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Allow to recursively set alists with string keys in ros::set-param #710

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merged 5 commits into from
Jul 27, 2022
Merged

Allow to recursively set alists with string keys in ros::set-param #710

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87af083
Add recursive ros::set-param tests
Affonso-Gui May 1, 2022
5034de3
Allow to pass string alists when recursively setting ros params
Affonso-Gui May 2, 2022
6c0d162
Add more ros::set-param tests
Affonso-Gui May 12, 2022
8d9b22e
Differentiate lists of dicts from alists in ros::set-param
Affonso-Gui May 12, 2022
63ed450
Merge branch 'master' into recursive-set-param
k-okada Jul 26, 2022
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14 changes: 12 additions & 2 deletions roseus/roseus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1279,7 +1279,7 @@ void EusValueToXmlRpc(register context *ctx, pointer argp, XmlRpc::XmlRpcValue&
{
numunion nu;

if ( islist(argp) && islist(ccar(argp))) { // alist
if ( islist(argp) && islist(ccar(argp)) && !islist(ccar(ccar(argp))) ) { // alist
pointer a;
int j;
// set keys
Expand All @@ -1293,8 +1293,12 @@ void EusValueToXmlRpc(register context *ctx, pointer argp, XmlRpc::XmlRpcValue&
string skey = string((char *)get_string(ccar(v)->c.sym.pname));
boost::algorithm::to_lower(skey);
stringstream << "<member><name>" << skey << "</name><value><boolean>0</boolean></value></member>";
}
else if ( isstring(ccar(v)) ) {
string skey = string((char *)get_string(ccar(v)));
stringstream << "<member><name>" << skey << "</name><value><boolean>0</boolean></value></member>";
}else{
ROS_ERROR("ROSEUS_SET_PARAM: EusValueToXmlRpc: assuming symbol");prinx(ctx,ccar(v),ERROUT);flushstream(ERROUT);terpri(ERROUT);
ROS_ERROR("ROSEUS_SET_PARAM: EusValueToXmlRpc: invalid param name; requires symbol or string");prinx(ctx,ccar(v),ERROUT);flushstream(ERROUT);terpri(ERROUT);
}
}else{
ROS_ERROR("ROSEUS_SET_PARAM: EusValueToXmlRpc: assuming alist");prinx(ctx,argp,ERROUT);flushstream(ERROUT);terpri(ERROUT);
Expand All @@ -1315,6 +1319,12 @@ void EusValueToXmlRpc(register context *ctx, pointer argp, XmlRpc::XmlRpcValue&
EusValueToXmlRpc(ctx, ccdr(v), p);
rpc_value[skey] = p;
}
else if ( isstring(ccar(v)) ) {
string skey = string((char *)get_string(ccar(v)));
XmlRpc::XmlRpcValue p;
EusValueToXmlRpc(ctx, ccdr(v), p);
rpc_value[skey] = p;
}
}
a=ccdr(a);
}
Expand Down
24 changes: 20 additions & 4 deletions roseus/test/param-test.l
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Expand Up @@ -92,7 +92,7 @@
(assert (string= "test_global2" (setq as ret)) "[/test2] test_global2 != ~A" as))

(assert (null (ros::has-param "/test_dictionary2")) "[/test_dictionary2] (ros::has-param) failed")
(let (ret (param '((bool_value . nil) (dbl_value . 20000) (dictionary (key_bool . t) (key_dbl . 2000.0) (key_int . 1000) (key_list "0" 1 2.0 t) (key_str . "0000")) (int_value . 10000) (list "0" 1 2.0 t (nest0 100 200.0 t) ((nest_bool . t) (nest_dbl . 20.0) (nest_int . 10) (nest_str . nest))) (str_value . "00000"))))
(let (ret (param '((bool_value . nil) (dbl_value . 20000) (dictionary (key_bool . t) (key_dbl . 2000.0) (key_int . 1000) (key_list "0" 1 2.0 t) (key_str . "0000")) (int_value . 10000) (list "0" 1 2.0 t (nest0 100 200.0 t) ((nest_bool . t) (nest_dbl . 20.0) (nest_int . 10) (nest_str . nest))) (list2 ((nest_bool . t) (nest_dbl . 20.0) (nest_int . 10) (nest_str . nest))) (str_value . "00000"))))
(ros::ros-info "/test_dictionary2 param ~A" param)
(ros::set-param "/test_dictionary2" param)
(setq ret (ros::get-param "/test_dictionary2"))
Expand Down Expand Up @@ -125,6 +125,9 @@
;; check list
;; check dictionary
))
(let ((l1 (cdr (assoc "list" ret :test #'string=)))
(l2 (cdr (assoc "list2" ret :test #'string=))))
(assert (equal (nth 5 l1) (nth 0 l2)) "list objects differ"))
(let ((val (assoc "dictionary" ret :test #'string=)))
(assert val "dictionary not found")
(let ((lst (cdr val)))
Expand All @@ -147,6 +150,19 @@
)
)

