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Merged
sloretz merged 2 commits into from
Jun 1, 2018
Merged

Split ParameterVariant #271

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5a95ba5
ParameterTypeException
sloretz May 29, 2018
f114a1c
rclcpp::parameter::ParameterVariant -> rclcpp::Parameter
sloretz May 29, 2018
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28 changes: 14 additions & 14 deletions test_rclcpp/test/parameter_fixtures.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,13 +33,13 @@ void set_test_parameters(
printf("Setting parameters\n");
// Set several differnet types of parameters.
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("barstr", std::string("hello_str")),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foo.first", 8),
rclcpp::parameter::ParameterVariant("foo.second", 42),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("barstr", std::string("hello_str")),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foo.first", 8),
rclcpp::Parameter("foo.second", 42),
rclcpp::Parameter("foobar", true),
});
printf("Got set_parameters result\n");

Expand All @@ -57,13 +57,13 @@ void verify_set_parameters_async(
printf("Setting parameters\n");
// Set several differnet types of parameters.
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("barstr", std::string("hello_str")),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foo.first", 8),
rclcpp::parameter::ParameterVariant("foo.second", 42),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("barstr", std::string("hello_str")),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foo.first", 8),
rclcpp::Parameter("foo.second", 42),
rclcpp::Parameter("foobar", true),
});
rclcpp::spin_until_future_complete(node, set_parameters_results); // Wait for the results.
printf("Got set_parameters result\n");
Expand Down
104 changes: 55 additions & 49 deletions test_rclcpp/test/test_local_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,17 +34,17 @@ using namespace std::chrono_literals;
#endif

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
rclcpp::parameter::ParameterVariant pv("foo", "bar");
rclcpp::parameter::ParameterVariant pv2("foo2", "bar2");
rclcpp::Parameter pv("foo", "bar");
rclcpp::Parameter pv2("foo2", "bar2");
std::string json_dict = std::to_string(pv);
EXPECT_STREQ(
"{\"name\": \"foo\", \"type\": \"string\", \"value\": \"bar\"}",
json_dict.c_str());
json_dict = rclcpp::parameter::_to_json_dict_entry(pv);
json_dict = rclcpp::_to_json_dict_entry(pv);
EXPECT_STREQ(
"\"foo\": {\"type\": \"string\", \"value\": \"bar\"}",
json_dict.c_str());
std::vector<rclcpp::parameter::ParameterVariant> vpv;
std::vector<rclcpp::Parameter> vpv;
vpv.push_back(pv);
vpv.push_back(pv2);
json_dict = std::to_string(vpv);
Expand All @@ -53,12 +53,12 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
"\"foo2\": {\"type\": \"string\", \"value\": \"bar2\"}}",
json_dict.c_str());

pv = rclcpp::parameter::ParameterVariant("foo", 2.1);
pv = rclcpp::Parameter("foo", 2.1);
// TODO(tfoote) convert the value to a float and use epsilon test.
EXPECT_STREQ(
"{\"name\": \"foo\", \"type\": \"double\", \"value\": \"2.100000\"}",
std::to_string(pv).c_str());
pv = rclcpp::parameter::ParameterVariant("foo", 8);
pv = rclcpp::Parameter("foo", 8);
EXPECT_STREQ(
"{\"name\": \"foo\", \"type\": \"integer\", \"value\": \"8\"}",
std::to_string(pv).c_str());
Expand Down Expand Up @@ -109,16 +109,16 @@ class ParametersAsyncNode : public rclcpp::Node

void queue_set_parameter_request(rclcpp::executors::SingleThreadedExecutor & executor)
{
using rclcpp::parameter::ParameterVariant;
using rclcpp::Parameter;
using SetParametersResult =
std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>;
auto set_parameters_results = parameters_client_->set_parameters({
ParameterVariant("foo", 2),
ParameterVariant("bar", "hello"),
ParameterVariant("barstr", std::string("hello_str")),
ParameterVariant("baz", 1.45),
ParameterVariant("foobar", true),
ParameterVariant("barfoo", std::vector<uint8_t>{3, 4, 5}),
Parameter("foo", 2),
Parameter("bar", "hello"),
Parameter("barstr", std::string("hello_str")),
Parameter("baz", 1.45),
Parameter("foobar", true),
Parameter("barfoo", std::vector<uint8_t>{3, 4, 5}),
},
[&executor](SetParametersResult future)
{
Expand Down Expand Up @@ -156,12 +156,12 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
ASSERT_TRUE(false) << "service not available after waiting";
}
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("barstr", std::string("hello_str")),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::parameter::ParameterVariant("barfoo", std::vector<uint8_t>{0, 1, 2}),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("barstr", std::string("hello_str")),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
rclcpp::Parameter("barfoo", std::vector<uint8_t>{0, 1, 2}),
});
printf("Got set_parameters result\n");

Expand All @@ -178,42 +178,48 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {

// Test variables that are set, verifying that types are obeyed, and defaults not used.
EXPECT_TRUE(parameters_client->has_parameter("foo"));
EXPECT_THROW(baz = parameters_client->get_parameter<double>("foo"), std::runtime_error);
EXPECT_THROW(baz = parameters_client->get_parameter<double>("foo"),
rclcpp::ParameterTypeException);
EXPECT_NO_THROW(foo = parameters_client->get_parameter<int>("foo"));
EXPECT_EQ(foo, 2);
EXPECT_NO_THROW(foo = parameters_client->get_parameter("foo", 42));
EXPECT_EQ(foo, 2);

