ TEST(TestParameter, bool_variant) {

TEST(TestParameter, integer_variant) {
const int TEST_VALUE {42};
const double TEST_VALUE_DOUBLE {static_cast<double>(TEST_VALUE)};

// Direct instantiation
rclcpp::Parameter integer_variant("integer_param", TEST_VALUE);
Expand All @@ -133,8 +134,10 @@ TEST(TestParameter, integer_variant) {
integer_variant.get_value_message().type);
EXPECT_EQ(TEST_VALUE, integer_variant.as_int());

// Implicit conversion to double
EXPECT_EQ(TEST_VALUE_DOUBLE, integer_variant.as_double());

EXPECT_THROW(integer_variant.as_bool(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_variant.as_double(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_variant.as_string(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_variant.as_byte_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_variant.as_bool_array(), rclcpp::ParameterTypeException);
Expand Down Expand Up @@ -166,6 +169,7 @@ TEST(TestParameter, integer_variant) {

TEST(TestParameter, long_integer_variant) {
const int64_t TEST_VALUE {std::numeric_limits<int64_t>::max()};
const double TEST_VALUE_DOUBLE {static_cast<double>(TEST_VALUE)};

// Direct instantiation
rclcpp::Parameter long_variant("long_integer_param", TEST_VALUE);
Expand All @@ -181,8 +185,10 @@ TEST(TestParameter, long_integer_variant) {
long_variant.get_value_message().type);
EXPECT_EQ(TEST_VALUE, long_variant.as_int());

// Implicit conversion to double
EXPECT_EQ(TEST_VALUE_DOUBLE, long_variant.as_double());

EXPECT_THROW(long_variant.as_bool(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_variant.as_double(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_variant.as_string(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_variant.as_byte_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_variant.as_bool_array(), rclcpp::ParameterTypeException);
Expand Down