(deftest test-set-param-recursive ()
(assert (ros::has-param "/test_dictionary") "[/test_dictionary] (ros::has-param) failed")
(assert (null (ros::has-param "/test_recursive")) "[/test_recursive] (ros::has-param) failed")
(let ((test-dict (ros::get-param "/test_dictionary"))
test-rec)
(ros::ros-info "/test_dictionary ~S" test-dict)
(ros::set-param "/test_recursive" test-dict)
(setq test-rec (ros::get-param "/test_recursive"))
(ros::ros-info "/test_recursive ~S" test-rec)
(assert (equal test-dict test-rec) "unable to perform ros::set-param recursively")
(assert (ros::delete-param "/test_recursive")
"(ros::delete-param \"test_recursive\") returns nil")))

(deftest test-param-default-value ()
;; Read parameter 1000 times with default value
(dotimes (i 1000)
Expand All @@ -166,7 +182,7 @@
(assert (not (ros::delete-param "param_not_exists")) "(ros::delete-param param_not_exists) returns value even if param does not exists"))

(deftest test-param-cache ()
(assert (ros::has-param "test") "[cached] (ros::has-parm test) failed")
(assert (ros::has-param "test") "[cached] (ros::has-param test) failed")
(assert (string= (ros::get-param "test") (ros::get-param-cached "test")) "(ros::get-param-cached test) has different value from (ros::get-param test): ~A" (ros::get-param-cached "test"))
(assert (< (bench2 (dotimes (i 100) (ros::get-param-cached "test")))
(bench2 (dotimes (i 100) (ros::get-param "test"))))
Expand All @@ -177,8 +193,8 @@
(let ((ret (ros::list-param)) diff)
(assert ret "list-param returns nil")
(setq diff (set-difference (cdr ret)
'("/test_dictionary/str_value" "/test_dictionary/dictionary/key_bool" "/test_dictionary/dictionary/key_dbl" "/test_dictionary/dictionary/key_str" "/test_dictionary/dictionary/key_int" "/test_dictionary/dictionary/key_list" "/test_dictionary/list" "/test_dictionary/bool_value" "/test_dictionary/int_value" "/test_dictionary/dbl_value" "/rosversion" "/run_id" "/param/test" "/param/read_parameter/test" "/test" "/rosdistro"
"/test2" "/param/read_parameter/test2" "/param/test2" "/test_dictionary2/str_value" "/test_dictionary2/dictionary/key_bool" "/test_dictionary2/dictionary/key_dbl" "/test_dictionary2/dictionary/key_str" "/test_dictionary2/dictionary/key_int" "/test_dictionary2/dictionary/key_list" "/test_dictionary2/bool_value" "/test_dictionary2/list" "/test_dictionary2/int_value" "/test_dictionary2/dbl_value")
'("/test_dictionary/str_value" "/test_dictionary/dictionary/key_bool" "/test_dictionary/dictionary/key_dbl" "/test_dictionary/dictionary/key_str" "/test_dictionary/dictionary/key_int" "/test_dictionary/dictionary/key_list" "/test_dictionary/list" "/test_dictionary/list2" "/test_dictionary/bool_value" "/test_dictionary/int_value" "/test_dictionary/dbl_value" "/rosversion" "/run_id" "/param/test" "/param/read_parameter/test" "/test" "/rosdistro"
"/test2" "/param/read_parameter/test2" "/param/test2" "/test_dictionary2/str_value" "/test_dictionary2/dictionary/key_bool" "/test_dictionary2/dictionary/key_dbl" "/test_dictionary2/dictionary/key_str" "/test_dictionary2/dictionary/key_int" "/test_dictionary2/dictionary/key_list" "/test_dictionary2/bool_value" "/test_dictionary2/list" "/test_dictionary2/list2" "/test_dictionary2/int_value" "/test_dictionary2/dbl_value")
:test #'equal))
(setq diff (remove-if #'(lambda (x) (substringp "/roslaunch/uris/host_" x)) diff)) ;; from noetic roslaunch set params https://github.com/ros/ros_comm/blob/07fb5469c71e10e4a05fa3a631897d9adece61c5/tools/roslaunch/src/roslaunch/launch.py#L448-L449
(assert (not diff) "list-param ~A failed" diff)
Expand Down
1 change: 1 addition & 0 deletions roseus/test/test-parameter.test
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ test_dictionary:
dbl_value: 20000.0
bool_value: false
list: ['0', 1, 2.0, true, ['nest0', 100, 200.0, true], {nest_str: 'nest', nest_int: 10, nest_dbl: 20.0, nest_bool: true}]
list2: [{nest_str: 'nest', nest_int: 10, nest_dbl: 20.0, nest_bool: true}]
dictionary: {key_str: '0000', key_int: 1000, key_dbl: 2000.0, key_bool: true, key_list: ['0', 1, 2.0, true]}
</rosparam>
</launch>