EXPECT_TRUE(parameters_client->has_parameter("bar"));
EXPECT_THROW(foo = parameters_client->get_parameter<int>("bar"), std::runtime_error);
EXPECT_THROW(foo = parameters_client->get_parameter<int>("bar"),
rclcpp::ParameterTypeException);
EXPECT_NO_THROW(bar = parameters_client->get_parameter<std::string>("bar"));
EXPECT_EQ(bar, "hello");
EXPECT_NO_THROW(bar = parameters_client->get_parameter<std::string>("bar", "goodbye"));
EXPECT_EQ(bar, "hello");

EXPECT_TRUE(parameters_client->has_parameter("barstr"));
EXPECT_THROW(foobar = parameters_client->get_parameter<bool>("barstr"), std::runtime_error);
EXPECT_THROW(foobar = parameters_client->get_parameter<bool>("barstr"),
rclcpp::ParameterTypeException);
EXPECT_NO_THROW(barstr = parameters_client->get_parameter<std::string>("barstr"));
EXPECT_EQ(barstr, "hello_str");
EXPECT_NO_THROW(barstr = parameters_client->get_parameter("barstr", std::string("heya")));
EXPECT_EQ(barstr, "hello_str");

EXPECT_TRUE(parameters_client->has_parameter("baz"));
EXPECT_THROW(foobar = parameters_client->get_parameter<bool>("baz"), std::runtime_error);
EXPECT_THROW(foobar = parameters_client->get_parameter<bool>("baz"),
rclcpp::ParameterTypeException);
EXPECT_NO_THROW(baz = parameters_client->get_parameter<double>("baz"));
EXPECT_DOUBLE_EQ(baz, 1.45);
EXPECT_NO_THROW(baz = parameters_client->get_parameter("baz", -4.2));
EXPECT_DOUBLE_EQ(baz, 1.45);

EXPECT_TRUE(parameters_client->has_parameter("foobar"));
EXPECT_THROW(baz = parameters_client->get_parameter<double>("foobar"), std::runtime_error);
EXPECT_THROW(baz = parameters_client->get_parameter<double>("foobar"),
rclcpp::ParameterTypeException);
EXPECT_NO_THROW(foobar = parameters_client->get_parameter<bool>("foobar"));
EXPECT_EQ(foobar, true);
EXPECT_NO_THROW(foobar = parameters_client->get_parameter("foobar", false));
EXPECT_EQ(foobar, true);

EXPECT_TRUE(parameters_client->has_parameter("barfoo"));
EXPECT_THROW(bar = parameters_client->get_parameter<std::string>("barfoo"), std::runtime_error);
EXPECT_THROW(bar = parameters_client->get_parameter<std::string>("barfoo"),
rclcpp::ParameterTypeException);
EXPECT_NO_THROW(barfoo = parameters_client->get_parameter<std::vector<uint8_t>>("barfoo"));
EXPECT_EQ(barfoo[0], 0);
EXPECT_EQ(barfoo[1], 1);
Expand Down Expand Up @@ -259,12 +265,12 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primiti
ASSERT_TRUE(false) << "service not available after waiting";
}
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("barstr", std::string("hello_str")),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::parameter::ParameterVariant("barfoo", std::vector<uint8_t>{3, 4, 5}),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("barstr", std::string("hello_str")),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
rclcpp::Parameter("barfoo", std::vector<uint8_t>{3, 4, 5}),
});
printf("Got set_parameters result\n");

Expand All @@ -288,7 +294,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primiti
EXPECT_EQ(2, foo);

// Throw on type error
EXPECT_THROW(got_param = node->get_parameter("foo", foostr), std::runtime_error);
EXPECT_THROW(got_param = node->get_parameter("foo", foostr), rclcpp::ParameterTypeException);

// No throw on non-existent param, param shouldn't change
foo = 1000;
Expand Down Expand Up @@ -316,20 +322,20 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primiti
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant_type) {
using rclcpp::parameter::ParameterVariant;
using rclcpp::Parameter;

auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
if (!parameters_client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
}
auto set_parameters_results = parameters_client->set_parameters({
ParameterVariant("foo", 2),
ParameterVariant("bar", "hello"),
ParameterVariant("barstr", std::string("hello_str")),
ParameterVariant("baz", 1.45),
ParameterVariant("foobar", true),
ParameterVariant("barfoo", std::vector<uint8_t>{3, 4, 5}),
Parameter("foo", 2),
Parameter("bar", "hello"),
Parameter("barstr", std::string("hello_str")),
Parameter("baz", 1.45),
Parameter("foobar", true),
Parameter("barfoo", std::vector<uint8_t>{3, 4, 5}),
});
printf("Got set_parameters result\n");

Expand All @@ -340,13 +346,13 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant

bool got_param = false;

ParameterVariant foo;
ParameterVariant foostr;
Parameter foo;
Parameter foostr;

ParameterVariant bar;
ParameterVariant baz;
ParameterVariant foobar;
ParameterVariant barfoo;
Parameter bar;
Parameter baz;
Parameter foobar;
Parameter barfoo;

EXPECT_NO_THROW(got_param = node->get_parameter("foo", foo));
EXPECT_EQ(true, got_param);
Expand All @@ -373,11 +379,11 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_parameter_or) {
using rclcpp::parameter::ParameterVariant;
using rclcpp::Parameter;

auto node = rclcpp::Node::make_shared("test_parameters_get_parameter_or");
auto set_parameters_results = node->set_parameters({
ParameterVariant("foo", 2),
Parameter("foo", 2),
});
printf("Got set_parameters result\n");

Expand Down Expand Up @@ -409,11 +415,11 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_parameter_or) {
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), set_parameter_if_not_set) {
using rclcpp::parameter::ParameterVariant;
using rclcpp::Parameter;

auto node = rclcpp::Node::make_shared("test_parameters_set_parameter_if_not_set");
auto set_parameters_results = node->set_parameters({
ParameterVariant("foo", 2),
Parameter("foo", 2),
});
printf("Got set_parameters result\n");

Expand Down