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add list_parameters & test #1124

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merged 3 commits into from Sep 8, 2023
Merged

add list_parameters & test #1124

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328179a
add list_parameters & test
leeminju531 Sep 3, 2023
0fa053d
Fix flake8 errors.
clalancette Sep 6, 2023
2d0ecd2
Small wording fixes.
clalancette Sep 6, 2023
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62 changes: 62 additions & 0 deletions rclpy/rclpy/node.py
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Expand Up @@ -32,12 +32,14 @@

from rcl_interfaces.msg import FloatingPointRange
from rcl_interfaces.msg import IntegerRange
from rcl_interfaces.msg import ListParametersResult
from rcl_interfaces.msg import Parameter as ParameterMsg
from rcl_interfaces.msg import ParameterDescriptor
from rcl_interfaces.msg import ParameterEvent
from rcl_interfaces.msg import ParameterType
from rcl_interfaces.msg import ParameterValue
from rcl_interfaces.msg import SetParametersResult
from rcl_interfaces.srv import ListParameters

from rclpy.callback_groups import CallbackGroup
from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
Expand Down Expand Up @@ -956,6 +958,66 @@ def _set_parameters_atomically_common(

return result

def list_parameters(
self,
prefixes: List[str],
depth: int
) -> ListParametersResult:
"""
Get a list of parameter names and their prefixes.

:param prefixes: A list of prefixes to filter the parameter names.
Only the parameter names that start with any of the prefixes are returned.
If empty, all parameter names are returned.
:param depth: The depth of nested parameter names to include.
:return: The list of parameter names and their prefixes.
:raises: TypeError if the type of any of the passed arguments is not an expected type.
:raises: ValueError if depth is a negative integer.
"""
if not isinstance(prefixes, list):
raise TypeError('The prefixes argument must be a list')
if not all(isinstance(prefix, str) for prefix in prefixes):
raise TypeError('All prefixes must be instances of type str')
if not isinstance(depth, int):
raise TypeError('The depth must be instance of type int')
if depth < 0:
raise ValueError('The depth must be greater than or equal to zero')

result = ListParametersResult()

separator_less_than_depth: Callable[[str], bool] = \
lambda str: str.count(PARAMETER_SEPARATOR_STRING) < depth

recursive: bool = \
(len(prefixes) == 0) and (depth == ListParameters.Request.DEPTH_RECURSIVE)

for param_name in self._parameters.keys():
if not recursive:
get_all: bool = (len(prefixes) == 0) and (separator_less_than_depth(param_name))
if not get_all:
prefix_matches = any(
param_name == prefix or
(
param_name.startswith(prefix+PARAMETER_SEPARATOR_STRING) and
(
depth == ListParameters.Request.DEPTH_RECURSIVE or
separator_less_than_depth(param_name[len(prefix)+1:])
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)
)
for prefix in prefixes
)
if not prefix_matches:
continue

result.names.append(param_name)
last_separator = param_name.rfind(PARAMETER_SEPARATOR_STRING)
if last_separator != -1:
prefix = param_name[:last_separator]
if prefix not in result.prefixes:
result.prefixes.append(prefix)

return result

def _check_undeclared_parameters(self, parameter_list: List[Parameter]):
"""
Check if parameter list has correct types and was declared beforehand.
Expand Down
149 changes: 149 additions & 0 deletions rclpy/test/test_node.py
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Expand Up @@ -24,6 +24,7 @@

from rcl_interfaces.msg import FloatingPointRange
from rcl_interfaces.msg import IntegerRange
from rcl_interfaces.msg import ListParametersResult
from rcl_interfaces.msg import ParameterDescriptor
from rcl_interfaces.msg import ParameterType
from rcl_interfaces.msg import ParameterValue
Expand Down Expand Up @@ -1155,6 +1156,154 @@ def test_node_set_parameters_rejection_list(self):
self.assertIsInstance(result[2], SetParametersResult)
self.assertTrue(result[2].successful)

def test_node_list_parameters(self):
parameters = [
('foo_prefix.foo', 43),
('foo_prefix.bar', 'hello'),
('foo_prefix.baz', 2.41),
('bar_prefix.foo', 1),
('bar_prefix.bar', 12.3),
('bar_prefix.baz', 'world'),
]
self.node.declare_parameters('', parameters)

