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Declare parameters uninitialized #1673

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Merged
merged 8 commits into from
May 19, 2021
Merged

Declare parameters uninitialized #1673

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8764151
Declare parameters uninitialized
jacobperron May 13, 2021
24d2641
Remove assertion
jacobperron May 17, 2021
01e5ae2
Throw NoParameterOverrideProvided exception if accessed before initia…
jacobperron May 18, 2021
344149c
Add test getting static parameter after it is set
jacobperron May 18, 2021
1ea6ea4
Do not throw on access of uninitialized dynamically typed parameter
jacobperron May 18, 2021
0d97e32
Rename exception type
jacobperron May 18, 2021
b32f19d
Remove unused exception type
jacobperron May 18, 2021
c774cb2
Uncrustify
jacobperron May 18, 2021
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35 changes: 22 additions & 13 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 @@ -349,6 +349,17 @@ __declare_parameter_common(
initial_value = &overrides_it->second;
}

// If there is no initial value, then skip initialization
if (initial_value->get_type() == rclcpp::PARAMETER_NOT_SET) {
// Add declared parameters to storage (without a value)
parameter_infos[name].descriptor.name = name;
parameter_infos[name].descriptor.type = parameter_descriptor.type;
parameters_out[name] = parameter_infos.at(name);
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
return result;
}

// Check with the user's callback to see if the initial value can be set.
std::vector<rclcpp::Parameter> parameter_wrappers {rclcpp::Parameter(name, *initial_value)};
// This function also takes care of default vs initial value.
Expand Down Expand Up @@ -413,14 +424,6 @@ 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 Down Expand Up @@ -806,14 +809,20 @@ NodeParameters::get_parameters(const std::vector<std::string> & names) const
rclcpp::Parameter
NodeParameters::get_parameter(const std::string & name) const
{
rclcpp::Parameter parameter;
std::lock_guard<std::recursive_mutex> lock(mutex_);

if (get_parameter(name, parameter)) {
return parameter;
auto param_iter = parameters_.find(name);
if (
parameters_.end() != param_iter &&
param_iter->second.value.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET)
{
return rclcpp::Parameter{name, param_iter->second.value};
} else if (this->allow_undeclared_) {
return parameter;
} else {
return rclcpp::Parameter{};
} else if (parameters_.end() == param_iter) {
throw rclcpp::exceptions::ParameterNotDeclaredException(name);
} else {
throw rclcpp::exceptions::NoParameterOverrideProvided(name);
}
}

Expand Down
12 changes: 10 additions & 2 deletions rclcpp/test/rclcpp/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -335,9 +335,14 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.dynamic_typing = true;
// no default, no initial
const std::string parameter_name = "parameter"_unq;
rclcpp::ParameterValue value = node->declare_parameter(
"parameter"_unq, rclcpp::ParameterValue{}, descriptor);
parameter_name, rclcpp::ParameterValue{}, descriptor);
EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_NOT_SET);
// Throws if not set before access
EXPECT_THROW(
node->get_parameter(parameter_name),
rclcpp::exceptions::NoParameterOverrideProvided);
}
{
// int default, no initial
Expand Down Expand Up @@ -2798,8 +2803,11 @@ TEST_F(TestNode, static_and_dynamic_typing) {
EXPECT_EQ("hello!", param);
}
{
auto param = node->declare_parameter("integer_override_not_given", rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, param.get_type());
// Throws if not set before access
EXPECT_THROW(
node->declare_parameter("integer_override_not_given", rclcpp::PARAMETER_INTEGER),
node->get_parameter("integer_override_not_given"),
rclcpp::exceptions::NoParameterOverrideProvided);
}
{
Expand Down