Use constants for parameter separator and request depth.

ros2 · Aug 10, 2018 · 4cd964a · 4cd964a
1 parent 39698fb
commit 4cd964a
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/rclpy/rclpy/parameter.py b/rclpy/rclpy/parameter.py
@@ -16,6 +16,8 @@
 
 from rcl_interfaces.msg import ParameterDescriptor, ParameterType, ParameterValue
 
+PARAMETER_SEPARATOR_STRING = '.'
+
 
 class Parameter:
 

diff --git a/rclpy/rclpy/parameter_service.py b/rclpy/rclpy/parameter_service.py
@@ -14,7 +14,7 @@
 
 from rcl_interfaces.srv import DescribeParameters, GetParameters, GetParameterTypes
 from rcl_interfaces.srv import ListParameters, SetParameters, SetParametersAtomically
-from rclpy.parameter import Parameter
+from rclpy.parameter import Parameter, PARAMETER_SEPARATOR_STRING
 
 
 class ParameterService:
@@ -81,24 +81,24 @@ def _list_parameters_callback(self, request, response):
         if 1 == request.depth:
             return response
 
-        if not 0 == request.depth:
-            # A depth of zero indicates infinite depth
+        if not request.DEPTH_RECURSIVE == request.depth:
             names_with_prefixes = filter(
                 lambda name: name.count('.') + 1 <= request.depth, names_with_prefixes
             )
         for name in names_with_prefixes:
             if request.prefixes:
                 for prefix in request.prefixes:
-                    prefix_with_trailing_dot = '%s.' % (prefix)
-                    if name.startswith(prefix_with_trailing_dot):
+                    if name.startswith(prefix + PARAMETER_SEPARATOR_STRING):
                         response.result.names.append(name)
-                        full_prefix = '.'.join(name.split('.')[0:-1])
+                        full_prefix = PARAMETER_SEPARATOR_STRING.join(
+                            name.split(PARAMETER_SEPARATOR_STRING)[0:-1])
                         if full_prefix not in response.result.prefixes:
                             response.result.prefixes.append(full_prefix)
                         if prefix not in response.result.prefixes:
                             response.result.prefixes.append(prefix)
             else:
-                prefix = '.'.join(name.split('.')[0:-1])
+                prefix = PARAMETER_SEPARATOR_STRING.join(
+                    name.split(PARAMETER_SEPARATOR_STRING)[0:-1])
                 if prefix not in response.result.prefixes:
                     response.result.prefixes.append(prefix)
                 response.result.names.append(name)