param_result = self.node.list_parameters([], 0)
self.assertIsInstance(param_result, ListParametersResult)
# Currently the default parameters are 'use_sim_time' and 'start_type_description_service'.
# Those may change. e.g) QoS override parameters
self.assertEqual(len(param_result.names), len(parameters)+2)
self.assertCountEqual(
param_result.names,
[
'foo_prefix.foo',
'foo_prefix.bar',
'foo_prefix.baz',
'bar_prefix.foo',
'bar_prefix.bar',
'bar_prefix.baz',
USE_SIM_TIME_NAME,
START_TYPE_DESCRIPTION_SERVICE_PARAM
]
)
self.assertEqual(len(param_result.prefixes), 2)
self.assertCountEqual(
param_result.prefixes,
[
'foo_prefix',
'bar_prefix',
]
)

param_result = self.node.list_parameters(
prefixes=['foo_prefix', 'bar_prefix'], depth=0)
self.assertIsInstance(param_result, ListParametersResult)
self.assertEqual(len(param_result.names), len(parameters))
self.assertCountEqual(
param_result.names,
[
'foo_prefix.foo',
'foo_prefix.bar',
'foo_prefix.baz',
'bar_prefix.foo',
'bar_prefix.bar',
'bar_prefix.baz'
]
)
self.assertEqual(len(param_result.prefixes), 2)
self.assertCountEqual(
param_result.prefixes,
[
'foo_prefix',
'bar_prefix',
]
)

param_result = self.node.list_parameters(
prefixes=['foo_prefix'], depth=0)
self.assertIsInstance(param_result, ListParametersResult)
self.assertEqual(len(param_result.names), 3)
self.assertCountEqual(
param_result.names,
[
'foo_prefix.foo',
'foo_prefix.bar',
'foo_prefix.baz'
]
)
self.assertEqual(len(param_result.prefixes), 1)
self.assertCountEqual(
param_result.prefixes,
[
'foo_prefix'
]
)

param_result = self.node.list_parameters(prefixes=[], depth=1)
self.assertIsInstance(param_result, ListParametersResult)
self.assertEqual(len(param_result.names), 2)
self.assertCountEqual(
param_result.names, [USE_SIM_TIME_NAME, START_TYPE_DESCRIPTION_SERVICE_PARAM]
)
self.assertEqual(len(param_result.prefixes), 0)
self.assertCountEqual(param_result.prefixes, [])

param_result = self.node.list_parameters(prefixes=[], depth=2)
self.assertIsInstance(param_result, ListParametersResult)
self.assertEqual(len(param_result.names), len(parameters)+2)
self.assertCountEqual(
param_result.names,
[
'foo_prefix.foo',
'foo_prefix.bar',
'foo_prefix.baz',
'bar_prefix.foo',
'bar_prefix.bar',
'bar_prefix.baz',
USE_SIM_TIME_NAME,
START_TYPE_DESCRIPTION_SERVICE_PARAM
]
)
self.assertEqual(len(param_result.prefixes), 2)
self.assertCountEqual(
param_result.prefixes,
[
'foo_prefix',
'bar_prefix',
]
)

param_result = self.node.list_parameters(prefixes=['foo_prefix', 'bar_prefix'], depth=1)
self.assertIsInstance(param_result, ListParametersResult)
self.assertEqual(len(param_result.names), len(parameters))
self.assertCountEqual(
param_result.names,
[
'foo_prefix.foo',
'foo_prefix.bar',
'foo_prefix.baz',
'bar_prefix.foo',
'bar_prefix.bar',
'bar_prefix.baz',
]
)
self.assertEqual(len(param_result.prefixes), 2)
self.assertCountEqual(
param_result.prefixes,
[
'foo_prefix',
'bar_prefix',
]
)

with self.assertRaises(TypeError):
self.node.list_parameters(prefixes='foo', depth=0)

with self.assertRaises(ValueError):
self.node.list_parameters(prefixes=[], depth=-1)

with self.assertRaises(TypeError):
self.node.list_parameters(prefixes=[], depth=1.5)

def modify_parameter_callback(self, parameter_list: List[Parameter]):
modified_list = parameter_list.copy()
for param in parameter_list:
Expand Down