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Update get_parameter_from_event to follow the function description #1922

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merged 1 commit into from
May 3, 2022
Merged

Update get_parameter_from_event to follow the function description #1922

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1 change: 1 addition & 0 deletions rclcpp/include/rclcpp/parameter_event_handler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -268,6 +268,7 @@ class ParameterEventHandler
* \param[in] parameter_name Name of parameter.
* \param[in] node_name Name of node which hosts the parameter.
* \returns The resultant rclcpp::Parameter from the event.
* \throws std::runtime_error if input node name doesn't match the node name in parameter event.
*/
RCLCPP_PUBLIC
static rclcpp::Parameter
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10 changes: 7 additions & 3 deletions rclcpp/src/rclcpp/parameter_event_handler.cpp
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Expand Up @@ -133,9 +133,13 @@ ParameterEventHandler::get_parameter_from_event(
{
rclcpp::Parameter p;
if (!get_parameter_from_event(event, p, parameter_name, node_name)) {
throw std::runtime_error(
"Parameter '" + parameter_name + "' of node '" + node_name +
"' is not part of parameter event");
if (event.node == node_name) {
return rclcpp::Parameter(parameter_name, rclcpp::PARAMETER_NOT_SET);
} else {
throw std::runtime_error(
"The node name '" + node_name + "' of parameter '" + parameter_name +
+"' doesn't match the node name '" + event.node + "' in parameter event");
}
}
return p;
}
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12 changes: 10 additions & 2 deletions rclcpp/test/rclcpp/test_parameter_event_handler.cpp
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Expand Up @@ -202,9 +202,17 @@ TEST_F(TestNode, GetParameterFromEvent)
EXPECT_THROW(
ParameterEventHandler::get_parameter_from_event(*multiple, "my_int", wrong_name),
std::runtime_error);
// Throws if parameter not part of event

// Parameter not part of event
// with correct node
rclcpp::Parameter expect_notset_ret("my_notset", rclcpp::PARAMETER_NOT_SET);
rclcpp::Parameter ret;
EXPECT_NO_THROW(
ret = ParameterEventHandler::get_parameter_from_event(*multiple, "my_notset", node_name););
EXPECT_EQ(ret, expect_notset_ret);
// with incorrect node
EXPECT_THROW(
ParameterEventHandler::get_parameter_from_event(*diff_ns_bool, "my_int", node_name),
ParameterEventHandler::get_parameter_from_event(*multiple, "my_notset", wrong_name),
std::runtime_error);
}

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