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Add wildcard loading to ros2 param load #602

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Merged
ivanpauno merged 4 commits into from
Feb 23, 2021
Merged

Add wildcard loading to ros2 param load #602

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0a67ab9
Add wildcard loading to ros2 param load
Feb 19, 2021
50768ef
Update ros2param/ros2param/api/__init__.py
v-lopez Feb 23, 2021
4212449
Replace use-wildcard with no-use-wildcard
Feb 23, 2021
2608c46
Apply linter fixes
Feb 23, 2021
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27 changes: 17 additions & 10 deletions ros2param/ros2param/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -137,21 +137,28 @@ def load_parameter_dict(*, node, node_name, parameter_dict):
print(msg, file=sys.stderr)


def load_parameter_file(*, node, node_name, parameter_file):
def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
# Remove leading slash and namespaces
with open(parameter_file, 'r') as f:
param_file = yaml.safe_load(f)
if node_name not in param_file:
param_keys = []
if use_wildcard and '/**' in param_file:
param_keys.append('/**')
if node_name in param_file:
param_keys.append(node_name)

if param_keys == []:
raise RuntimeError('Param file does not contain parameters for {}, '
' only for nodes: {}' .format(node_name, param_file.keys()))

value = param_file[node_name]
if type(value) != dict or 'ros__parameters' not in value:
raise RuntimeError('Invalid structure of parameter file for node {}'
'expected same format as provided by ros2 param dump'
.format(node_name))
load_parameter_dict(node=node, node_name=node_name,
parameter_dict=value['ros__parameters'])
param_dict = {}
for k in param_keys:
value = param_file[k]
if type(value) != dict or 'ros__parameters' not in value:
raise RuntimeError('Invalid structure of parameter file for node {}'
'expected same format as provided by ros2 param dump'
.format(k))
param_dict.update(value['ros__parameters'])
load_parameter_dict(node=node, node_name=node_name, parameter_dict=param_dict)


def call_describe_parameters(*, node, node_name, parameter_names=None):
Expand Down
8 changes: 6 additions & 2 deletions ros2param/ros2param/verb/load.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,11 @@ def add_arguments(self, parser, cli_name): # noqa: D102
parser.add_argument(
'--include-hidden-nodes', action='store_true',
help='Consider hidden nodes as well')
arg = parser.add_argument(
parser.add_argument(
'parameter_file', help='Parameter file')
parser.add_argument(
'--no-use-wildcard', action='store_true',
help="Do not load parameters in the '/**' namespace into the node")

def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
Expand All @@ -47,4 +50,5 @@ def main(self, *, args): # noqa: D102
return 'Node not found'

with DirectNode(args) as node:
load_parameter_file(node=node, node_name=node_name, parameter_file=args.parameter_file)
load_parameter_file(node=node, node_name=node_name, parameter_file=args.parameter_file,
use_wildcard=not args.no_use_wildcard)
76 changes: 74 additions & 2 deletions ros2param/test/test_verb_load.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@

from ros2cli.node.strategy import NodeStrategy

import yaml

TEST_NODE = 'test_node'
TEST_NAMESPACE = '/foo'

Expand Down Expand Up @@ -71,6 +73,17 @@
' str_param: Bye World\n'
' use_sim_time: false\n'
)
INPUT_WILDCARD_PARAMETER_FILE = (
'/**:\n'
' ros__parameters:\n'
' str_param: Wildcard\n'
' int_param: 12345\n'
)
INPUT_NODE_OVERLAY_PARAMETER_FILE = (
f'{TEST_NAMESPACE}/{TEST_NODE}:\n'
' ros__parameters:\n'
' str_param: Override\n'
)

# Skip cli tests on Windows while they exhibit pathological behavior
# https://github.com/ros2/build_farmer/issues/248
Expand Down Expand Up @@ -191,10 +204,10 @@ def setUp(self):
if timed_out:
self.fail(f'CLI daemon failed to find test node after {TEST_TIMEOUT} seconds')

def _write_param_file(self, tmpdir, filename):
def _write_param_file(self, tmpdir, filename, contents=INPUT_PARAMETER_FILE):
yaml_path = os.path.join(tmpdir, filename)
with open(yaml_path, 'w') as f:
f.write(INPUT_PARAMETER_FILE)
f.write(contents)
return yaml_path

def _output_file(self):
Expand Down Expand Up @@ -280,3 +293,62 @@ def test_verb_load(self):
text=param_dump_command.output,
strict=True
)

def test_verb_load_wildcard(self):
with tempfile.TemporaryDirectory() as tmpdir:
# Try param file with only wildcard
filepath = self._write_param_file(tmpdir, 'params.yaml', INPUT_WILDCARD_PARAMETER_FILE)
with self.launch_param_load_command(
arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}', filepath,
'--no-use-wildcard']
) as param_load_command:
assert param_load_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
assert param_load_command.exit_code != launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=['Param file does not contain parameters for '
f'{TEST_NAMESPACE}/{TEST_NODE}'],
text=param_load_command.output,
strict=False
)

with self.launch_param_load_command(
arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}', filepath]
) as param_load_command:
assert param_load_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
assert param_load_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[''],
text=param_load_command.output,
strict=True
)
# Dump with ros2 param and check that wildcard parameters are loaded
with self.launch_param_dump_command(
arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}', '--print']
) as param_dump_command:
assert param_dump_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
assert param_dump_command.exit_code == launch_testing.asserts.EXIT_OK
loaded_params = yaml.safe_load(param_dump_command.output)
params = loaded_params[f'{TEST_NAMESPACE}/{TEST_NODE}']['ros__parameters']
assert params['str_param'] == 'Wildcard'
assert params['int_param'] == 12345

# Concatenate wildcard + some overlays
filepath = self._write_param_file(tmpdir, 'params.yaml',
INPUT_WILDCARD_PARAMETER_FILE + '\n' +
INPUT_NODE_OVERLAY_PARAMETER_FILE)
with self.launch_param_load_command(
arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}', filepath]
) as param_load_command:
assert param_load_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
assert param_load_command.exit_code == launch_testing.asserts.EXIT_OK

# Dump and check that wildcard parameters were overriden if in node namespace
with self.launch_param_dump_command(
arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}', '--print']
) as param_dump_command:
assert param_dump_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
assert param_dump_command.exit_code == launch_testing.asserts.EXIT_OK
loaded_params = yaml.safe_load(param_dump_command.output)
params = loaded_params[f'{TEST_NAMESPACE}/{TEST_NODE}']['ros__parameters']
assert params['str_param'] == 'Override' # Overriden
assert params['int_param'] == 12345 # Wildcard namespace