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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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10 changes: 8 additions & 2 deletions rclcpp/include/rclcpp/parameter_value.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,10 @@ class ParameterValue
typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, const double &>::type
get() const
{
if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
// Allow integers to be cast to doubles
if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE &&
value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER)
{
throw ParameterTypeException(ParameterType::PARAMETER_DOUBLE, get_type());
}
return value_.double_value;
Expand Down Expand Up @@ -228,7 +231,10 @@ class ParameterValue
type == ParameterType::PARAMETER_DOUBLE_ARRAY, const std::vector<double> &>::type
get() const
{
if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY) {
// Allow integer arrays to be cast to double arrays
if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY &&
value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY)
{
throw ParameterTypeException(ParameterType::PARAMETER_DOUBLE_ARRAY, get_type());
}
return value_.double_array_value;
Expand Down
8 changes: 8 additions & 0 deletions rclcpp/src/rclcpp/parameter_value.cpp
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Expand Up @@ -143,12 +143,16 @@ ParameterValue::ParameterValue(const bool bool_value)
ParameterValue::ParameterValue(const int int_value)
{
value_.integer_value = int_value;
// Allow integers to be cast to doubles
value_.double_value = static_cast<double>(int_value);
value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
}

ParameterValue::ParameterValue(const int64_t int_value)
{
value_.integer_value = int_value;
// Allow integers to be cast to doubles
value_.double_value = static_cast<double>(int_value);
value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
}

Expand Down Expand Up @@ -189,12 +193,16 @@ ParameterValue::ParameterValue(const std::vector<bool> & bool_array_value)
ParameterValue::ParameterValue(const std::vector<int> & int_array_value)
{
value_.integer_array_value.assign(int_array_value.cbegin(), int_array_value.cend());
// Allow integer arrays to be cast to double arrays
value_.double_array_value.assign(int_array_value.cbegin(), int_array_value.cend());
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I'm not a fan of this. For primitive types it is not as bad (though I still don't like the idea that the value has two values stored), but for the array I think there's a chance that could be lots of overhead.

value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY;
}

ParameterValue::ParameterValue(const std::vector<int64_t> & int_array_value)
{
value_.integer_array_value = int_array_value;
// Allow integer arrays to be cast to double arrays
value_.double_array_value.assign(int_array_value.cbegin(), int_array_value.cend());
value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY;
}

Expand Down
20 changes: 16 additions & 4 deletions rclcpp/test/test_parameter.cpp
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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 Expand Up @@ -453,6 +459,7 @@ TEST(TestParameter, bool_array_variant) {
TEST(TestParameter, integer_array_variant) {
const std::vector<int> TEST_VALUE
{42, -99, std::numeric_limits<int>::max(), std::numeric_limits<int>::lowest(), 0};
const std::vector<double> TEST_VALUE_DOUBLE(TEST_VALUE.cbegin(), TEST_VALUE.cend());

// Direct instantiation
rclcpp::Parameter integer_array_variant("integer_array_param", TEST_VALUE);
Expand Down Expand Up @@ -483,13 +490,15 @@ TEST(TestParameter, integer_array_variant) {
EXPECT_EQ(TEST_VALUE.end(), mismatches.first);
EXPECT_EQ(param_value.end(), mismatches.second);

// Implicit conversion to double array
EXPECT_EQ(TEST_VALUE_DOUBLE, integer_array_variant.as_double_array());

EXPECT_THROW(integer_array_variant.as_bool(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_array_variant.as_int(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_array_variant.as_double(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_array_variant.as_string(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_array_variant.as_byte_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_array_variant.as_bool_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_array_variant.as_double_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(integer_array_variant.as_string_array(), rclcpp::ParameterTypeException);

EXPECT_EQ(
Expand Down Expand Up @@ -532,6 +541,7 @@ TEST(TestParameter, integer_array_variant) {
TEST(TestParameter, long_integer_array_variant) {
const std::vector<int64_t> TEST_VALUE
{42, -99, std::numeric_limits<int64_t>::max(), std::numeric_limits<int64_t>::lowest(), 0};
const std::vector<double> TEST_VALUE_DOUBLE(TEST_VALUE.cbegin(), TEST_VALUE.cend());

rclcpp::Parameter long_array_variant("long_integer_array_param", TEST_VALUE);
EXPECT_EQ("long_integer_array_param", long_array_variant.get_name());
Expand All @@ -548,13 +558,15 @@ TEST(TestParameter, long_integer_array_variant) {
EXPECT_EQ(TEST_VALUE, long_array_variant.get_value_message().integer_array_value);
EXPECT_EQ(TEST_VALUE, long_array_variant.as_integer_array());

// Implicit conversion to double array
EXPECT_EQ(TEST_VALUE_DOUBLE, long_array_variant.as_double_array());

EXPECT_THROW(long_array_variant.as_bool(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_array_variant.as_int(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_array_variant.as_double(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_array_variant.as_string(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_array_variant.as_byte_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_array_variant.as_bool_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_array_variant.as_double_array(), rclcpp::ParameterTypeException);
EXPECT_THROW(long_array_variant.as_string_array(), rclcpp::ParameterTypeException);

EXPECT_EQ(
Expand Down