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Use UninitializedStaticallyTypedParameterException #1689

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Dec 24, 2021
Merged

Use UninitializedStaticallyTypedParameterException #1689

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efb76b3
Use UninitializedStaticallyTypedParameterException
m2-farzan Jun 8, 2021
522727c
Fix CI errors
m2-farzan Dec 23, 2021
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17 changes: 17 additions & 0 deletions rclcpp/include/rclcpp/exceptions/exceptions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -254,6 +254,23 @@ class InvalidParameterTypeException : public std::runtime_error
{}
};

/// Thrown if user attempts to create an uninitialized statically typed parameter
/**
* (see https://github.com/ros2/rclcpp/issues/1691)
*/
class UninitializedStaticallyTypedParameterException : public std::runtime_error
{
public:
/// Construct an instance.
/**
* \param[in] name the name of the parameter.
*/
RCLCPP_PUBLIC
explicit UninitializedStaticallyTypedParameterException(const std::string & name)
: std::runtime_error("Statically typed parameter '" + name + "' must be initialized.")
{}
};

/// Thrown if parameter is already declared.
class ParameterAlreadyDeclaredException : public std::runtime_error
{
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16 changes: 10 additions & 6 deletions rclcpp/include/rclcpp/node_impl.hpp
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Expand Up @@ -220,12 +220,16 @@ Node::declare_parameter(
// get advantage of parameter value template magic to get
// the correct rclcpp::ParameterType from ParameterT
rclcpp::ParameterValue value{ParameterT{}};
return this->declare_parameter(
name,
value.get_type(),
parameter_descriptor,
ignore_override
).get<ParameterT>();
try {
return this->declare_parameter(
name,
value.get_type(),
parameter_descriptor,
ignore_override
).get<ParameterT>();
} catch (const ParameterTypeException &) {
throw exceptions::UninitializedStaticallyTypedParameterException(name);
}
}

template<typename ParameterT>
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6 changes: 6 additions & 0 deletions rclcpp/test/rclcpp/test_node.cpp
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Expand Up @@ -715,6 +715,12 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
"parameter_type_mismatch", rclcpp::ParameterType::PARAMETER_INTEGER);},
rclcpp::exceptions::InvalidParameterTypeException);
}
{
// statically typed parameter must be initialized
EXPECT_THROW(
{node->declare_parameter<std::string>("static_and_uninitialized");},
rclcpp::exceptions::UninitializedStaticallyTypedParameterException);
}
{
// cannot pass an expected type and a descriptor with dynamic_typing=True
rcl_interfaces::msg::ParameterDescriptor descriptor{};
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