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Static parameter type fixes #1567

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Merged
merged 2 commits into from
Mar 3, 2021
Merged

Static parameter type fixes #1567

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5ec4b2d
* Fix when to throw the NoParameterOverrideProvided exception.
ivanpauno Mar 2, 2021
2036857
When a parameter change is rejected, the parameters map shouldn't be …
ivanpauno Mar 2, 2021
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21 changes: 18 additions & 3 deletions rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -389,6 +389,10 @@ __declare_parameter_common(
callback_container,
callback);

if (!result.successful) {
return result;
}

// Add declared parameters to storage.
parameters_out[name] = parameter_infos.at(name);

Expand Down Expand Up @@ -440,6 +444,14 @@ declare_parameter_helper(
parameter_descriptor.type = static_cast<uint8_t>(type);
}

if (
rclcpp::PARAMETER_NOT_SET == default_value.get_type() &&
overrides.find(name) == overrides.end() &&
parameter_descriptor.dynamic_typing == false)
{
throw rclcpp::exceptions::NoParameterOverrideProvided(name);
}

rcl_interfaces::msg::ParameterEvent parameter_event;
auto result = __declare_parameter_common(
name,
Expand All @@ -461,9 +473,6 @@ declare_parameter_helper(
{
// TODO(ivanpauno): Refactor the logic so we don't need the above `strncmp` and we can
// detect between both exceptions more elegantly.
if (rclcpp::PARAMETER_NOT_SET == default_value.get_type()) {
throw rclcpp::exceptions::NoParameterOverrideProvided(name);
}
throw rclcpp::exceptions::InvalidParameterTypeException(name, result.reason);
}
throw rclcpp::exceptions::InvalidParameterValueException(
Expand Down Expand Up @@ -528,6 +537,12 @@ NodeParameters::declare_parameter(
"declare_parameter(): the provided parameter type cannot be rclcpp::PARAMETER_NOT_SET"};
}

if (parameter_descriptor.dynamic_typing == true) {
throw std::invalid_argument{
"declare_parameter(): cannot declare parameter of specific type and pass descriptor"
"with `dynamic_typing=true`"};
}

return declare_parameter_helper(
name,
type,
Expand Down
16 changes: 16 additions & 0 deletions rclcpp/test/rclcpp/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -620,6 +620,22 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
{node->declare_parameter("parameter_type_mismatch", 42);},
rclcpp::exceptions::InvalidParameterTypeException);
}
{
// default type and expected type do not match
EXPECT_THROW(
{node->declare_parameter(
"parameter_type_mismatch", rclcpp::ParameterType::PARAMETER_INTEGER);},
rclcpp::exceptions::InvalidParameterTypeException);
}
{
// cannot pass an expected type and a descriptor with dynamic_typing=True
rcl_interfaces::msg::ParameterDescriptor descriptor{};
descriptor.dynamic_typing = true;
EXPECT_THROW(
{node->declare_parameter(
"invalid_argument", rclcpp::ParameterType::PARAMETER_INTEGER, descriptor);},
std::invalid_argument);
}
}

TEST_F(TestNode, declare_parameters_with_no_initial_values) {
Expand Down